Tendon-driven rehabilitation glove and medical rehabilitation device

Abstract

The utility model discloses a tendon rope drive rehabilitation glove and medical rehabilitation equipment. Tendon rope drive rehabilitation glove includes glove body, drive mechanism and elastic reset spare. Glove body includes mutually connected palm cover and a plurality of finger cover, and the surface of finger cover is provided with openwork structure and curved avoidance groove, and the palm cover and finger cover are fixed with threading spare, and drive mechanism includes drive steering wheel and a plurality of tendon rope, and one end of every tendon rope is connected with drive steering wheel transmission, and the other end passes through threading spare and is connected with the transmission of the finger pulp side of finger cover, and elastic reset spare sets up in the back of finger of finger cover. The present application separates the actuator from the drive mechanism, reducing the volume and weight near the palm; the driving tendon rope is combined with the rehabilitation glove, so that each finger has an independent guide tendon rope and an elastic reset spare, the finger can bend with the tendon rope and stretch with the elastic reset spare; the main body of the rehabilitation glove is designed with an openwork, which is simple in structure, convenient to wear, comfortable to fit, and strong in air permeability.

Description

Technical Field

[0001] This utility model relates to the field of medical rehabilitation technology, specifically to a tendon cord driven rehabilitation glove and medical rehabilitation equipment. Background Technology

[0002] With the continuous development of rehabilitation medicine, rehabilitation gloves play an important role in assisting hand rehabilitation training.

[0003] However, most rehabilitation gloves currently on the market use traditional electromechanical direct drive or pneumatic drive methods, which have many drawbacks. First, due to the limitations of the drive method, the complex finger structure and limited range of motion adjustment make it difficult to meet the needs of hand movement amplitude at different stages of rehabilitation. Second, traditional rehabilitation gloves are bulky, bearing a large load on the palm and having high inertia, resulting in insufficient continuity and smoothness of movement, affecting the effectiveness of rehabilitation training. In addition, these gloves are large, have poor breathability, and are difficult and inconvenient to wear, causing many discomforts to patients.

[0004] Therefore, developing a rehabilitation glove that is simple in structure, has a wide range of motion adjustment, is lightweight, comfortable, and breathable is of great significance for improving the efficiency and quality of hand rehabilitation training. Utility Model Content

[0005] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a tendon rope driven rehabilitation glove and medical rehabilitation equipment to solve the technical problems of limited range of motion adjustment and bulky structure in the prior art.

[0006] To achieve the above-mentioned technical objectives, this application adopts the following technical solution: In one aspect, this application provides a chord-driven rehabilitation glove, including a glove body, a drive mechanism, and an elastic reset component.

[0007] The glove body includes interconnected palm sleeves and multiple finger sleeves. The surface of the finger sleeves has a hollow structure and a bending avoidance groove. The palm sleeves and finger sleeves are fixed with threading components for organizing the threads. The drive mechanism includes a drive servo and a plurality of tendon ropes, one end of each tendon rope being drivenly connected to the drive servo, and the other end passing through the threading member and being drivenly connected to the fingertip side of the finger sleeve. An elastic reset element is disposed on the back side of the finger sleeve.

[0008] In some embodiments of this application, the tendon cord includes multiple main tendon cords and multiple branch tendon cords. One end of each main tendon cord is connected to the drive servo motor, and the other end is connected to two branch tendon cords. Each finger sleeve has one branch tendon cord connected to each side of the finger pad sleeve.

[0009] In some embodiments of this application, the threading component includes a plurality of first guide rings, which are arranged at intervals along the length of the finger and are fixed to both sides of the finger pad of a single finger sleeve in two parallel columns. The number of first guide rings in a single column is not less than three, and each column of first guide rings is threaded through one branch tendon cord.

[0010] In some embodiments of this application, the threading member includes a plurality of second guide rings disposed on the palmar side of the hand sleeve, and each of the main tendon cords is threaded through one of the second guide rings and connected to two branch tendon cords of a single finger sleeve.

[0011] In some embodiments of this application, a locking buckle, a locking band, and a positioning shaft are also included. The locking buckle and the positioning shaft are disposed on the palm side of the hand sleeve. One end of the locking band is fixed to the edge of the hand sleeve, and the other end passes through the locking buckle to form an adjustable section. The adjustable section has a plurality of through holes arranged at intervals, and the positioning shaft is embedded in the through holes.

[0012] In some embodiments of this application, the elastic reset member includes a plurality of straight elastic cords, each of the straight elastic cords being detachably connected to the back side of one of the finger sleeves.

