Rehabilitation glove with sensing and feedback

Abstract

The utility model discloses a kind of rehabilitation gloves with sensing and feedback, comprising: glove body, glove body includes palm part and multiple finger parts connected with palm part;Joint bending sensing module, is located at joint at the back of finger part;Fingertip pressure sensing module, is located at the palm of finger part;Pneumatic feedback module, at least is located at the finger palm surface of finger part.The utility model integrates multidimensional sensing function such as joint bending, fingertip pressure, friction slip with force feedback, heat feedback function, realizes pressure and joint attitude perception and feedback, multidimensional perception of dynamic signal such as strength, slip, improve sensing precision and feedback richness, more comprehensive and accurate perception of the hand action of patient, break through the single function limit of traditional rehabilitation gloves, significantly improve the function richness and practicality of rehabilitation gloves, provide more natural, accurate and efficient rehabilitation experience for patient.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation equipment technology, and in particular to a rehabilitation glove with sensing and feedback capabilities. Background Technology

[0002] The hand is one of nature's most exquisite tools, its ingenious structure and flexible movement providing immense convenience to our daily lives. However, diseases or accidents such as stroke, rheumatoid arthritis, and spinal cord injury can lead to partial or complete loss of hand function, resulting in limited finger movement and insufficient hand muscle strength. Currently, traditional rehabilitation methods primarily rely on one-on-one rehabilitation training conducted by physicians using manual techniques or simple equipment. Physicians help patients repair damaged nerves through extensive repetitive movements to restore hand function.

[0003] With the number of stroke patients increasing year by year, the shortage of rehabilitation physicians and resources has become a major problem. Statistics show that in 2021, the number of practicing (assistant) physicians in rehabilitation hospitals was 600,000, of which 560,000 were practicing physicians. Insufficient rehabilitation resources make it difficult to guarantee the efficiency, intensity, and precision of rehabilitation training, thus hindering patients' rehabilitation treatment.

[0004] The emergence of rehabilitation robotic gloves has provided a new solution for patients' rehabilitation training. These devices can help patients perform actions such as finger opposition, opening, gripping, and pinching, effectively reducing muscle tension, relieving joint edema and stiffness, and accelerating the rehabilitation process of hand function. However, existing rehabilitation gloves still have the following technical problems: a lack of high-precision sensing and feedback mechanisms. Most rehabilitation gloves today are still primarily designed based on mechanical traction, relying on a single mechanical sensor or simple mechanical design, lacking the ability to sense dynamic signals such as force and slippage, or having low sensing accuracy. They cannot accurately monitor hand movements when dealing with subtle changes in motion, nor can they provide realistic tactile and force feedback. Furthermore, these gloves are usually made of hard or semi-hard materials, resulting in poor wearing comfort. Patients are prone to fatigue or discomfort after prolonged wear, which in turn affects the rehabilitation effect. Utility Model Content

[0005] In view of the shortcomings of existing technology, the purpose of this utility model is to provide a rehabilitation glove with sensing and feedback capabilities.

[0006] To achieve the above objectives, the technical solution provided by an embodiment of this utility model is as follows:

[0007] A rehabilitation glove with sensing and feedback capabilities, comprising:

[0008] The glove body includes a palm portion and a plurality of fingers connected to the palm portion;

[0009] A joint bending sensing module is disposed at the joint on the back of the finger. The joint bending sensing module includes a first elastic film, a first microchannel groove formed in the first elastic film, a second elastic film connected to the first elastic film and closing the first microchannel groove to form a first microchannel, and a first liquid metal disposed in the first microchannel.

[0010] A fingertip pressure sensing module is disposed at the fingertip of the finger. The fingertip pressure sensing module includes a third elastic film, a second microchannel groove formed in the third elastic film, a fourth elastic film connected to the third elastic film and closing the second microchannel groove to form a second microchannel, and a second liquid metal disposed in the second microchannel.

[0011] The pneumatic feedback module is located at least on the palmar surface of the fingers.

[0012] As a further improvement of this utility model, the first microchannel adopts a serpentine structure.

[0013] As a further improvement of this utility model, the channel width of the first microchannel is 90-110μm, the channel length is 15-25mm, and the spacing between adjacent channels of the first microchannel is 0.6-1.0mm.

[0014] As a further improvement of this utility model, the second microchannel has a fingerprint structure.

