Hand rehabilitation training exoskeleton

Abstract

The utility model discloses a hand rehabilitation training exoskeleton, and relates to the technical field of exoskeletons. According to the hand rehabilitation training exoskeleton, the ends of the palm shells are connected with the joints in a supporting mode through supporting sleeves, and the supporting sleeves are connected with an air conveying device in a communicating mode. The carpal joint is connected with the palm shell through a supporting sleeve, the other end of the carpal joint is connected with the metacarpal joint or the finger joint through the supporting sleeve, and the other end of the metacarpal joint is connected with the finger joint through the supporting sleeve. The problems that in the prior art, the size is large, flexibility is poor, operation is complex and the like are solved, and the requirements for precise assistance and natural training are difficult to meet. According to the hand rehabilitation training exoskeleton, the exoskeleton and the pneumatic technology design are combined, the lightweight design and the intelligent control technology are combined, the hand rehabilitation training exoskeleton aims at assisting a hand dysfunction patient in scientific rehabilitation training, and the hand rehabilitation training exoskeleton is suitable for stroke, brain injury, joint diseases or postoperative hand function recovery. Natural assistance and scientific rehabilitation of hand movement are achieved, and an efficient and safe hand function recovery means is provided for a patient.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, specifically to an exoskeleton for hand rehabilitation training. Background Technology

[0002] Patients with central nervous system diseases such as stroke and spinal cord injury, as well as peripheral nerve injuries, often experience hand motor dysfunction, which seriously affects their quality of life.

[0003] Elderly people also need hand rehabilitation training due to muscle degeneration and joint stiffness caused by aging.

[0004] With the continuous advancement of mechanical, electronic, and control technologies, and the increasing demand for precise and personalized rehabilitation in rehabilitation medicine, hand rehabilitation training exoskeletons have emerged.

[0005] The development of brain-computer interface technology has provided new control strategies for exoskeletons used in hand rehabilitation training. By capturing and analyzing electroencephalogram (EEG) signals, more precise and personalized rehabilitation training can be achieved.

[0006] In recent years, with increased public awareness of musculoskeletal disorders, wearable exoskeleton technology has been widely adopted. Traditional hand rehabilitation devices suffer from problems such as large size, poor flexibility, and complex operation, and are unable to meet the needs for precise assistance and natural training.

[0007] It is evident that existing technologies for hand rehabilitation training equipment suffer from unreasonable structural design, large size, poor flexibility, and complex operation, making it difficult to meet the needs for precise assistance and natural training. Utility Model Content

[0008] In view of this, the main purpose of this utility model is to provide a hand rehabilitation training exoskeleton that combines exoskeleton and pneumatic technology design, and through the combination of lightweight design and intelligent control technology, aims to assist patients with hand dysfunction in scientific rehabilitation training.

[0009] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0010] The hand rehabilitation training exoskeleton includes a palm shell and joints. The end of the palm shell is supported and connected to the joints via a support sleeve, and the support sleeve is connected to a gas supply device.

[0011] In a preferred embodiment, the joints are divided into: carpal joints, metacarpal joints and phalangeal joints. The carpal joints and the palm shell are connected by a support sleeve. The other end of the carpal joint is connected to the metacarpal joint or phalangeal joint by a support sleeve. The other end of the metacarpal joint is connected to the phalangeal joint by a support sleeve.

[0012] In a preferred embodiment, the support sleeve is a bellows-structure sleeve, which causes the sleeve to extend and retract when the gas supply device introduces pressurized gas into the support sleeve.

[0013] In a preferred embodiment, the side of the sleeve away from the palm shell is fixedly connected to a limiting member in the accordion structure gap.

[0014] In a preferred embodiment, the carpal joint, metacarpal joint, and phalangeal joint each include: a connecting ring, a curved tube, and a driving arm, wherein the connecting ring, the curved tube, and the driving arm are integrally formed in sequence, and the lower side of the connecting ring is connected to the support sleeve;

[0015] In a preferred embodiment, the support sleeve is connected to the upper side of the drive arm of the carpal and metacarpal joints.

[0016] In a preferred embodiment, the connecting ring connects the support sleeve and the curved tube via an adjusting knob.

[0017] In a preferred embodiment, the adjusting knob includes a rotating cylinder and a rotating head, the rotating head and the rotating cylinder being fixedly connected, a through hole being provided through the outer wall of the rotating cylinder, the central hole of the curved tube extending to the inner wall of the connecting ring, the lower end of the rotating cylinder communicating with the inner cavity of the support sleeve, and the inner cavity of the support sleeve communicating with the curved tube through the inner cavity of the rotating cylinder and the through hole.

