CN111685966B - Finger movement function rehabilitation device driven by shape memory alloy wire - Google Patents
Finger movement function rehabilitation device driven by shape memory alloy wire Download PDFInfo
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- CN111685966B CN111685966B CN201910976054.4A CN201910976054A CN111685966B CN 111685966 B CN111685966 B CN 111685966B CN 201910976054 A CN201910976054 A CN 201910976054A CN 111685966 B CN111685966 B CN 111685966B
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- 229910001285 shape-memory alloy Inorganic materials 0.000 title claims abstract description 20
- 230000005057 finger movement Effects 0.000 title claims abstract description 19
- 230000006870 function Effects 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 239000004744 fabric Substances 0.000 claims abstract description 27
- 230000008859 change Effects 0.000 claims abstract description 6
- 230000000694 effects Effects 0.000 claims abstract description 6
- 210000000707 wrist Anatomy 0.000 claims abstract description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 3
- 239000000741 silica gel Substances 0.000 claims abstract description 3
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 3
- 239000004677 Nylon Substances 0.000 claims description 10
- 229920001778 nylon Polymers 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 210000000245 forearm Anatomy 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 abstract description 7
- 239000000956 alloy Substances 0.000 abstract description 7
- 238000010438 heat treatment Methods 0.000 abstract 1
- 208000006011 Stroke Diseases 0.000 description 5
- 230000008602 contraction Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 230000002490 cerebral effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000003925 brain function Effects 0.000 description 1
- 210000005013 brain tissue Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 208000035474 group of disease Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A finger movement function rehabilitation device driven by a shape memory alloy wire belongs to the field of finger rehabilitation. The device is composed of parts such as shape memory alloy wires, ropes, alloy wire connecting terminals, inner and outer fabrics, a range-extending mechanism bracket, finger rings and the like. The shape memory alloy wire is subjected to phase change when the temperature rises under the current heating effect when being electrified, shrinkage is generated, and then the rope is pulled to drive the fingers to flex and stretch. The fabric of the inner layer and the outer layer has good elasticity, and the tightness degree of the whole fabric can be adjusted by matching with the magic tape on the arm. In addition, a proper amount of silica gel is placed between each layer of fabric to improve the wearing comfort of the device. The length of the alloy wire extending out of the tail end wiring terminal is adjusted to adapt to different finger lengths, so that the requirements of ergonomics are met. The three magic tapes are respectively positioned at the wrist, the small arm near the elbow and the large arm near the elbow. The three magic tapes can enable the rehabilitation device to be better attached to the shape of the arm of a human body, and enable the range-extending mechanism to more effectively utilize the phase change shrinkage of the SMA wire to drive the fingers to flex and extend, so that a better rehabilitation effect is achieved.
Description
Technical Field
The invention relates to the field of finger rehabilitation, in particular to a finger movement rehabilitation device driven by a shape memory alloy wire.
Background
Cerebral stroke refers to a group of diseases in which brain tissue is damaged due to sudden rupture of cerebral blood vessels or failure of blood to flow into the brain due to vessel occlusion. Its disability rate is high, and the hand movement function defect has a great influence on the daily life and self-confidence of the patient. Thus, many medical rehabilitation machines related thereto are produced.
For the central paralysis possibly occurring in cerebral apoplexy patients, the brain function of the patients can be remodelled through the nerve rehabilitation treatment in medicine. The puppet type lifting cooperative exercise training method is adopted by a specific device to induce joint reaction, and after a plurality of months of nerve rehabilitation treatment, the patient can resume the movement function of the fingers. Accordingly, in order to meet the above-mentioned demand, researchers have begun to study a rehabilitation robot arm that is small and portable.