[0015] As a further improvement of this invention, the channel width of the second microchannel is 90-110μm.

[0016] As a further improvement of this utility model, the pneumatic feedback module includes a housing and a cover connected to the housing. A baffle and two air vents are provided inside the housing. The baffle divides the housing into two air chambers. A protrusion is provided at the center of each air chamber. The two air vents are respectively connected to the two air chambers.

[0017] As a further improvement of this utility model, the glove body is provided with multiple receiving components, and the joint bending sensing module, fingertip pressure sensing module and pneumatic feedback module are respectively disposed in the multiple receiving components.

[0018] As a further improvement of this utility model, the receiving element is an elastic fabric pocket.

[0019] As a further improvement of this utility model, the finger portion includes the thumb, index finger, middle finger, ring finger and little finger, and the joints include the metacarpophalangeal joint and the proximal interphalangeal joint near the metacarpophalangeal joint.

[0020] As a further improvement of this utility model, the joint bending sensing module is provided at the web of the hand on the back of the palm.

[0021] The beneficial effects of this utility model are:

[0022] (1) This utility model utilizes the multiple electromechanical properties of liquid metal to design a liquid metal microchannel, integrates piezoresistive and triboelectric sensing mechanisms, and integrates multi-dimensional sensing functions such as joint bending, fingertip pressure, friction slip with force feedback and thermal feedback functions into one, realizing pressure and joint posture perception and feedback, multi-dimensional perception of dynamic signals such as force and slip, improving sensing accuracy and feedback richness, and more comprehensively and accurately perceiving the patient's hand movements, breaking through the single-function limitation of traditional rehabilitation gloves, significantly improving the functional richness and practicality of rehabilitation gloves, and providing patients with a more natural, accurate and efficient rehabilitation experience.

[0023] (2) The pneumatic feedback module covers the entire finger and palm surface and adopts a concave air cavity design to avoid the joint movement area, which greatly increases the feedback area while ensuring comfort and provides more uniform and realistic tactile feedback.

[0024] (3) The sensing module utilizes the thermal resistance effect and the time-division multiplexing principle to simultaneously provide thermal feedback, thereby avoiding module redundancy and complexity and optimizing the overall design.

[0025] (4) The joint bending sensing module, fingertip pressure sensing module and pneumatic feedback module are all modularly designed and can be inserted into or removed from the housing for replacement. This facilitates upgrades and maintenance and allows for customization of functions according to different user needs, thus improving applicability.

[0026] (5) Combining the natural fit of flexible materials improves wearing comfort and reduces fatigue caused by prolonged use. Attached Figure Description

[0027] 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 recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a point diagram on the glove body showing the glove joint bending sensing module according to a preferred embodiment of the present invention.

[0029] Figure 2 This is a diagram showing the position of the fingertip pressure sensing module on the glove body according to a preferred embodiment of the present invention.

[0030] Figure 3 This is a diagram showing the position of the pneumatic feedback module on the glove body according to a preferred embodiment of the present invention.

[0031] Figure 4 This is an exploded structural diagram of the joint bending sensing module according to a preferred embodiment of the present invention.

[0032] Figure 5 This is a schematic diagram of the structure of the first microchannel in a preferred embodiment of the present invention;

[0033] Figure 6 This is an exploded structural diagram of the fingertip pressure sensing module according to a preferred embodiment of the present invention.

[0034] Figure 7 This is a schematic diagram of the structure of the second microchannel in a preferred embodiment of the present invention;

[0035] Figure 8 This is an exploded structural diagram of the pneumatic feedback module according to a preferred embodiment of the present invention.

[0036] Figure 9 This is a side view of the air cavity in a preferred embodiment of the present invention;