[0013] In some embodiments of this application, the bending clearance groove is in the form of a diamond-shaped grid and is distributed at the joint of the finger sleeve.

[0014] In some embodiments of this application, a tactile sensor is also included, which is built into the fingertip sleeve of the finger sleeve.

[0015] In some embodiments of this application, a control module is also included, which is connected to the tactile sensor and the drive servo signal, respectively.

[0016] Secondly, this application also provides a medical rehabilitation device, including a tendon-driven rehabilitation glove as described in any embodiment of the first aspect.

[0017] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: This application reduces the volume and weight near the palm by separating the actuator from the drive mechanism, specifically separating the five-finger drive servo motor from the rehabilitation glove; the design cleverly combines the drive tendon cord with the rehabilitation glove, so that each finger has an independent guide tendon cord and elastic reset component, and the finger can bend with the tendon cord and extend with the elastic reset component; the main body of the rehabilitation glove adopts a hollow design, which is simple in structure, easy to wear, comfortable to fit, and highly breathable. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the embodiments will be briefly described below: Figure 1 This is a schematic diagram of the palmar side of a tendon cord driven rehabilitation glove in an embodiment of this application; Figure 2 This is a schematic diagram of the palmar side of a tendon cord driven rehabilitation glove in an embodiment of this application.

[0019] Figure label: 1. Glove body; 2. Elastic reset component; 3. Tendon rope; 11. Palm sleeve, 12. Finger sleeve, 12a. First guide ring, 13. Second guide ring, 14. Third guide ring, 15. Locking buckle, 16. Locking band, 17. Positioning shaft, 18. Finger pull point, 19. Tensioning ring, 10. Main tendon cord 31, branch tendon cord 32. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] Those skilled in the art will understand that, in this specification, the term "comprising" is an open-ended expression, meaning that the stated feature is present but other features are excluded. Directional terms such as "upper," "lower," "left," and "right" refer to exemplary directions based on the accompanying drawings. Features specified as "first" or "second" implicitly include one or more of that feature. Singular expressions can also be used in plural forms. "Multiple" means two or more. The terms "installed," "connected," and "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection via an intermediate medium, and it can be a connection within two components. Furthermore, "linked" can include wireless connections.

[0022] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a tendon cord 3-drive rehabilitation glove and medical rehabilitation equipment to solve the technical problems of limited range of motion adjustment and bulky structure in the prior art.

[0023] To achieve the above-mentioned technical objectives, this application adopts the following technical solution: like Figures 1-2 As shown. In a first aspect, this application provides a tendon cord 3-driven rehabilitation glove, including a glove body 1, a driving mechanism, and an elastic reset member 2.

[0024] The glove body 1 includes interconnected palm sleeves 11 and multiple finger sleeves 12. The surface of each finger sleeve 12 has a perforated structure and bending relief grooves. A threading device is fixed to the palm sleeve 11 and the finger sleeves 12. The perforated structure and bending relief grooves on the finger sleeves 12 reduce weight and increase breathability, while also preventing excessive wrinkles or obstruction in the glove material when the fingers bend, thus making movement smoother. The threading device ensures that the tendon cord 3 can accurately and stably pull the fingertips.

[0025] The drive mechanism includes a drive servo and multiple tendon ropes 3. One end of each tendon rope 3 is connected to the drive servo, and the other end passes through the cable threader and is connected to the fingertip side of the finger sleeve 12. The core of the drive mechanism is the drive servo, which is modularly arranged inside the power backpack. When the servo rotates, the power is transmitted through the tendon ropes 3 wrapped around it.

[0026] The elastic reset element 2 is located on the back side of the finger sleeve 12. When the servo motor rotates to tighten the corresponding tendon cord 3, the tendon cord 3 pulls the fingertip side of the finger sleeve 12, overcoming the resistance of the elastic reset element 2, causing the finger to bend towards the palm. When the servo motor relaxes or rotates in the opposite direction to release the tendon cord 3, the elastic reset element 2 located on the back side of the finger sleeve 12 generates an outward elastic force, pushing the finger sleeve 12 back to its straight state. Each finger typically has an independent tendon cord 3 and servo motor, enabling independent or coordinated movement of each finger.