Auxiliary power-assisted instruments in the rehabilitation device are divided into pneumatic drive, hydraulic drive, SMA drive and stay wire drive according to the driving mode. Pneumatic driving is common, but the flexibility of fingers can be limited due to the complex structure, so that the rehabilitation effect can be influenced; the SMA wire is driven by utilizing the electrified phase change of the SMA wire to shrink so as to drive the actuator to control the buckling and stretching movement of fingers, but the deformation of the SMA wire is greatly influenced by the quality of the SMA wire, and the shrinkage is often insufficient; therefore, the range extending mechanism formed by the rope and the nylon rope wheel is considered to drive the buckling and stretching movement of the finger, the deformation of the SMA wire can be amplified to six times by the range extending mechanism in the process of electrifying the SMA wire, and the buckling and stretching movement of the hand in a larger range is realized by utilizing the mode of combining the SMA wire and the stay wire structure.
Although wire drives require a complex set of wire pulling devices, this increases friction and instability during the drive. But these are within acceptable limits for indoor rehabilitation or assisted medical treatment.
Disclosure of Invention
The invention aims to design a finger movement function rehabilitation device driven by a shape memory alloy wire. The rope in the wire pulling device is controlled by the on-off of the SMA wire, so that the cerebral apoplexy patient is driven to realize the buckling and stretching movement of the fingers, and further, the rehabilitation is realized on the premise of protecting the patient from secondary injury to the greatest extent.
The finger movement rehabilitation device driven by the shape memory alloy wire is characterized by comprising a finger ring, a rope, a fabric, a range-extending mechanism and an alloy wire connecting terminal. Wherein the finger ring is placed on the finger tip of each finger, providing the necessary action point for the rope end, and the finger ring shape of each finger is designed according to the ergonomic method in order to make the finger ring exert the function to the greatest extent. The extending end of the rope extends to each finger along the back of the hand, and the back side and the palm side of each finger are respectively provided with a rope for controlling the stretching and bending of the fingers. The ropes of different fingers do not interfere with each other under the restriction of the fabric sleeve structure. The special structure of the fabric sleeve is cut and spliced according to the shape of the human arm by a designer, and fixing and guiding are provided for the SMA wire, the rope and the range-extending mechanism. The range extending mechanism consists of a rope, an SMA wire, a nylon rope wheel, a bearing, a plurality of bolts and a bracket made of resin materials. The two nylon rope wheels and the rope wound on the two nylon rope wheels form the main body of the range-extending mechanism. Two ends of the SMA wire are folded in half and then hung on a retainer of the rear rope pulley. The rope wheel at the rear side is rigidly connected with the SMA wire through a retainer. The two nylon sheaves are regarded as a whole, the rope is wound three times on the rope, and the displacement of the rear rope sheave is amplified to six times to the free end of the rope. The wrist, the forearm near the elbow end and the big arm near the elbow end are respectively provided with a magic tape, and the different wrist sizes are adapted by moving the positions of the magic tapes.
A shape memory alloy wire driven finger movement rehabilitation device, which is characterized in that: the purpose of the range-extending mechanism is to amplify the displacement of the SMA wire to the rope through the pulley mechanism, thereby solving the defect of insufficient contraction of the SMA wire and enabling the finger to realize enough buckling and extending movement.
A shape memory alloy wire driven finger movement rehabilitation device, which is characterized in that: the length of the SMA wire, which is fixed on the alloy wire binding post, can be changed to adjust the actual acting length of the SMA wire, so that the length of different fingers can be adapted. The tightness of the glove can be adjusted by changing the bonding positions of the three magic tapes, so that the glove is suitable for the arm shapes with different thicknesses, and the finger movement function can be recovered better.
A shape memory alloy wire driven finger movement rehabilitation device, which is characterized in that: the free ends of the ropes are bound and positioned by the finger rings of the finger tips, and the SMA wires are fixed by the alloy wire connecting terminals.
A shape memory alloy wire driven finger movement rehabilitation device, which is characterized in that: five ropes are respectively arranged on the back side and the palm side, the five ropes respectively correspond to the five fingers, the ropes on the back side are responsible for driving the stretching of the fingers, and the ropes on the palm side are responsible for driving the bending of the fingers.
