CN-116650285-B - Flexible hand rehabilitation exoskeleton and control method thereof

CN116650285BCN 116650285 BCN116650285 BCN 116650285BCN-116650285-B

Abstract

The invention provides a flexible hand rehabilitation exoskeleton and a control method thereof, the exoskeleton consists of a back hand shell, a four-finger abduction and adduction driving rope, a four-finger abduction limiting rope, a finger driving device, a thumb metacarpal internal and external rotation driver, a thumb abduction and adduction driver and the like. The external motor pulls the rope to pull the finger, so that the training of the four-finger abduction adduction action is realized, and the thumb multi-degree-of-freedom training can be realized by utilizing the thumb abduction adduction driver and the thumb metacarpal internal and external rotation driver. The invention has the advantages of compact structure, high integration level, portability, light weight, thumb multi-degree-of-freedom training and the like.

Inventors

TANG DEDONG
QI LINGZHI
SHEN CHENGCHENG
JIANG JINGANG
Shen Wenshuo
LV XIN

Assignees

哈尔滨理工大学

Dates

Publication Date: 20260508
Application Date: 20230620

Claims (2)

1. The flexible hand rehabilitation exoskeleton is characterized by comprising a finger driving device (1), a thumb metacarpal inward-outward rotation driver (2), a thumb abduction inward-retraction driver (3), a four-finger abduction inward-retraction driving rope (4), a four-finger abduction limiting rope (5), a dorsum manus shell (6), a dorsum manus shell shield (7), an elastic band (8), a rotating shaft connecting piece (9) and a thumb metacarpal dorsal shell (10); The hand back shell (6) is provided with a positioning small pulley (61), a four-finger air passage distribution plate (62) and a thumb air passage distribution plate (63), the finger driving device (1) is fixedly connected with the four-finger air passage distribution plate (62), one side of the thumb metacarpal inner and outer rotary driver (2) with an air passage interface is fixedly connected with the thumb air passage distribution plate (63), the other side of the thumb metacarpal inner and outer rotary driver is fixedly connected with a rotating shaft connecting piece (9), the rotating shaft connecting piece (9) is hinged with the thumb metacarpal shell (10), one side of the thumb abduction inner driver (3) with the air passage interface is fixedly connected with the thumb air passage distribution plate (63), the other side of the thumb abduction inner driver is fixedly connected with the thumb metacarpal shell (10), and the elastic band (8) is fixedly connected with the hand back shell (6), and the four-finger line cover plate (16) is semicircular in shape; The finger driving device (1) comprises a fingerstall (11), a limiting layer (12), a sensor layer (13), a four-finger bending and stretching driver (14), a thumb bending and stretching driver (15) and a four-finger line cover plate (16), wherein the sensor layer (13) comprises a fingertip force sensor (131) and a bending sensor (132), and the fingerstall (11), the limiting layer (12), the sensor layer (13) and the four-finger bending and stretching driver (14) are tightly attached and fixedly connected in sequence; the four-finger flexion and extension driver (14) comprises a distal bending section (141 a), a middle bending section (141 b), a proximal bending section (141 c), a four-finger air cavity (142), a distal connecting section (143 a) and a proximal connecting section (143 b); The thumb flexion-extension driver (15) comprises a thumb distal bending section (151 a), a thumb proximal bending section (151 b), a thumb air cavity (152) and an intermediate connecting section (153); The four-finger bending and stretching driver (14) and the thumb bending and stretching driver (15) are formed by casting, standing and molding by a die and silicon rubber; The four-finger line cover plate (16) is fixed on a proximal end connecting section (143 b) of the four-finger stretch driver (14), small round holes for tethers are formed in the left side and the right side of the four-finger line cover plate (16), and the first four-finger line cover plate (16 a), the second four-finger line cover plate (16 b), the third four-finger line cover plate (16 c) and the fourth four-finger line cover plate (16 d) are connected through four-finger abduction limiting ropes (5) respectively, and the four-finger abduction limiting ropes (5) are used for limiting the maximum angle of four-finger abduction; the first four-finger abduction drive wire rope (4 a) is connected with a round hole (16 a 1) on the left side of a first four-finger wire cover plate and sequentially bypasses a first positioning small pulley (61 a), a second positioning small pulley (61 b) and a third positioning small pulley (61 c), the second four-finger abduction drive wire rope (4 b) is connected with a round hole (16 d 2) on the right side of the fourth four-finger wire cover plate and sequentially bypasses a sixth positioning small pulley (61 f), a fifth positioning small pulley (61 e) and a fourth positioning small pulley (61 d), the tail ends of the first four-finger abduction drive wire rope (4 a) and the second four-finger abduction drive wire rope (4 b) are connected with an external motor shaft after being tied together, an external motor rotates positively to drive the first four-finger abduction drive wire rope (4 a) and the second four-finger abduction drive wire rope (4 b) to realize the abduction function of four fingers, the motor is powered off, the finger drive device (1) resets under the elastic action, realizing the adduction function of four fingers; The four-finger bending and stretching driver (14) is supplied with air, an air cavity (142) in the four-finger bending and stretching driver (14) is filled with air, a far-end bending section (141 a), a middle bending section (141 b) and a near-end bending section (141 c) are inflated and expanded, the corrugated structure is inflated and stretched, and the limiting layer (12) limits one side of the four-finger bending and stretching driver (14) close to a finger to axially stretch, so that the four-finger bending and stretching driver (14) generates bending and the shape accords with the bending shape of the four fingers, and four-finger air pipe interfaces (621) are supplied with air by adopting independent air sources, so that different actions of the four fingers can be realized through different air supply sequences.
2. A flexible hand rehabilitation exoskeleton as claimed in claim 1 wherein the thumb abduction adduction driver (3) is supplied with air, the thumb adduction driver (3) elongating to push the thumb metacarpal dorsal shell (10) to rotate clockwise around the thumb adduction axis (102) to perform the thumb abduction function; after the thumb abduction adduction driver (3) is subjected to air discharge and pressure relief, the thumb adduction driver is restored under the elastic action, and the thumb metacarpal back shell (10) is driven to rotate anticlockwise around the thumb abduction adduction rotating shaft (102) so as to realize the thumb adduction function; the thumb metacarpal inner and outer rotation driver (2) is supplied with air, one side of the corrugated structure of the thumb metacarpal inner and outer rotation driver is expanded and stretched, and the corrugated structure is expanded and stretched in a fan shape after being inflated, so that the thumb metacarpal back shell (10) is driven to bend downwards along a plane perpendicular to a palm, and the thumb metacarpal inner rotation function is realized; after the internal and external rotation driver (2) of the thumb metacarpal is subjected to air discharge and pressure relief, the state is restored under the elastic action, and the back shell (10) of the thumb metacarpal is driven to move along the plane perpendicular to the palm, so that the palm metacarpal half rotation function is realized; The thumb flexion and extension driver (15) is inflated to expand and bend to drive the thumb to flex, and after the thumb flexion and extension driver (15) is subjected to air discharge and pressure relief, the thumb is restored under the elastic action to drive the thumb to extend and reset; The thumb air pipe interface (101) is independently connected with an air source, and the thumb flexion and extension driver (15) is matched with the four-finger flexion and extension driver (14), so that different five-finger actions can be realized through different air supply sequences.