[0027] This application reduces the volume and weight near the palm by separating the actuator from the drive mechanism, specifically separating the five-finger drive servo motor from the rehabilitation glove; the design cleverly combines the drive tendon cord 3 with the rehabilitation glove, so that each finger has an independent guide tendon cord 3 and elastic reset component, and the finger can bend with the tendon cord 3 and extend with the elastic reset component; the main body of the rehabilitation glove adopts a hollow design, which is simple in structure, easy to wear, comfortable to fit, and highly breathable.

[0028] In some embodiments of this application, the tendon cord 3 includes a plurality of main tendon cords 31 and a plurality of branch tendon cords 32. One end of each main tendon cord 31 is connected to the drive servo motor, and the other end is connected to two branch tendon cords 32. Each finger sleeve 12 has one branch tendon cord 32 connected to each side of the finger pad sleeve 12a.

[0029] The drive servo rotates to tighten the main tendon cord 31, transmitting force to the two branch tendon cords 32 connected to it. These two branch tendon cords 32 pull on both sides of the finger pad of the same finger sleeve 12, causing the finger to bend towards the palm. The elastic return member 2 on the back of the finger pushes the finger back to the straight position when the tendon cord 3 relaxes.

[0030] The branch tendon cord 32 pulls the fingertips simultaneously from both sides, making the bending force distribution more even, reducing single-point stress, and bringing a more natural and comfortable bending experience. The trunk-branch structure simplifies the wiring of the tendon cord 3 from the servo to the glove.

[0031] In some embodiments of this application, the threading component includes a plurality of first guide rings 13, which are arranged at intervals along the length of the finger and are fixed in two parallel columns to both sides of the finger pad sleeve 12a of a single finger sleeve 12. There are no fewer than three first guide rings 13 in a single column, and each column of first guide rings 13 is threaded through one branch tendon cord 32.

[0032] The drive servo is located in the power backpack, tightening the corresponding tendon cord 3. The tendon cord 3 originates from the backpack, passes through a guide ring at the palm, and is precisely guided along the guide ring array (at least three on each side) on both sides of the finger pad 12, finally reaching the fixing point of the finger pad sleeve 12a. The guide rings restrict the movement trajectory of the tendon cord 3, ensuring accurate and smooth transmission of force to the finger pad, causing the finger to bend. The elastic reset element 2 straightens the finger when the tendon cord 3 relaxes.

[0033] The array design of the guide rings provides a clear path for the tendon cord 3, reducing its swaying or friction during movement and improving the accuracy and stability of the drive. The tendon cord 3 travels along the fixed guide rings, making the internal structure of the finger sleeve 12 clear and facilitating assembly and maintenance. Centralizing the drive servo motor in the external backpack significantly reduces the weight and volume of the glove itself, lowers the load on the palm and reduces inertia, improving wearing comfort and movement flexibility.

[0034] In some embodiments of this application, the threading component includes a plurality of second guide rings 14, which are disposed on the palmar side of the hand sleeve 11. Each main tendon cord 31 is threaded through one of the second guide rings 14 and is respectively connected to two branch tendon cords 32 of a single finger sleeve 12.

[0035] The drive servo tightens the main tendon cord 31, which passes through the second guide ring 14 fixed to the palm side of the hand sleeve 11, and then forks at this point, connecting to the branch tendon cords 32 on both sides of the corresponding finger sleeves 12. The second guide ring 14 ensures a stable path for the main tendon cord 31 in the palm. When the main cord tightens, the branch tendon cords 32 on both sides are pulled synchronously, causing the fingers to bend.

[0036] By concentrating the tendon cords 3 from multiple fingers (via the main pathway) at the palm and passing them through a guide loop, the number and clutter of tendon cord 3 exits on the palm sleeve 11 are reduced, resulting in a cleaner structure. Merging the tendon cords 3 at the palm simplifies the connection structure between the main pathway tendon cords 31 and the branch pathway tendon cords 32. The second guide loop 14 on the palmar side provides additional support and guidance for the main pathway tendon cords 31, helping to maintain tension and reduce slack or shifting during movement.

[0037] The threading component includes a third guide ring 15, which is located on the fingertip side of the thumb and through which a tendon cord 3 is threaded.

[0038] In some embodiments of this application, a locking buckle 16, a locking band 17, and a positioning shaft 18 are also included. The locking buckle 16 and the positioning shaft 18 are disposed on the palm side of the palm sleeve 11. One end of the locking band 17 is fixed to the edge of the palm sleeve 11, and the other end passes through the locking buckle 16 to form an adjustable section. The adjustable section has a plurality of through holes arranged at intervals, and the positioning shaft 18 is embedded in the through holes.