[0018] In a preferred embodiment, multiple through holes are provided, and the diameters of the multiple through holes are different.

[0019] In a preferred embodiment, a plurality of limiting grooves are provided on the inner wall of the connecting ring, and a limiting hole is provided through the inside of the rotating drum. A limiting protrusion is telescopically connected inside the limiting hole, and the other end of the limiting protrusion is connected to the inner wall of the rotating drum through a support spring.

[0020] In a preferred embodiment, the palm shell is hinged to the carpal joint, the carpal joint is hinged to the metacarpal joint or the phalangeal joint, and the metacarpal joint is hinged to the phalangeal joint.

[0021] The hand rehabilitation training exoskeleton of this invention has the following beneficial effects:

[0022] This hand rehabilitation exoskeleton includes a palm shell and joints. The palm shell is supported and connected to the joints via a support sleeve, which is connected to a pneumatic supply device. The joints are divided into carpal joints, metacarpal joints, and phalangeal joints. The carpal joints are connected to the palm shell via the support sleeve. The other end of the carpal joint is connected to either a metacarpal joint or a phalangeal joint via the support sleeve, and the other end of the metacarpal joint is connected to a phalangeal joint via the support sleeve.

[0023] This invention addresses the problems in existing hand rehabilitation training equipment, such as unreasonable structural design, large size, poor flexibility, and complex operation, which make it difficult to meet the needs of precise assistance and natural training.

[0024] This hand rehabilitation exoskeleton combines exoskeleton and pneumatic technology, employing lightweight design and intelligent control technology to assist patients with hand dysfunction in scientific rehabilitation training. It is suitable for hand function recovery after stroke, brain injury, joint diseases, or surgery. It achieves natural assistance and scientific rehabilitation of hand movements, providing patients with an efficient and safe means of hand function recovery. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a hand rehabilitation training exoskeleton according to an embodiment of the present disclosure;

[0027] Figure 2 This is a cross-sectional view of the index finger of a hand rehabilitation training exoskeleton according to an embodiment of the present disclosure;

[0028] Figure 3 for Figure 2 The image shown is a partial enlarged view of part A of the hand rehabilitation training exoskeleton according to an embodiment of the present disclosure;

[0029] Figure 4 This is a schematic diagram of the metacarpal or carpal joints of a hand rehabilitation training exoskeleton according to an embodiment of the present disclosure.

[0030] Figure 5 A cross-sectional view of a support sleeve for a hand rehabilitation training exoskeleton according to an embodiment of the present disclosure;

[0031] Figure 6 This is a schematic diagram of the adjustment knob of a hand rehabilitation training exoskeleton according to one embodiment of the present disclosure;

[0032] Figure 7 This is a structural schematic diagram of the adjustment knob of a hand rehabilitation training exoskeleton according to one embodiment of the present disclosure at another angle;

[0033] Figure 8 This is a cross-sectional view of the adjustment knob of a hand rehabilitation training exoskeleton according to one embodiment of the present disclosure.

[0034] [Explanation of Key Component Symbols]

[0035] 1. Palm shell;

[0036] 2. Joints;

[0037] 21. Carpal joint; 22. Metacarpal joint; 23. Phalangeal joint;

[0038] 3. Support sleeve; 4. Gas delivery device; 5. Limiting component;

[0039] 61. Connecting ring; 62. Bending tube; 63. Drive arm; 64. Limiting groove;

[0040] 7. Adjust the knob;

[0041] 71. Rotary drum; 72. Rotating head; 73. Through hole; 74. Limiting hole;

[0042] 8. Limiting protrusion; 9. Support spring. Detailed Implementation

[0043] The hand rehabilitation training exoskeleton of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0044] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0045] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0046] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0047] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0048] like Figures 1-8 As shown, this hand rehabilitation training exoskeleton includes: a palm shell 1 that fits into the patient's palm and joints 2 that fit into the patient's fingers; the end of the palm shell 1 is supported and connected to the joints 2 via a support sleeve 3, which is connected to a gas supply device 4. Pressurized gas is supplied to the support sleeve 3 through the gas supply device 4, causing the support sleeve 3 to extend and drive the joints 2. The joints 2, when fitted onto the patient's fingers, achieve finger actuation through rotation, thereby satisfying the patient's finger rehabilitation training needs and improving the treatment effect.