[0037] In the diagram: 1. Glove body, 11. Palm, 111. Tiger's mouth, 12. Fingers, 121. Metacarpophalangeal joint, 122. Proximal interphalangeal joint, 2. Joint flexion sensing module, 21. First elastic film, 22. First microchannel groove, 23. First microchannel, 24. Second elastic film, 25. First liquid metal, 3. Fingertip pressure sensing module, 31. Third elastic film, 32. Second microchannel groove, 33. Second microchannel, 34. Fourth elastic film, 35. Second liquid metal, 4. Pneumatic feedback module, 41. Outer shell, 42. Cover, 43. Stop, 44. Vent, 45. Air chamber, 46. Protrusion. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0039] Please see Figures 1-8This application discloses a rehabilitation glove, including a glove body 1, a joint bending sensing module 2, a fingertip pressure sensing module 3, and a pneumatic feedback module 4. The glove body 1 includes a palm portion 11 and multiple finger portions 12 connected to the palm portion 11. The joint bending sensing module 2 is located at the joint on the back of the finger portion 12. The joint bending sensing module 2 includes a first elastic film 21, a first microchannel groove 22 formed in the first elastic film 21, a second elastic film 24 connected to the first elastic film 21 and closing the first microchannel groove 22 to form a first microchannel 23, and a first liquid metal 25 disposed within the first microchannel 23. The fingertip pressure sensing module 3 is located at the fingertip of the finger portion 12. The fingertip pressure sensing module 3 includes a third elastic film 31, a second microchannel groove 32 formed in the third elastic film 31, a fourth elastic film 34 connected to the third elastic film 31 and closing the second microchannel groove 32 to form a second microchannel 33, and a second liquid metal 35 disposed within the second microchannel 33. The pneumatic feedback module 4 is located at least on the palmar surface of the finger part 12.

[0040] When the finger joint 12 is bent, the joint bending sensing module 2 is stretched, causing a change in the length of the first liquid metal 15 within the first microchannel 13. This changes the overall resistance of the first liquid metal 15, resulting in a change in the output voltage. The bending angle of the joint indicates the bending status of the patient's finger joint. When pressure is applied to the fingertip, the fingertip pressure sensing module 3 is compressed, reducing its thickness. This reduces the thickness of the second liquid metal 35 within the second microchannel 33, leading to a smaller cross-sectional area. This change in cross-sectional area causes a change in the resistance of the second liquid metal 35, resulting in a change in the output voltage. Thus, the pressure applied by the fingertip indicates the pressure applied by the patient's finger 12. The pneumatic feedback module 4 simulates environmental feedback with different forces and tactile sensations, fully utilizing the tactile sensitivity of the skin to provide a reaction force feedback to the user's finger 12 movement. It can also be used in conjunction with a virtual environment, providing realistic feedback when the patient makes a grasping motion in a virtual environment.

[0041] Both the joint bending sensing module 2 and the fingertip pressure sensing module 3 have thermal feedback functions. When performing the thermal feedback function, the principle of time-division multiplexing is adopted. Based on the thermal resistance effect, power is supplied to the first liquid metal 25 and the second liquid metal 35 respectively through an external power source. At the same time, the input power is adjusted to control the temperature change in the first microchannel 23 and the second microchannel 33 to achieve thermal feedback.

[0042] The preferred glove body 1 is made of spandex fabric. It is understood that it is not limited to spandex fabric; other lightweight and hand-fitting fabrics are also acceptable and are not limited here.

[0043] The preferred finger portion 1 includes the thumb, index finger, middle finger, ring finger, and little finger, and the joints include the metacarpophalangeal joint 121 and the proximal interphalangeal joint 122 near the metacarpophalangeal joint 121, which can more comprehensively sense and provide feedback on hand movements.

[0044] To more comprehensively detect the joint bending angle, it is preferable to install a joint bending sensing module 2 at the web 111 on the back of the palm 11, which facilitates the detection of the opening and closing movements of the thumb.

[0045] In some embodiments, the glove body 1 is provided with multiple receptacles (not shown in the figure), and the joint bending sensing module 2, the fingertip pressure sensing module 3, and the pneumatic feedback module 4 are respectively disposed within the multiple receptacles. The receptacles are elastic, facilitating the quick insertion or removal of the joint bending sensing module 2, the fingertip pressure sensing module 3, and the pneumatic feedback module 4 into or from the receptacles for replacement. This facilitates upgrades and maintenance, and allows for customization of functions according to different user needs, improving applicability. Preferably, the receptacle is an elastic fabric pocket, which can be sewn onto the glove body 1 for insertion of each module.

[0046] Preferably, the first elastic film 21 and the second elastic film 24 are bonded together, ensuring a stable connection and improving the airtightness of the first microchannel 23. In some embodiments, the first microchannel 23 adopts a serpentine structure. The channel width of the first microchannel 23 is 90-110 μm, the channel length is 15-25 mm, and the spacing between adjacent channels of the first microchannel 23 is 0.6-1.0 mm, which simplifies fabrication while ensuring the sensitivity of the joint bending sensing module 2. Preferably, the channel width of the first microchannel 23 is 100 μm, the channel length is 20 mm, and the spacing between adjacent channels of the first microchannel 23 is 0.8 mm. The number of grid lines in the joint bending sensing module 2 is 5-20, where the grid lines refer to the number of bends of the first liquid metal 25 within the first microchannel 23. Specifically, the number of grid lines in the joint bending sensing module 2 is 10.

