CN109938963A - Wearable hand mechanical exoskeleton with assisted grasping and rehabilitation training functions - Google Patents

Abstract

A wearable hand mechanical exoskeleton with functions of assisted grasping and rehabilitation training belongs to the technical field of medical rehabilitation equipment. The invention includes a flexible connection arm ring and a hand support, the hand support includes a palm skeleton, a thumb skeleton rotatably connected to the palm skeleton, and the remaining four-finger skeletons, and the four-finger skeletons all include three phalanges that are rotatably connected; the four-finger skeleton and A torsion spring is provided at the rotational connection of the palm skeleton and the rotational connection between the adjacent phalanges; a rotating shaft frame is arranged on one side of the palm skeleton, and the rotating shaft frame is provided with a rotating shaft parallel to the palm skeleton, and the thumb frame is rotatably connected to the rotating shaft A gear steering gear and a pulling rope steering gear are arranged above the palm skeleton, and the pulling rope steering gear is connected to the four-finger frame through a pulling rope; a driving gear is arranged at the output end of the gear steering gear, and a driven gear is arranged on the rotating shaft. The invention has the advantages of simple and portable structure, low cost and high transmission efficiency, and can effectively promote the rehabilitation of hand joints of the disabled elderly.

Description

Wearable hand mechanical exoskeleton with assisted grasping and rehabilitation training functions

technical field

The invention relates to the technical field of medical rehabilitation equipment, in particular to a wearable hand mechanical exoskeleton with functions of assisting grasping and rehabilitation training.

Background technique

At present, there are more than 8 million patients with senile diseases such as stroke in my country alone, and the disability rate reaches 75%. In China, the mortality rate of stroke patients is about 30%, and the disability rate of the remaining survivors is as high as 70%. This means that there are a large number of elderly people with some degree of disability, and 38% of these disabled patients suffer from hand function disabilities.

The main symptoms of hemiplegia of the hand are: (1) weakness of specific muscles; (2) muscle tension or abnormal muscle tone (spasticity); (3) decreased exercise capacity: (4) abnormal muscle coordination: (5) Loss of joint coordination; (6) decreased range of motion; (7) decreased independence of fingers; (8) sustained hand clenching.

The fundamental cause of disability in stroke is not the damage to the limb itself, but the damage to the human central nervous system, which prevents effective control of limb movement, and eventually forms hemiplegia. Therefore, for this type of disability, it is necessary to transmit the required movement signals to the hands through external intervention.

The main types of joints in the human hand are synovial joints. According to the shape of the articular surface, the joints can be classified into saddle joints, articulated joints and ankle joints. The ankle joint can be abducted/internalized in the coronal plane. The saddle joint can perform adduction/abduction movement in the coronal plane and flexion/extension movement in the sagittal plane, that is, there are also 2 degrees of freedom of movement; obviously, there is only 1 degree of freedom of movement for flexion/extension movements in the sagittal plane.

Rehabilitation facilities are still relatively scarce in the market, and most of the medical equipment for rehabilitation are relatively expensive. There is a lack of a simple and cost-effective facility that can assist in grasping and help the elderly to complete rehabilitation training and exercise hand muscles.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the above-mentioned problems in the prior art, and provide a wearable hand mechanical exoskeleton with auxiliary grasping and rehabilitation training functions, which has a simple and lightweight structure, low cost, high transmission efficiency, and can effectively promote Rehabilitation of hand joints in the handicapped elderly.

The purpose of this invention is to realize through the following technical solutions:

A wearable hand mechanical exoskeleton with functions of assisting grasping and rehabilitation training, including a flexibly connected arm ring and a hand support, the hand support including a palm skeleton, a thumb skeleton rotatably connected to the palm skeleton, an index finger skeleton , middle finger skeleton, ring finger skeleton, little finger skeleton;

The index finger skeleton, the middle finger skeleton, the ring finger skeleton and the little finger skeleton all include three phalanges that are rotationally connected; There are torsion springs at the rotational connections between them;

A rotating shaft frame is arranged on one side of the palm skeleton, a rotating shaft parallel to the palm frame is arranged on the rotating shaft frame, and the thumb frame is rotatably connected to the rotating shaft;

A gear steering gear and at least one pulling rope steering gear are arranged above the palm skeleton, the output end of the pulling rope steering gear is provided with a winding coil, and each of the phalanges is connected to the winding coil through a pulling rope; the gear steering gear The output end of the machine is provided with a driving gear, the rotating shaft is provided with a driven gear, and the driving gear is engaged with the driven gear.

The index finger skeleton, the middle finger skeleton, the ring finger skeleton and the little finger skeleton of the present invention can continue to be in a bending and gripping state under the action of the torsion spring, and can cooperate with the thumb skeleton to assist in grasping things. In addition, driven by the pull-rope steering gear, the pull-rope drives each finger frame to perform retraction and retraction movements, so as to continuously open, close, straighten, and bend the user's hand, thereby achieving the effect of rehabilitation training. Of course, the whole device can be powered by installing batteries, or by directly connecting the power supply, and there is a controller inside the device to control the start and stop of the steering gear.

