CN103767856B - A kind of Wearable five finger gymnastic mechanical hand - Google Patents
A kind of Wearable five finger gymnastic mechanical hand Download PDFInfo
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- CN103767856B CN103767856B CN201410035262.1A CN201410035262A CN103767856B CN 103767856 B CN103767856 B CN 103767856B CN 201410035262 A CN201410035262 A CN 201410035262A CN 103767856 B CN103767856 B CN 103767856B
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Abstract
A kind of Wearable five finger gymnastic mechanical hand, comprise hand frame for movement and power control system, hand frame for movement is that five groups of identical structures are applicable to the five fingers, hand frame for movement is mainly made up of arc frame, push rod, finger holder and binder, drives finger motion with the form of terminal tractive.Wherein the straight-line displacement of motor is converted into the arcuate displacement of finger terminal by arc frame, push rod can rotate relative to arc frame, by automatically regulating the radial pull can alleviated mechanism and exist in assisted finger BENDING PROCESS, avoid secondary damage, push rod is fixed with stop screw, prevents mechanism blockage between arc frame and push rod.The present invention can realize that auxiliary people's hand carries out the passive or grasping of aggressive mode, single FF stretches, thumb forefinger two refers to pinch and thumb, forefinger and middle finger three refers to the multimodal training such as the training captured, to realize comprehensive rehabilitation.
Description
Technical field
The invention belongs to medical health apparatus healing robot technology, particularly a kind of Wearable five finger gymnastic mechanical hand.
Background technology
Brain injury (apoplexy, cerebral palsy, cerebral trauma, the cerebral tumor) is the major disease nowadays threatening human health, and mortality rate and disability rate are very high.The existing extremity disabled persons of China about 2,422 ten thousand according to statistics, apoplexy about has 1,000 ten thousand people, annual newly-increased 4,000,000 people.Dyskinesia generally shows as physical handicaps, because upper limb is responsible for being engaged in a large amount of fine movement, so the impaired rear recovery difficulty of its function is comparatively large, easily causes life-long disabilities, patient's daily life is caused to having a strong impact on.Clinical research shows, rehabilitation training can prevent muscle spasm, strengthens range of motion.Physiotherapy (as acupuncture, electricity irritation, massage) at present for stroke patient rehabilitation employing is many, and have certain curative effect, patient is passive acceptance treatment over the course for the treatment of, and its active participate can not be guaranteed.Same also have Drug therapy, but treatment is more single, and have side effect.Therefore in order to patient is passive or initiative rehabilitation, a kind of apparatus for finger motion is needed.But current image training robot is all the motion in the large joint (as shoulder joint, elbow joint, carpal joint) of patient, not each important joint is in motion, the particularly motion of hand, and hand is responsible for many meticulous actions in daily life, joint is more more flexible, therefore recover hand to be absolutely necessary, but most upper limb healing apparatus all have ignored this point, and lack the rehabilitation training of the five fingers coordination.Have patent to adopt quadric chain tractive finger end, but it also can make finger bear radial pressure while driving digital flexion, easily damages finger.
Summary of the invention
In order to overcome the defect of above-mentioned prior art, the object of the present invention is to provide a kind of Wearable five finger gymnastic mechanical hand, adopt linear electric motors to drive, assisting patients can carry out the passive flexing stretching, extension of five finger masters, thumb forefinger is to pinching, the rehabilitation trainings such as the crawl that thumb, forefinger and middle finger three refers to, multi-mode training can help patient to carry out hand function rehabilitation training.
In order to achieve the above object, technical scheme of the present invention is:
A kind of Wearable five finger gymnastic mechanical hand, comprises robot base 1, and robot base 1 upper side plane is used for fixing hand frame for movement and power control system, downside be arcwall face to adapt to staff structure, be fixed on hands portion by binder, hand frame for movement is that five groups of identical structures are applicable to the five fingers, its structure is: robot base fixes line handspike motor 3 by motor firm banking 2 on 1, the flexing that line handspike motor 3 is mechanical hand and stretching, extension provide power, line handspike motor 3 and motor firm banking 2 are linked by pin and can rotate around the pin on motor firm banking 2, line handspike motor 3 end connects one end of arc frame 5 by pin and can relatively rotate, the other end of arc frame 5 is connected with push rod 6 one end, arc frame 5 is provided with telescopic hole to regulate arc radius, hole on arc frame 5 is coaxially connected with the hole of double-side-position fixed mount 4, push rod 6 other end is connected with finger holder 9, push rod 6 is provided with bidirectionally limited screw 7 and the adjustment hole 8 for length adjustment, finger holder 9 is provided with binder, finger holder 9 and binder is also provided with and detects the finger sensor 10 of abduction and the sensor 11 of FF.