[0047] In some embodiments, the second microchannel 33 has a fingerprint-like structure. By adding a fingerprint-like microstructure layer to the surface of the fingertip pressure sensing module 3, and through the mutual contact between the second liquid metal 35 and the third elastic film 31 and the fourth elastic film 34, a triboelectric sensing mechanism is introduced. Utilizing the high dynamic response characteristics of the triboelectric signal, the sensing of dynamic conditions such as slippage is enhanced. The fingerprint-like fingertip pressure sensing module 3 can not only sense continuously changing static pressure based on the piezoresistive sensing mechanism, but also sense highly dynamic, minute force signals such as friction and slippage based on the triboelectric sensing mechanism, thus realizing multi-dimensional and multi-modal sensing functions.

[0048] Preferably, the channel width of the second microchannel 33 is 90-110 μm. Specifically, the channel width of the second microchannel 33 is 100 μm. Preferably, the third elastic film 31 and the fourth elastic film 34 are bonded together, providing a stable connection and improving the airtightness of the second microchannel 33. Preferably, both the third elastic film 31 and the fourth elastic film 34 are made of PDMS material.

[0049] To better illustrate the joint bending sensing module 2 and the fingertip pressure sensing module 3, the preparation methods of the joint bending sensing module 2 and the fingertip pressure sensing module 3 are described below.

[0050] Both the joint bending sensing module 2 and the fingertip pressure sensing module 3 employ soft photolithography to fabricate the first microchannel 23 and the second microchannel 33, respectively. This technology allows the dimensions of the first microchannel 23 and the second microchannel 33 to reach the micrometer level, significantly improving the sensitivity and accuracy of both modules. Through steps such as fabricating a photomask, cleaning the glass substrate, depositing a photosensitive film, exposure, development, and silanization, the desired patterns for the first microchannel 23 and the second microchannel 33 are etched onto two glass substrates to form a mold. Then, uncured PDMS material is spin-coated onto the mold. Once the material solidifies, two PDMS films with grooves 22 and 32 in the first and second microchannels, respectively, are obtained, namely the first elastic film 21 and the third elastic film 31. Subsequently, uncured PDMS material is spin-coated onto two other glass substrates, and once solidified, the second elastic film 24 and the fourth elastic film 34 are obtained. By controlling the spin coating speed and adjusting the proportion of curing agent in PDMS, first elastic films 21, second elastic films 24, third elastic films 31, and fourth elastic films 34 of different thicknesses can be obtained. Two first elastic films 21 and second elastic films 24 are plasma-cleaned and bonded together to form a first microchannel 23. A first liquid metal 25 is injected into the first microchannel 23 using a flat-tipped syringe, and then encapsulated with Sil-Poxy silicone adhesive to obtain the joint bending sensing module 2. Two third elastic films 31 and fourth elastic films 44 are plasma-cleaned and bonded together to form a second microchannel 33. A second liquid metal 35 is injected into the second microchannel 33 using a flat-tipped syringe, and then encapsulated with Sil-Poxy silicone adhesive to obtain the fingertip pressure sensing module 3. The first liquid metal 25 and the second liquid metal 35 are both gallium indium tin alloys, comprising 68.5% Ga, 21.5% In, and 10% Sn.

[0051] In some embodiments, please refer to Figure 8 , Figure 9The pneumatic feedback module 4 includes a housing 41 and a cover 42 connected to the housing 41. The housing 41 contains a stop 43 and two air vents 44. The stop 43 divides the housing 41 into two air chambers 45. Each air chamber 45 has a protrusion 46 at its center. The two air vents 44 are connected to the two air chambers 45 respectively. The stop 43 prevents the two air chambers 45 from connecting, facilitating independent control of each air chamber 45. The protrusion 46 and the stop 43 are located at the joint. The protrusion 46 divides the air chamber 45 into two connected parts, making the air chamber 45 concave. The maximum inflation deformation within the air chamber 45 corresponds to the fingertips on both sides of the joint of the finger 12, avoiding the core area of ​​joint movement. This ensures that the finger 12 is not obstructed during flexion, extension, and grasping movements, and that the fingertips are sensitive, resulting in good feedback. A pneumatic diaphragm actuator uses a micro-pump to deliver air pressure to the air chamber 45, causing the pneumatic feedback module 4 to deform and provide tactile feedback on the finger 12. By adjusting the air pressure and frequency output by the air pump, various force feedbacks can be provided, thus making the tactile feedback signal more concrete. Preferably, both the outer shell 41 and the cover 42 are made of Ecoflex material. Preferably, the outer shell 41 and the cover 42 are bonded together by applying Ecoflex 00-50.