Preferably in the present invention, there are two pull-rope steering gears, one of which is connected to the index finger frame and the middle finger frame by a wire, and the other is connected to the ring finger frame by a wire. and little finger skeleton. The design can effectively reduce the working pressure of each pull-rope steering gear, thereby improving the stability of operation.

Preferably in the present invention, elastic fasteners are provided under the phalanges. The elastic fasteners can generally be rubber bands, which are used to fix the fingers and the phalanges of the human body.

Preferably in the present invention, a control board is provided in the arm ring, the control board is electrically connected to the gear steering gear and the pull rope steering gear, and operation buttons are provided on the arm ring and the thumb frame, The operation button is electrically connected to the control board. The setting position of the operation button provides the user with more operation options and operation convenience.

Preferably in the present invention, a display screen is provided on the arm ring, and the display screen is electrically connected to the control board. The display screen can display information such as power and working time to facilitate the use of the user.

Preferably in the present invention, a heat dissipation port is provided on the palm skeleton. The heat dissipation port avoids sweating caused by using the device for a long time.

Preferably in the present invention, the underside of the phalanx has an arc-shaped fitting surface. The structure is ergonomic and can improve the comfort of use.

Preferably in the present invention, an elastic layer is provided on the underside of the phalanx. The elastic layer is generally made of rubber to further improve the comfort of use.

Preferably in the present invention, a telescopic opening is provided on one side of the arm ring. The expansion port improves the wearing range of the arm ring, for example, in the case of adding or removing clothes, it can still be effectively worn and fixed.

The invention has the advantages of simple and light structure, low cost, high transmission efficiency, and can effectively promote the rehabilitation of hand joints of the disabled elderly.

Description of drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Example 1

A wearable mechanical hand exoskeleton with functions of assisted grasping and rehabilitation training, including a flexibly connected arm ring 1 and a hand support, the hand support including a palm skeleton 21 and a thumb skeleton rotatably connected to the palm skeleton 21 22. The index finger skeleton 23, the middle finger skeleton 24, the ring finger skeleton 25, the little finger skeleton 26; the index finger skeleton 23, the middle finger skeleton 24, the ring finger skeleton 25 and the little finger skeleton 26 all include three phalanges 201 connected by rotation; the index finger skeleton 23 , the middle finger skeleton 24, the ring finger skeleton 25 and the little finger skeleton 26 are provided with torsion springs at the rotational connections between the palm skeleton 22 and the adjacent phalanges 201; one side of the palm skeleton 21 is provided with a torsion spring. There is a rotating shaft frame 3, on which is provided a rotating shaft 4 parallel to the palm skeleton 21, the thumb frame 22 is rotatably connected to the rotating shaft 4; a gear steering gear 5 is arranged above the palm skeleton 21 and at least one pull rope steering gear 6, the output end of the pull rope steering gear 6 is provided with a coil 61, and each of the phalanx 201 is connected to the coil coil 61 through a pull rope; the output end of the gear steering gear 5 is provided with The driving gear 51 is provided with a driven gear 41 on the rotating shaft 4 , and the driving gear 51 is engaged with the driven gear 41 .

The index finger skeleton, the middle finger skeleton, the ring finger skeleton and the little finger skeleton of the present invention can continue to be in a bending and gripping state under the action of the torsion spring, and can cooperate with the thumb skeleton to assist in grasping things. In addition, driven by the pull-rope steering gear, the pull-rope drives each finger frame to perform retraction and retraction movements, so as to continuously open, close, straighten, and bend the user's hand, thereby achieving the effect of rehabilitation training. Of course, the whole device can be powered by installing batteries, or by directly connecting the power supply, and there is a controller inside the device to control the start and stop of the steering gear.

Example 2

On the basis of Example 1, there are two pull-rope steering gears 6 , one of which is the rope-pull steering gear 6 connected to the index finger frame 23 and the middle finger frame 24 by means of a rope, and the other of the pull-rope servos 6 The ring finger skeleton 25 and the little finger skeleton 26 are connected by a pull cord. The design can effectively reduce the working pressure of each pull-rope steering gear, thereby improving the stability of operation.

In addition, the arm ring 1 is provided with a control board, the control board is electrically connected to the gear steering gear 5 and the pull rope steering gear 6, and the arm ring 1 and the thumb frame 22 are provided with operation button, the operation button is electrically connected to the control board. The control board adopts a Raspberry Pi control board in this embodiment, and the setting positions of the operation buttons provide the user with more operation options and operation convenience. Meanwhile, the arm ring 1 is provided with a display screen, and the display screen is electrically connected to the control board. The display screen can display information such as power and working time to facilitate the use of the user.