[0039] The user can adjust the length by pulling the locking strap 17 through the locking buckle 16. The adjustable section on the locking strap 17 has multiple through holes. By inserting the positioning shaft 18 into the through holes at different positions, the locking strap 17 can be fixed at the desired length, thereby adjusting the tightness of the glove on the palm.

[0040] This provides a simple, quick, and reliable way to adjust the glove's fit to suit different users or the same user in different activity states. The locking position is very secure thanks to the engagement of the positioning shaft 18 and the through-hole, preventing it from easily coming loose during exercise. This ensures the glove fits snugly against the palm, preventing slippage, providing better support and stability, and enhancing the effectiveness and comfort of rehabilitation training.

[0041] In some embodiments of this application, the elastic reset member 2 includes a plurality of straight elastic cords, each of the straight elastic cords being detachably connected to the back of the finger of one of the finger sleeves 12.

[0042] The extension elastic cord is fixed to the back of the finger of the finger sleeve 12, with one end connected to the finger pull point 19 and the other end connected to the tension ring 10. When the drive tendon cord 3 is relaxed, the elastic cord is stretched, generating an outward pulling force to pull the bent finger back to a straight position. The elastic cord and the finger sleeve 12 are detachably connected, making it easy to replace elastic cords with different tension levels.

[0043] Depending on the specific degree of muscle atrophy in the patient's hand, different elastic bands with varying tension (pounds) can be used to achieve personalized adjustment of the repositioning force. As rehabilitation progresses, stronger elastic bands can be gradually replaced, or the range of flexion and extension can be adjusted with the assistance of a drive mechanism to meet the needs of different rehabilitation stages. Ensuring that the fingers can naturally straighten when not driven helps maintain hand function and prevent joint contractures. The detachable design makes changing and adjusting the elastic bands very convenient, facilitating timely adjustments based on rehabilitation progress.

[0044] In some embodiments of this application, the bending avoidance groove is in the form of a diamond grid and is distributed at the joint of the finger sleeve 12.

[0045] When the tendon chord 3 pulls the finger to bend, the back of the finger sleeve 12, mainly at the joint, is subjected to inward compression. The diamond-shaped mesh relief groove design allows the material of the finger sleeve 12 to undergo localized, controlled deformation in these areas, preventing excessive internal resistance when the finger bends.

[0046] The clearance grooves effectively reduce the material's resistance to bending, allowing fingers to bend more naturally and fully, with a greater range of motion than traditional gloves. The material deformation at the joints better conforms to the natural bending shape of human fingers, reducing stiffness and discomfort during wear and improving finger dexterity. The greater range of motion and more natural bending trajectory facilitate more complex, multi-degree-of-freedom hand movements, particularly enhancing the ability to assist with fine motor tasks.

[0047] In some embodiments of this application, a tactile sensor is also included, which is built into the finger pad sleeve 12a of the finger sleeve.

[0048] Tactile sensors are embedded inside the fingertip sleeve 12a to detect pressure or contact information generated when the finger contacts an object. These sensors transmit the detected signals to the control module. After receiving the signals, the control module can analyze the current contact state (such as grip strength, contact position, etc.) according to a preset program or algorithm, and send commands to the drive servo motor to adjust the tension of the tendon rope 3, thereby controlling the grip strength of the finger or making corresponding action feedback.

[0049] In some embodiments of this application, a control module is also included, which is connected to the tactile sensor and the drive servo signal, respectively.

[0050] Enabling rehabilitation gloves to sense the external environment and simulate realistic tactile feedback from the human hand is crucial for tasks such as grasping and manipulation. The control module can adjust the output of the drive motor in real time based on feedback from the tactile sensors, achieving more precise and intelligent control. Interactions that more closely resemble real hand functions provide richer sensory information and more realistic task simulations, helping to improve the targeting and effectiveness of rehabilitation training, especially in restoring fine motor skills and strength control. The addition of the control module transforms the glove from a simple passive assistive tool into an intelligent device with a certain degree of perception and decision-making capabilities.

[0051] Secondly, this application also provides a medical rehabilitation device, including a tendon cord 3 driven rehabilitation glove as described in any embodiment of the first aspect.

[0052] The glove's main body is made of soft silicone and molded in one piece using 3D printing technology. This process allows for precise fabrication based on scanned data of the user's hand, ensuring a perfect fit. Its structural design incorporates numerous openwork areas, reducing material usage and creating a clean, minimalist appearance.