[0049] To ensure compatibility with the structure of human fingers and guarantee that each finger joint can be driven during the finger-driving process of the phalanx 2, thereby achieving complete hand training and improving training effectiveness, the phalanx 2 is divided into: carpal phalanx 21, metacarpal phalanx 22, and phalangeal phalanx 23. The carpal phalanx 21 is connected to the palm shell 1 via a support sleeve 3. The other end of the carpal phalanx 21 is connected to either the metacarpal phalanx 22 or the phalangeal phalanx 23 via the support sleeve 3. The other end of the metacarpal phalanx 22 is connected to the phalangeal phalanx 23 via the support sleeve 3.

[0050] By adapting the wrist bones, metacarpal bones, and phalanges of the patient's fingers to the wrist bones, metacarpal bones, and phalanges respectively, bending training is performed at different joints of the patient's fingers to ensure the training effect.

[0051] To ensure that the upper connected joint 2 can rotate at a certain angle during the extension of the support sleeve 3, adapting to the bending and rotation of the finger, the support sleeve 3 is an accordion-structure sleeve. When the air supply device 4 introduces pressurized gas into the support sleeve 3, it causes the sleeve to extend and retract. Because the accordion-structure sleeve can extend and retract on all four sides during the extension and retraction process, it can allow one side to remain stationary or extend only slightly while the other side experiences greater variation in size during finger bending. This ensures that the support sleeve 3 adapts to the bending movements of the finger while supporting the joint, improving the driving effect on the finger.

[0052] To ensure the accordion structure automatically bends during extension and closely accommodates finger flexion movements, a limiting member 5 is fixedly connected to the side of the sleeve away from the palm shell 1 within the gap of the accordion structure. The limiting member 5 ensures the accordion structure automatically forms a bending structure during extension and retraction, improving the overall training comfort of the exoskeleton.

[0053] To adapt to the patient's finger structure and ensure a large degree of bending, the support sleeve 3 can be used to adapt to finger bending training to a greater extent during operation. It also provides connection and drive between adjacent phalanges 2. The wrist phalanx 21, metacarpal phalanx 22, and phalangeal phalanx 23 each include: a connecting ring 61, a bending tube 62, and a drive arm 63, which are integrally formed sequentially. The support sleeve 3 is connected to the lower side of the connecting ring 61.

[0054] The upper side of the drive arm 63 of the wrist joint 21 and the metacarpal joint 22 is connected to the support sleeve 3.

[0055] To facilitate adjustment of the inflation volume of the support sleeve 3, thereby adjusting the height and speed, the connecting ring 61 connects the support sleeve 3 and the bending tube 62 via an adjusting knob 7. By adjusting the setting of the adjusting knob 7, the inflation volume of the support sleeve 3 can be adjusted to meet the requirements of different patients with different bending degrees, thus improving patient comfort.

[0056] To adjust the inflation volume and inflation speed, the adjustment knob 7 includes a rotating cylinder 71 that accommodates different orifice diameters for the curved tube 62, and a rotating head 72 for easy operation and adjustment. The rotating head 72 is fixedly connected to the rotating cylinder 71, and a through hole 73 is provided through the outer wall of the rotating cylinder 71. The center hole of the curved tube 62 extends to the inner wall of the connecting ring 61. The lower end of the rotating cylinder 71 is connected to the inner cavity of the support sleeve 3, and the inner cavity of the support sleeve 3 is connected to the curved tube 62 through the inner cavity of the rotating cylinder 71 and the through hole 73.

[0057] By connecting the curved tube 62 through different through holes 73 or partially through holes 73 in the rotating cylinder 71, the ventilation volume of the curved tube 62 can be adjusted. This allows for different amounts and speeds of extension and retraction of the support sleeve 3 between different joints 2, thereby improving the fit with the patient's finger bending and enhancing patient comfort.

[0058] To accommodate different ventilation volumes, the system allows for easy selection of a set ventilation volume, improving product standardization and user-friendliness. Multiple through-holes 73 are provided, each with a different diameter. These different diameters accommodate varying ventilation volumes, thus adapting to the ventilation volume of the support sleeve 3 and enhancing its adaptability to patient finger flexion.

