CN-121971274-A - Pneumatic artificial muscle driven soft rehabilitation glove

CN121971274ACN 121971274 ACN121971274 ACN 121971274ACN-121971274-A

Abstract

The invention discloses a pneumatic artificial muscle driven soft rehabilitation glove, which belongs to the technical field of rehabilitation medical instruments and comprises a glove, a driving assembly and an air channel conversion base, wherein the glove comprises a fingerstall, a phalange sleeve and a palm sleeve, one end of an extending tendon rope positioned at the back side of a hand is connected with the fingerstall, the phalange sleeve and the palm sleeve, the other end of the extending tendon rope positioned at the palm side is connected with one group of driving assemblies, one end of a bending tendon rope positioned at the palm side is also connected with the fingerstall, the phalange sleeve and the palm sleeve, the other end of the bending tendon rope positioned at the palm side is also connected with the other group of driving assemblies, the two groups of driving assemblies are respectively connected with one group of air channel conversion base, the two groups of air channel conversion bases are connected through a binding belt buckle, and the two groups of air channel conversion bases are sleeved and locked at the arm position of a human body. The invention can solve the technical problems of high structural rigidity, poor wearing comfort, high maintenance cost caused by an integrated structure, movement antagonism and limited joint movement caused by lack of passive ductility of artificial muscles and the like of the existing rehabilitation glove.

Inventors

PENG YANHONG
JIANG YANG
ZUO ZIHAO
JIANG HONG
DING JUN
HUANG XIA

Assignees

重庆理工大学

Dates

Publication Date: 20260505
Application Date: 20260331

Claims (10)

1. The pneumatic artificial muscle driven soft rehabilitation glove is characterized by comprising a glove, a driving assembly and an air path conversion base, wherein the glove comprises a fingerstall, a phalangeal sleeve and a palm sleeve which are connected together in a clamping way, one end of an extending tendon rope positioned at the back side of a hand is connected with the fingerstall, the phalangeal sleeve and the palm sleeve, and the other end of the extending tendon rope positioned at the back side of the hand is connected with a group of driving assemblies; One end of the bending tendon rope positioned on the palm side is also connected with the fingerstall, the phalangeal sleeve and the palm sleeve, the other end of the bending tendon rope positioned on the palm side is connected with the other group of driving components, the two groups of driving components are respectively connected with one group of air passage conversion bases, the two groups of air passage conversion bases are connected through binding belts in a buckling manner, and the two groups of air passage conversion bases are sleeved and locked at the arm position of a human body.
2. The pneumatic artificial muscle driven soft rehabilitation glove according to claim 1, wherein four tendon rope guide holes are formed in the side end portion of the fingerstall, the four tendon rope guide holes are located at four corners of the side end portion of the fingerstall respectively, two tendon rope guide holes located above are connected with stretching tendon ropes, two tendon rope guide holes located below are connected with bending tendon ropes, and square locating blocks are arranged inside the fingerstall.
3. The pneumatic artificial muscle driven soft rehabilitation glove according to claim 2, wherein the finger-bone sleeve comprises a body, a limiting hole is formed in the front end of the body, the limiting hole is sleeved on a square positioning block and clamped together, a plurality of limiting support legs are uniformly fixed on two sides of the body, tendon rope wiring holes are formed in the top ends and the bottom ends of the limiting support legs, a sub-buckle is arranged at the rear end of the body, and a plurality of elliptical holes are formed in the wall of the body.
4. The pneumatic artificial muscle driven soft rehabilitation glove according to claim 3, wherein a female buckle is arranged at the front end of the palm sleeve and positioned at the five-finger position of the human body, and the phalangeal sleeve is connected with the palm sleeve through the snap of the male buckle and the female buckle in the button; the palm stretching tendon rope channel is arranged on the back side of the palm sleeve, the palm bending tendon rope channel is arranged on the palm side of the palm sleeve, and the palm stretching tendon rope channel and the palm bending tendon rope channel are consistent with the trend of the five fingers of a human body; the glove fixing belts and the matched buckles are arranged on the side faces of the palm sleeves, so that the palm sleeves can be conveniently worn on the palm.
5. The pneumatic artificial muscle driven soft rehabilitation glove according to claim 4, wherein the driving component comprises a lockwire buckle, elastic fibers and a lockwire connecting piece, one end of the stretching tendon rope positioned at the back side of the hand passes through the palm stretching tendon rope channel and the tendon rope wiring hole and then is connected with the tendon rope guiding hole, the other end of the stretching tendon rope positioned at the back side of the hand is connected with one end of the elastic fibers and is jointly fixed in the lockwire buckle, and the other end of the elastic fibers is fixed with the lockwire connecting piece; one end of the bent tendon rope positioned on the palm side passes through the palm part bent tendon rope channel and the tendon rope wiring hole and then is connected with the tendon rope guiding hole, and the other end of the bent tendon rope positioned on the palm side is directly fixed with the lockwire connecting piece.
6. The pneumatic artificial muscle driven soft rehabilitation glove according to claim 5, wherein the driving assembly further comprises a driver connecting piece and a knitting pneumatic artificial muscle, the driver connecting piece is connected with the lock wire connecting piece in a threaded mode, one end of the knitting pneumatic artificial muscle is connected with the driver connecting piece, and the other end of the knitting pneumatic artificial muscle is connected with the gas circuit conversion base.
7. The pneumatic artificial muscle driven soft rehabilitation glove according to claim 6, wherein the air passage conversion base comprises a plurality of four-turn air passage converters, and the four-turn air passage converters are provided with four air pipe jacks; The four-turn air channel converters are rotatably connected together through shoulder shaft bolts penetrating through the hinge holes so as to adapt to the shape of arms, the outer sides of the four-turn air channel converters at the outermost sides of each group of air channel conversion bases are provided with belt penetrating holes, and the binding belts are connected together through buckles after penetrating through the belt penetrating holes and are used for detachably connecting and locking the air channel conversion bases to arms of users.
8. The pneumatic artificial muscle driven soft rehabilitation glove according to claim 7, wherein five palm stretching tendon rope channels are arranged on the back side of the palm sleeve, five palm bending tendon rope channels are arranged on the palm side of the palm sleeve, two stretching tendon ropes are arranged in each palm stretching tendon rope channel in a penetrating mode, and two bending tendon ropes are arranged in each palm bending tendon rope channel in a penetrating mode.
9. The pneumatic muscle driven soft rehabilitation glove of claim 8, wherein the pneumatic circuit switching base is provided with ten four-turn pneumatic circuit switches, wherein the five four-turn pneumatic circuit switches are in a group and drive the stretching tendon on the back side of the hand, and the five four-turn pneumatic circuit switches are in a group and drive the bending tendon on the palm side.
10. The pneumatic artificial muscle driven soft rehabilitation glove according to claim 1, wherein the fingerstall, the phalangeal sleeve and the palm sleeve are made of biocompatible elastic resin materials with the shore hardness of 50A.