[0053] 3D printing combined with hand scanning can create gloves that perfectly fit an individual's hand shape, improving comfort and functionality. The soft and elastic silicone, combined with a perforated design, significantly reduces the glove's weight while improving breathability, making it more comfortable to wear and less likely to cause stuffiness. The one-piece 3D printing process simplifies the production process, increases manufacturing efficiency, and facilitates modifications or remaking as needed.

[0054] The advantage of separating the drive motor from the glove body 1, combined with the tendon cord 3 drive, not only achieves precise hand operation control, but also enables personalized and phased adjustment of flexion and extension range by equipping each finger with an independent guide tendon cord 3 and a straightening elastic cord, solving the problem of limited adjustment range in traditional gloves. Secondly, the simplicity of the manufacturing process makes customization and subsequent adjustments based on the patient's hand shape feasible, and the lightweight and soft material greatly improves wearing comfort and patient acceptance. Ultimately, this design, combining flexible drive, adjustable structure, customized production, and comfortable experience, aims to effectively improve the quality and effectiveness of hand rehabilitation training.

[0055] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: This application reduces the volume and weight near the palm by separating the actuator from the drive mechanism, specifically separating the five-finger drive servo motor from the rehabilitation glove; the design cleverly combines the drive tendon cord 3 with the rehabilitation glove, so that each finger has an independent guide tendon cord 3 and elastic reset component, and the finger can bend with the tendon cord 3 and extend with the elastic reset component; the main body of the rehabilitation glove adopts a hollow design, which is simple in structure, easy to wear, comfortable to fit, and highly breathable.

[0056] Those skilled in the art will understand that the steps, measures, and schemes in the various operations, methods, processes, and procedures discussed in this application can be alternated, modified, rearranged, decomposed, combined, or deleted.

[0057] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of the claims of this application.

Claims

1. A tendon-driven rehabilitation glove, characterized in that, include: The glove body includes interconnected palm sleeves and multiple finger sleeves. The surface of the finger sleeves has a hollow structure and a bending avoidance groove. The palm sleeves and finger sleeves are fixed with threading components for organizing the threads. The drive mechanism includes a drive servo and a plurality of tendon ropes, one end of each tendon rope being drivenly connected to the drive servo, and the other end passing through the threading member and being drivenly connected to the fingertip side of the finger sleeve. An elastic reset element is disposed on the back side of the finger sleeve.

2. The tendon-driven rehabilitation glove according to claim 1, characterized in that, The tendon cord includes multiple main tendon cords and multiple branch tendon cords. One end of each main tendon cord is connected to the drive servo motor, and the other end is connected to two branch tendon cords. Each finger sleeve has one branch tendon cord connected to each side of the finger pad sleeve.

3. The tendon-driven rehabilitation glove according to claim 2, characterized in that, The threading component includes multiple first guide rings, which are arranged at intervals along the length of the finger and are fixed to both sides of the finger pad of a single finger sleeve in two parallel columns. Each column of first guide rings has no fewer than three first guide rings, and each column of first guide rings is threaded through one branch tendon cord.

4. The tendon-driven rehabilitation glove according to claim 2, characterized in that, The threading component includes multiple second guide rings, which are disposed on the palmar side of the hand sleeve. Each main tendon cord is threaded through one of the second guide rings and is respectively connected to two branch tendon cords of a single finger sleeve.

5. The tendon-driven rehabilitation glove according to claim 1, characterized in that, It also includes a locking buckle, a locking band, and a positioning shaft. The locking buckle and the positioning shaft are located on the palm side of the hand sleeve. One end of the locking band is fixed to the edge of the hand sleeve, and the other end passes through the locking buckle to form an adjustable section. The adjustable section has multiple through holes arranged at intervals, and the positioning shaft is embedded in the through holes.

6. The tendon chord-driven rehabilitation glove according to claim 1, characterized in that, The elastic reset element includes a plurality of straightening elastic cords, each of which is detachably connected to the back of the finger of one of the finger sleeves.

7. The tendon-driven rehabilitation glove according to claim 1, characterized in that, The bending clearance grooves are in the form of a diamond grid and are distributed at the joints of the finger sleeve.

8. The tendon-driven rehabilitation glove according to claim 1, characterized in that, It also includes a tactile sensor, which is built into the fingertip sleeve of the finger sleeve.

9. The tendon-driven rehabilitation glove according to claim 8, characterized in that, It also includes a control module, which is connected to the tactile sensor and the drive servo signal respectively.

10. A medical rehabilitation device, characterized in that, Including the tendon cord driven rehabilitation glove as described in any one of claims 1 to 9.

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