Description

Flexible hand rehabilitation exoskeleton and control method thereof Technical Field The invention belongs to the technical field of rehabilitation medical appliances, and particularly relates to a flexible hand rehabilitation exoskeleton and a control method thereof. Background World health organization estimates that millions of people suffer from stroke diseases each year, which cause hand dysfunction, which plays an important role in normal activities of daily living and severely affects the daily living of patients. The hand rehabilitation training can relieve the stiff state of the fingers, increase the flexibility degree of the joints of the fingers, promote blood circulation, recover the activity of the muscles of the fingers, and effectively promote the rehabilitation of the hand functions of a patient. Existing hand rehabilitation exoskeleton devices are mainly divided into two categories, namely rigid devices and flexible devices. The rigid device mainly comprises a rigid connecting rod mechanism, a gear rack mechanism and the like, and although the structure of the rigid device is perfect at present, accurate motion control can be performed, due to the complex structure and the rigid property, a patient is easy to feel uncomfortable when wearing the rigid device, a contradicting emotion is generated, and secondary injury to the patient is serious. The flexible device changes the pressure of the cavity inside the flexible driver mainly through the gas pressure, so that the flexible driver is bent, and the flexible device is formed by pouring and standing a mold and silicon rubber, and has the advantages of simplicity in manufacturing, low cost, safety, light weight and the like. However, most of the existing flexible hand rehabilitation exoskeletons have defects in common, such as 1) too few rehabilitation activity functions, only realization of flexion and extension of fingers, lack of training of abduction and adduction functions of five fingers, and 2) lack of training of multiple degrees of freedom of thumbs. Disclosure of Invention In order to solve the defects in the prior art, the invention provides the flexible hand rehabilitation exoskeleton and the control method thereof, wherein an external motor pulls a rope to pull the finger so as to train the abduction adduction function of the finger, a thumb abduction adduction driver drives the thumb so as to train the abduction function of the thumb, a thumb metacarpal bone internal and external rotation driver drives the thumb so as to train the internal and external rotation function of the thumb, and the multi-degree-of-freedom training of the thumb is realized. In order to achieve the above purpose, the present invention provides the following technical solutions: A flexible hand rehabilitation exoskeleton mainly comprises a finger driving device, a thumb metacarpal internal and external rotation driver, a thumb abduction and adduction driver, a four-finger abduction and adduction driving rope, a four-finger abduction limiting rope, a back shell shield, an elastic band, a rotating shaft connecting piece and a thumb metacarpal back shell. Preferably, the back of hand casing is equipped with location small pulley, four indicate gas circuit distribution board, thumb gas circuit distribution board, finger drive device links firmly with four indicate gas circuit distribution board, thumb metacarpal internal and external driver has air pipe interface one side and links firmly with thumb gas circuit distribution board, the opposite side links firmly with the pivot connecting piece, the pivot connecting piece is articulated with thumb metacarpal dorsal scale, thumb abduction driver has air pipe interface one side and links firmly with thumb gas circuit distribution board, the opposite side links firmly with thumb metacarpal dorsal scale, elastic band links firmly with back of the hand casing, four finger line apron has four, the shape is semi-circular. Preferably, the contact surface of the back shell and the back of the hand adopts a micro-curved surface design, which accords with the human engineering, and a user fixes the back shell on the back of the hand through an elastic band, fixes the metacarpal bone back shell of the thumb on the palm of the thumb, and fixes the fingertips in the fingerstall, thus completing the wearing of the hand rehabilitation exoskeleton. Preferably, the finger driving device comprises a finger sleeve, a limiting layer, a sensor layer, a four-finger bending and stretching driver, a thumb bending and stretching driver and a four-finger line cover plate, wherein the sensor layer comprises a fingertip force sensor and a bending sensor, and the finger sleeve, the limiting layer, the sensor layer and the four-finger bending and stretching driver are sequentially and tightly attached and fixedly connected. Preferably, the four-finger bending and stretching driver comprises a distal bending section, a middle bending section,