What power control system comprised that the main controller 12, the main controller 12 that are connected with line handspike motor 3 adopt is based on the STM32F107VC under ARM-Cortex-M3 framework, STM32F107 has USB(OTG at full speed) interface, two-way CAN2.0B interface, and Ethernet 10/100MAC module, main controller 12 realizes the data acquisition of finger outside forces sensor 10 and finger side thrust sensor 11, and drives line handspike motor 3 according to the signal gathered; Signal condition unit in main controller 12 is for the treatment of finger outside forces sensor 10, finger side thrust sensor 11 and the displacement signal driving line handspike motor 3 feedback, corresponding amplification filtering is carried out to sensor signal, delivers to collection plate and carry out data acquisition.
Described for detecting the finger sensor 10 of abduction and the sensor 11 of FF adopts pressure resistance type diaphragm pressure sensor.
Described push rod 6 is provided with bidirectionally limited screw 7.
Described push rod 6 is arranged the adjustment hole 8 of diverse location.
Described arc frame 5 is provided with telescopic hole to regulate arc radius.
Five finger gymnastic apparatuses provided by the present invention, be made up of robot base 1, line handspike motor 3 and hand frame for movement, meet human hands articulation structure, and be provided with the binder of fixed finger and wrist, employing motor drives, can realize the accurate control of position, stop screw and adjustment hole control the range of movement of hand joint effectively.Devise multi-mode training method, assisting patients's hand can be realized and carry out leading passive grasping, thumb, forefinger pinch get and thumb, forefinger, middle finger capture action.
Accompanying drawing explanation
Fig. 1 is the structure chart of Wearable five finger gymnastic mechanical hand.
Fig. 2 is the Control system architecture schematic diagram of Wearable five finger gymnastic mechanical hand.
Fig. 3 is Wearable five finger gymnastic manipulator control main flow chart.
Fig. 4 is the control Passive Mode flow chart of Wearable five finger gymnastic mechanical hand.
Fig. 5 is the control aggressive mode flow chart of Wearable five finger gymnastic mechanical hand.
In figure: 1. robot base, 2. motor firm banking, 3. line handspike motor, 4. double-side-position fixed mount, 5. arc frame, 6. push rod, 7. adjustment hole, 8. stop screw, 9. point firm banking, 10. detect finger abduction force transducer, 11. detect FF force transducer, 12. main controllers.
Detailed description of the invention
Be described in detail below in conjunction with drawings and Examples.
With reference to Fig. 1, a kind of Wearable five finger gymnastic mechanical hand, comprises robot base 1, and robot base 1 upper side plane is used for fixing hand frame for movement and power control system, downside be arcwall face to adapt to staff back structures, be fixed on hands portion by binder, hand frame for movement is that five groups of identical structures are applicable to the five fingers, its structure is: robot base fixes line handspike motor 3 by motor firm banking 2 on 1, the flexing that line handspike motor is mechanical hand and stretching, extension provide power, line handspike motor 3 and motor firm banking 2 are linked by pin and can rotate around the pin on motor firm banking 2, line handspike motor 3 end connects one end of arc frame 5 by pin and can relatively rotate, the other end of arc frame 5 is connected with push rod 6 one end, arc frame 5 is provided with telescopic hole, for just regulating arc radius to adapt to the size of different staff, hole on arc frame 5 is coaxially connected with the hole of double-side-position fixed mount 4, push rod 6 other end is connected with finger holder 9, finger holder 9 is provided with binder, be fixed by binder Fingers, finger holder 9 and binder are also provided with the pressure transducer 10 detecting finger extension and the pressure transducer 11 detecting FF, for detecting the size of patient's finger motion intention and corresponding force,
Described push rod 6 is provided with bidirectionally limited hole 7, and bidirectionally limited hole 7 prevents from occurring mechanism blockage in motor process.