[0059] To allow the rotating cylinder 71 to be fixed in multiple positions, ensuring stable operation after adjustment, multiple limiting grooves 64 are provided on the inner wall of the connecting ring 61 to limit the rotation of the rotating cylinder 71. Limiting holes 74 are provided inside the rotating cylinder 71, with limiting protrusions 8 telescopically connected inside the limiting holes 74. The other end of the limiting protrusions 8 is connected to the inner wall of the rotating cylinder 71 via a support spring 9. The limiting protrusions 8 extend into the limiting grooves 64, limiting the rotation angle of the rotating cylinder 71, thus allowing different through holes 73 to connect to the curved pipe 62, thereby adjusting the airflow volume and speed of the pressurized gas entering the support sleeve 3.

[0060] To accommodate the different number of joints in the thumb and other fingers, the palm shell 1 is hinged to the carpal joint 21, the carpal joint 21 is hinged to the metacarpal joint 22 or the phalangeal joint 23, and the metacarpal joint 22 is hinged to the phalangeal joint 23.

[0061] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of protection of the present utility model.

Claims

1. A hand rehabilitation training exoskeleton, characterized in that, The application relates to a palm shell (1) and a knuckle (2), the palm shell (1) is connected with the knuckle (2) through a supporting sleeve (3), and the supporting sleeve (3) is connected with a gas feeding device (4). The knuckle (2) is divided into a wrist knuckle (21), a metacarpal knuckle (22) and a phalangeal knuckle (23), the wrist knuckle (21) is connected with the palm shell (1) through the supporting sleeve (3), the other end of the wrist knuckle (21) is connected with the metacarpal knuckle (22) or the phalangeal knuckle (23) through the supporting sleeve (3), and the other end of the metacarpal knuckle (22) is connected with the phalangeal knuckle (23) through the supporting sleeve (3).

2. The hand rehabilitation training exoskeleton according to claim 1, characterized in that, The supporting sleeve (3) is a sleeve with an organ structure, and when pressure gas in the gas feeding device (4) drives the sleeve to stretch and contract.

3. The hand rehabilitation training exoskeleton according to claim 2, characterized in that, The side, away from the palm shell (1), of the sleeve is fixedly connected with a limiting piece (5) in the organ structure gap.

4. The hand rehabilitation training exoskeleton according to claim 3, characterized in that, The wrist knuckle (21), the metacarpal knuckle (22) and the phalangeal knuckle (23) respectively comprise a connecting ring (61), a curved pipe (62) and a driving arm (63), the connecting ring (61), the curved pipe (62) and the driving arm (63) are integrally formed in sequence, and the lower side of the connecting ring (61) is connected with the supporting sleeve (3).

5. The hand rehabilitation training exoskeleton according to any one of claims 2-4, characterized in that, The upper side of the driving arm (63) of the wrist knuckle (21) and the metacarpal knuckle (22) is connected with the supporting sleeve (3). The connecting ring (61) is connected with the supporting sleeve (3) and the curved pipe (62) through an adjusting knob (7).

6. The hand rehabilitation training exoskeleton according to claim 5, characterized in that, The adjusting knob (7) comprises a rotating barrel (71) and a rotating head (72), the rotating head (72) is fixedly connected with the rotating barrel (71), a through hole (73) is formed in the outer wall of the rotating barrel (71), the central hole of the curved pipe (62) extends into the inner wall of the connecting ring (61), the lower end of the rotating barrel (71) is connected with the inner cavity of the supporting sleeve (3), and the inner cavity of the supporting sleeve (3) is connected with the curved pipe (62) through the inner cavity of the rotating barrel (71) and the through hole (73).

7. The hand rehabilitation training exoskeleton according to claim 6, characterized in that, A plurality of through holes (73) are formed, and the diameters of the through holes (73) are different.

8. The hand rehabilitation training exoskeleton according to claim 7, characterized in that, A plurality of limiting grooves (64) are formed in the inner wall of the connecting ring (61), a limiting hole (74) is formed in the inner part of the rotating barrel (71), a limiting protrusion (8) is connected with the inner part of the limiting hole (74) in an extending and retracting mode, and the other end of the limiting protrusion (8) is connected with the inner wall of the rotating barrel (71) through a supporting spring (9).

9. The hand rehabilitation training exoskeleton according to claim 8, characterized in that, The palm shell (1) is hinged with the wrist knuckle (21), the wrist knuckle (21) is hinged with the metacarpal knuckle (22) or the phalangeal knuckle (23), and the metacarpal knuckle (22) is hinged with the phalangeal knuckle (23).

10. The hand rehabilitation training exoskeleton according to any one of claims 2-4, characterized in that, ​

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