Description

Pneumatic artificial muscle driven soft rehabilitation glove Technical Field The invention relates to the technical field of rehabilitation medical instruments, in particular to a pneumatic artificial muscle driven soft rehabilitation glove. Background With the increasing aging of the population and the increasing incidence of cardiovascular and cerebrovascular diseases, hand dysfunction caused by cerebral stroke (stroke), brain injury and spinal cord injury has become a serious public health problem. Neuroscience research shows that by high-frequency and high-strength rehabilitation training, the external driving force is utilized to induce the affected limb to conduct repeated flexion and extension movements, so that the nerve remodeling of the cerebral cortex can be effectively stimulated, and the functional reconstruction is promoted. The rehabilitation glove is used as an emerging wearable auxiliary device and can provide passive traction or active power training for patients. The existing rehabilitation gloves often have the problems of over-strong structural rigidity, poor wearing comfort, insufficient skin-friendly material and the like, and the sustainability and clinical effects of rehabilitation training are seriously limited. In practical clinical rehabilitation application, the pneumatic flexible glove needs to undergo long-time and high-frequency inflation and deflation circulation and repeated stretching deformation, however, the existing flexible rehabilitation glove is mostly formed by adopting an integrated die or a non-detachable permanent connection structure, once a local single component is damaged, a user is forced to replace the whole equipment, and extremely high maintenance and replacement cost is increased. When simulating finger movement, the existing braided pneumatic artificial muscle cannot be passively elongated due to poor axial ductility, so that mutual-control antagonism is generated during bidirectional driving. The joint activity degree of the finger is limited, so that the rehabilitation action is difficult to reach the limit position of natural physiology. Disclosure of Invention The invention aims to provide a pneumatic artificial muscle driven soft rehabilitation glove, which solves the technical problems of high structural rigidity, poor wearing comfort, high maintenance cost caused by an integrated structure, movement antagonism and limited joint movement caused by lack of passive ductility of artificial muscles and the like of the traditional rehabilitation glove. In order to achieve the above purpose, the invention provides a pneumatic artificial muscle driven soft rehabilitation glove, which comprises a glove, a driving component and a gas circuit conversion base, wherein the glove comprises a finger sleeve, a phalangeal sleeve and a palm sleeve which are connected together in a clamping way, one end of an extending tendon rope positioned at the back side of the hand is connected with the finger sleeve, the phalangeal sleeve and the palm sleeve, and the other end of the extending tendon rope positioned at the back side of the hand is connected with a group of driving components; One end of the bending tendon rope positioned on the palm side is also connected with the fingerstall, the phalangeal sleeve and the palm sleeve, the other end of the bending tendon rope positioned on the palm side is connected with the other group of driving components, the two groups of driving components are respectively connected with one group of air passage conversion bases, the two groups of air passage conversion bases are connected through binding belts in a buckling manner, and the two groups of air passage conversion bases are sleeved and locked at the arm position of a human body. Preferably, four tendon rope guide holes are formed in the side end portion of the fingerstall, the four tendon rope guide holes are located at four corners of the side end portion of the fingerstall respectively, two tendon rope guide holes located above are connected with stretching tendon ropes, two tendon rope guide holes located below are connected with bending tendon ropes, and a square locating block is arranged in the fingerstall. Preferably, the phalanx sleeve comprises a body, wherein a limiting hole is formed in the front end of the body, the limiting hole is sleeved on a square positioning block and is clamped together, a plurality of limiting support legs are uniformly fixed on two sides of the body, tendon rope wiring holes are formed in the top end and the bottom end of each limiting support leg, a sub-buckle is arranged at the rear end of the body, and a plurality of elliptical holes are further formed in the wall body of the body. Preferably, a female buckle is arranged at the front end of the palm sleeve and positioned at the position of the five fingers of the human body, and the phalangeal sleeve is connected with the palm sleeve through the snap fit of the male buckle and the fe