Described push rod 6 is arranged the adjustment hole 8 of diverse location, for regulating the height of finger holder 9, the hands for different size is trained.
Described arc frame 5 is provided with the telescopic hole of adjustable length, for regulating arc frame front end arc radius, to adapt to different people hand sizes size.
With reference to Fig. 2, what power control system comprised that the main controller 12, the main controller 12 that are connected with line handspike motor 3 adopt is based on the STM32F107VC under ARM-Cortex-M3 framework, STM32F107 has USB(OTG at full speed) interface, two-way CAN2.0B interface, and Ethernet 10/100MAC module, therefore adopt this chip can come into family/community's structure Long-distance Control for later manipulators in rehabilitation and provide hardware foundation.Signal condition unit in main controller 12 is for the treatment of the feedback signal of finger end pressure sensor 10, pressure transducer 11 and the embedded displacement transducer of line handspike motor 3, corresponding amplification filtering is carried out to sensor signal, delivers to collection plate and carry out data acquisition.The displacement signal that the embedded linear displacement transducer of line handspike motor 3 feeds back is analogue signal, can be used in the position of perception linear electric motors push rod, carries out calculating the bending angle of current finger.Sensor 11 for detecting the sensor 10 and FF stretched outside finger adopts diaphragm pressure sensor, this sensor is pressure resistance type, mechanical hand comprises and refers to inner sensors and refer to outer sensors, refer to that inner sensors is fixed on binder and the place of finger interior side contacts, refer to that outer sensors is then fixed on the place pointed dorsal part and contact with finger holder.Five fingers have two pressure transducers respectively, and therefore this mechanical hand needs ten diaphragm pressure sensors altogether.Pointing inner surface pressure when finger inner sensors 11 detects FF, pointing the motion intention of active flexion for detecting patient.Pointing outer surface pressure when finger outer sensors 10 detects finger extension, pointing for detecting patient the motion intention initiatively stretched.
Under passive rehabilitation training pattern, main controller 12, according to linear displacement transducer signal embedded in the range of movement preset and line handspike motor 3, drives hand to move.Under initiative rehabilitation training mode, main controller 12 realizes the data acquisition of finger end pressure transducer 10 and pressure transducer 11, and judge the motion intention of finger according to the signal gathered, and then line handspike motor 3 is driven to make and stretching out accordingly or retract action.
Operation principle of the present invention:
As shown in Figure 3, its working method is divided into two kinds of patterns to the control model of five finger gymnastic mechanical hands: Passive Mode and active help/resistance mode.Two kinds of model process figure respectively as shown in Figure 4,5.
Under Passive Mode is applicable to apoplexy initial stage patient's myasthenia state, finger is driven to carry out the training of flexing stretching, extension by mechanical hand.Patient wears mechanical hand, by judging that the built-in linear displacement transducer of linear electric motors judges whether hands reaches the angle on target of setting, thus determines whether motion commutation.In patient hand's motor process, if there is spasm, then spasm is alleviated in motor adverse movement.But also can by the intervalometer timing of controller inside, the monitoring training time.
Initiatively help/resistance is applicable to the patient of stroke in convalescent stage, and patient has certain muscular strength.When patient carries out pointing autonomous curvature movement, judge whether to reach setting power by detecting finger end inside pressure sensor output signal, if reach, motor inner push-rod stretches out certain distance, needs of patients continues flexing just can ensure that finger side thrust sensor output signal reaches set threshold value, so just can complete the action of FF; When patient carry out finger confess one's crime stretch training time, exporting by detecting finger end outside pressure sensor, carrying out above-mentioned similar control to complete autonomous stretching.
Because designed the five fingers manipulators in rehabilitation contains five cover finger rehabilitation exercise structures, and be respectively furnished with a line handspike motor as power, therefore the control mode under above-mentioned passive or aggressive mode is respectively used to each motor, namely difference finger adopts different range of movement or speed, can realize grasping, two and refer to the action of pinching or three fingers capture.