[0052] The pneumatic feedback module 4 can be prepared using a mold-making process. A smooth and flat mold is obtained through modeling, 3D printing, secondary curing, and post-processing. The two agents A and B of Ecoflex 00-50 are mixed and stirred evenly in a 1:1 ratio and then poured into the mold. After standing at room temperature for 2 hours, it can be obtained after solidification.

[0053] When using this invention, the patient can achieve high-precision perception of multi-dimensional signals such as joint bending, fingertip pressure, and dynamic friction through the joint bending sensing module 2 and the fingertip pressure sensing module 3. The system records the hand movement data of the patient's self-training, providing doctors with accurate diagnostic basis and support for optimizing rehabilitation plans. At the same time, it can be combined with a virtual environment to provide the patient with virtual training. The joint bending sensing module 2 and the fingertip pressure sensing module 3 provide corresponding thermal feedback based on the operation in the virtual environment, providing the user with a realistic temperature experience. The pneumatic tactile feedback 4 provides corresponding feedback based on the operation in the virtual environment, providing the user with a realistic tactile experience.

[0054] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0055] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A rehabilitation glove with sensing and feedback capabilities, characterized in that, include: The glove body includes a palm portion and a plurality of fingers connected to the palm portion; A joint bending sensing module is disposed at the joint on the back of the finger. The joint bending sensing module includes a first elastic film, a first microchannel groove formed in the first elastic film, a second elastic film connected to the first elastic film and closing the first microchannel groove to form a first microchannel, and a first liquid metal disposed in the first microchannel. A fingertip pressure sensing module is disposed at the fingertip of the finger. The fingertip pressure sensing module includes a third elastic film, a second microchannel groove formed in the third elastic film, a fourth elastic film connected to the third elastic film and closing the second microchannel groove to form a second microchannel, and a second liquid metal disposed in the second microchannel. The pneumatic feedback module is located at least on the palmar surface of the fingers.

2. The rehabilitation glove with sensing and feedback as described in claim 1, characterized in that, The first microchannel adopts a serpentine structure.

3. A rehabilitation glove with sensing and feedback capabilities according to claim 2, characterized in that, The first microchannel has a channel width of 90-110μm and a channel length of 15-25mm, and the spacing between adjacent channels of the first microchannel is 0.6-1.0mm.

4. A rehabilitation glove with sensing and feedback as described in claim 1, characterized in that, The second microchannel has a fingerprint-like structure.

5. A rehabilitation glove with sensing and feedback as described in claim 4, characterized in that, The channel width of the second microchannel is 90-110 μm.

6. A rehabilitation glove with sensing and feedback as described in claim 1, characterized in that, The pneumatic feedback module includes a housing and a cover connected to the housing. Inside the housing, there is a baffle and two air vents. The baffle divides the housing into two air chambers. Each air chamber has a protrusion at its center. The two air vents are connected to the two air chambers respectively.

7. A rehabilitation glove with sensing and feedback capabilities according to claim 1, characterized in that, The glove body is provided with multiple housings, and the joint bending sensing module, fingertip pressure sensing module and pneumatic feedback module are respectively disposed in the multiple housings.

8. A rehabilitation glove with sensing and feedback according to claim 7, characterized in that, The container is an elastic fabric pocket.

9. A rehabilitation glove with sensing and feedback as described in claim 1, characterized in that, The fingers include the thumb, index finger, middle finger, ring finger, and little finger, and the joints include the metacarpophalangeal joints and the proximal interphalangeal joints near the metacarpophalangeal joints.

10. A rehabilitation glove with sensing and feedback capabilities according to claim 1, characterized in that, The joint bending sensing module is located at the web between the thumb and index finger on the back of the palm.

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