As a structural optimization, the palm skeleton 21 is provided with a heat dissipation port 211 . The heat dissipation port avoids sweating caused by using the device for a long time. An elastic fastener is provided below the phalanx 201 . The elastic fasteners can generally be rubber bands, which are used to fix the fingers and the phalanges of the human body. The underside of the phalanx 201 has an arc-shaped fitting surface. The structure is ergonomic and can improve the comfort of use. The underside of the phalanx 201 is provided with an elastic layer. The elastic layer is generally made of rubber to further improve the comfort of use. One side of the arm ring 1 is provided with a telescopic opening 11 . The expansion port improves the wearing range of the arm ring, for example, in the case of adding or removing clothes, it can still be effectively worn and fixed.

The working modes of the present invention include but are not limited to the following modes:

In the auxiliary grip mode, first control the gear servo to work, so that the thumb skeleton rotates to the bottom of the other four-finger skeleton to form a grasping posture; When tensioned, the four-finger skeleton is in a horizontal state; as the tension decreases, and under the action of the restoring force of the torsion spring, the four-finger skeleton gradually returns to a curved state, so as to cooperate with the thumb skeleton to grasp objects.

In the passive rehabilitation training mode, first control the gear servo to work, so that the thumb skeleton rotates outward to the side of the palm skeleton, so as to avoid the influence of the thumb skeleton on the bending amplitude of the other four fingers; Adjusted to an appropriate rotation range and rotation speed, the pull rope servo pulls in and releases the pull rope, and under the action of the restoring force of the torsion spring, completes the traction of the user's four fingers to achieve continuous tension, straightening, Bend, so as to achieve the effect of rehabilitation training.

The above is only a preferred specific embodiment of the present invention, which is an implementation based on the overall concept of the present invention, and the protection scope of the present invention is not limited to this. Anyone familiar with the technical field Changes or substitutions that can be easily conceived by a skilled person within the technical scope disclosed by the present invention shall be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (9)

1. A wearable hand mechanical exoskeleton with auxiliary grasping and rehabilitation training functions, including a flexible connection arm ring and a hand support, wherein the hand support includes a palm skeleton, which is rotatably connected to the palm skeleton. The thumb skeleton, index finger skeleton, middle finger skeleton, ring finger skeleton, little finger skeleton; The index finger skeleton, the middle finger skeleton, the ring finger skeleton and the little finger skeleton all include three phalanges that are rotationally connected; There are torsion springs at the rotational connections between them; A rotating shaft frame is arranged on one side of the palm skeleton, a rotating shaft parallel to the palm frame is arranged on the rotating shaft frame, and the thumb frame is rotatably connected to the rotating shaft; A gear steering gear and at least one pulling rope steering gear are arranged above the palm skeleton, the output end of the pulling rope steering gear is provided with a winding coil, and each of the phalanges is connected to the winding coil through a pulling rope; the gear steering gear The output end of the machine is provided with a driving gear, the rotating shaft is provided with a driven gear, and the driving gear is engaged with the driven gear. 2 . The wearable hand mechanical exoskeleton with functions of assisting grasping and rehabilitation training according to claim 1 , wherein there are two pull-rope steering gears, and one of the pull-rope steering gears passes through the pulling rope. 3 . The index finger frame and the middle finger frame are connected, and the other said pull-rope steering gear is connected to the ring finger frame and the little finger frame through a pull-rope. 3 . The wearable hand mechanical exoskeleton with functions of assisting grasping and rehabilitation training according to claim 1 , wherein elastic fasteners are provided under the phalanges. 4 . 4 . The wearable mechanical hand exoskeleton with functions of assisting grasping and rehabilitation training according to claim 1 , wherein a control board is arranged in the arm ring, and the control board is electrically connected to the gear. 5 . For the steering gear and the pull-rope steering gear, operation buttons are provided on the arm ring and the thumb frame, and the operation buttons are electrically connected to the control board. 5 . The wearable mechanical hand exoskeleton with functions of assisted grasping and rehabilitation training according to claim 4 , wherein a display screen is provided on the arm ring, and the display screen is electrically connected to the control panel. 6 . plate. 6 . The wearable hand mechanical exoskeleton with functions of assisting grasping and rehabilitation training according to claim 1 , wherein the palm skeleton is provided with a heat dissipation port. 7 . 7 . The wearable hand mechanical exoskeleton with functions of assisting grasping and rehabilitation training according to claim 1 , wherein the underside of the phalanx has an arc-shaped fitting surface. 8 . 8 . The wearable hand mechanical exoskeleton with functions of assisting grasping and rehabilitation training according to claim 1 , wherein an elastic layer is provided on the lower side of the phalanx. 9 . 9 . The wearable hand mechanical exoskeleton with functions of assisting grasping and rehabilitation training according to claim 1 , wherein a telescopic opening is provided on one side of the arm ring. 10 .