The operation principle of mechanical part: is terminal drawing-type structure due to the present invention's employing, therefore its course of normal operation needs could realize after staff is worn.Complete after wearing, fixed mount 4 is positioned at the back of the hand and surveys metacarpophalangeal joint, and finger holder 9 is placed near far-end articulations digitorum manus.All be hinged between motor 3 and motor firm banking 2 and arc frame 5, when motor 3 stretches out, motor 3 can promote arc frame 5 and rotate around fixed mount 4, and the transmission effect rotating through pull bar 6 and finger holder 9 of arc frame is converted into the rotation of finger end around metacarpophalangeal joints.Due to the change along with the radius of gyration in rotation process of finger joint, therefore point the rotary motion trace of holding around metacarpophalangeal joints and irregular circular arc.Owing to being all connected through the hinge between push rod 6 and arc frame 5 and holder 9, push rod 6 and arc frame 5 and point between holder 9 and can mutually rotate, therefore in FF process, push rod 6 can angle automatically between adjustment and arc frame 5 and holder 9, thus realizes self-regulating rotary and move radius.When motor bounces back, said process oppositely.
Claims (3)
1. a Wearable five finger gymnastic mechanical hand, comprise robot base (1), it is characterized in that, robot base (1) upper side plane is used for fixing hand frame for movement and power control system, downside be arcwall face to adapt to staff structure, be fixed on hand by binder, hand frame for movement is that five groups of identical structures are applicable to the five fingers, robot base (1) is by the fixing line handspike motor (3) of motor firm banking (2), the flexing that line handspike motor (3) is mechanical hand and stretching, extension provide power, line handspike motor (3) and motor firm banking (2) are linked by pin and can rotate around the pin on motor firm banking (2), line handspike motor (3) end connects one end of arc frame (5) by pin and can relatively rotate, the other end of arc frame (5) is connected with push rod (6) one end, hole on arc frame (5) is coaxially connected with the hole of double-side-position fixed mount (4), push rod (6) other end is connected with finger holder (9), finger holder (9) is provided with binder, finger holder (9) and binder is also provided with and detects finger end outside pressure sensor (10) of finger extension and finger end inside pressure sensor (11) of FF,
Power control system comprises the main controller (12) be connected with line handspike motor (3), what main controller (12) adopted is based on the STM32F107VC under ARM-Cortex-M3 framework, STM32F107VC has USB interface at full speed, two-way CAN2.0B interface, and Ethernet 10/100MAC module, main controller (12) realizes finger end outside pressure sensor (10), the collection of each signal of finger end inside pressure sensor (11) and the embedded linear displacement transducer feedback of line handspike motor (3), and drive line handspike motor (3) motion according to the signal gathered, signal condition unit in main controller (12) for pointing the process of end outside pressure sensor (10), finger end inside pressure sensor (11) and the embedded linear displacement transducer signal of line handspike motor (3), and by process afterwards signal deliver to collection plate and carry out data acquisition,
Described arc frame (5) is provided with telescopic hole to regulate arc radius;
Described finger end outside pressure sensor (10) and finger end inside pressure sensor (11) adopt thin film piezoresistive transducer.
2. a kind of Wearable five finger gymnastic mechanical hand according to claim 1, is characterized in that, described push rod (6) is provided with bidirectionally limited screw (7).
3. a kind of Wearable five finger gymnastic mechanical hand according to claim 1, is characterized in that, described push rod (6) is arranged the adjustment hole (8) of diverse location.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410035262.1A CN103767856B (en) | 2014-01-24 | 2014-01-24 | A kind of Wearable five finger gymnastic mechanical hand |
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| CN201410035262.1A CN103767856B (en) | 2014-01-24 | 2014-01-24 | A kind of Wearable five finger gymnastic mechanical hand |
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| CN103767856A CN103767856A (en) | 2014-05-07 |
| CN103767856B true CN103767856B (en) | 2016-02-24 |
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| CN113018086A (en) * | 2019-12-09 | 2021-06-25 | 北京智融康成科技有限公司 | Passive finger rehabilitation training device |
| CN112402181B (en) * | 2020-11-19 | 2021-08-27 | 西安交通大学 | Hand rehabilitation exoskeleton based on reverse rolling conjugate plane joint |
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| CN114209547B (en) * | 2021-12-23 | 2023-08-22 | 国家康复辅具研究中心 | Wearable exoskeleton hand rehabilitation training device |
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