A shape memory alloy wire driven finger movement rehabilitation device, which is characterized in that: the range extending mechanism consists of an upper slender bottom plate, a lower slender bottom plate, two limiting blocks at the left end and the right end, two retainers in the middle and corresponding nylon rope pulleys. Two elongated slots are respectively arranged on the two bottom plates for guiding and limiting the retainer. Wherein the length of the groove near the finger end is slightly longer than the length of the retainer, and is used for positioning the corresponding nylon rope wheel. The other longer slot is used to accommodate the contraction of the SMA wire. When the SMA wire is not energized, the initial position of the corresponding holder rests against the groove near one end of the finger. Along with the rise of the temperature after the electrification, the SMA wire contracts to drive the corresponding retainer to move towards the direction far away from the finger, so as to drive a pulley mechanism consisting of two nylon rope pulleys, and further enable the tail end of the rope to move six times of the distance of the displacement of the retainer, thereby effectively driving the buckling and stretching of the finger.
The finger movement rehabilitation device driven by the shape memory alloy wire has the advantages that the overall quality of the rehabilitation manipulator is greatly reduced and the structural complexity of the rehabilitation manipulator is reduced compared with the traditional pneumatic, hydraulic or mechanical rehabilitation manipulator due to the characteristics of the shape memory alloy wire. The device is less in mass and volume, is more beneficial to recovery of a apoplexy patient, and the fabrics of the inner layer and the outer layer also play a role in protecting the skin of the patient, so that recovery experience of the patient is improved. Compared with the problem of small contraction of the SMA wire alone, the finger movement rehabilitation device combined with rope pulling has large contraction and good rehabilitation effect.
Drawings
FIG. 1 is a schematic diagram of a shape memory alloy wire driven finger function rehabilitation device;
FIG. 2 is a schematic diagram of a finger movement rehabilitation device with the glove removed;
FIG. 3 is a schematic diagram of a finger movement rehabilitation device with fabric removed;
FIG. 4 is a schematic view of a range extending mechanism;
FIG. 5 is a schematic diagram of a fabric construction;
FIG. 6 is a schematic diagram of a rope and SMA wire winding pattern;
Reference numerals in the figures: 1. alloy wire connecting terminals 2, shape memory alloy wires, 3, fabrics, 301, outer fabrics, 302, inner fabrics, 4, a range extending mechanism, 401, positioning blocks, 5, glove outermost fabrics, 6, ropes, 7, glove inner fabrics, 8, finger rings, 9, a retainer, 10, rope wheels, 11, a bottom plate, 12, bolts, 13 and bolts.
Detailed Description
The following describes a specific technical scheme of the finger movement rehabilitation device driven by the shape memory alloy wire according to the invention with reference to the accompanying drawings.
As shown in fig. 1, the finger movement rehabilitation device driven by the shape memory alloy wire consists of a range-extending mechanism 4, a glove 5, a fabric 3 and an alloy wire connecting terminal 1.
As shown in fig. 2, the buckling and stretching of the finger are driven by the rope 6, one end of the rope with an open loop is fixed on the finger ring 8 at the tail end of the finger, and when the range-extending mechanism drives the rope 6 to shrink, the buckling and stretching of the finger are driven by the finger ring 8. The cords on the back side of the hand drive the fingers to stretch and the cords on the palm side drive the fingers to flex. The finger ring 8 has a structure as shown in the figure, so that the tail end of the rope can be effectively prevented from moving on the finger, and the rehabilitation effect is affected. In addition, the finger glove can be made into a semi-closed structure by rubber, so that the wearing experience of the glove can be improved to a certain extent.
As shown in FIG. 3, a total of five range-extending mechanisms are symmetrically arranged on the upper and lower sides of the forearm by taking the plane of the palm as a symmetrical plane. Each range extending mechanism is separated by a fabric. Meanwhile, the fabric plays a role in guiding and limiting the range-extending mechanism. By adjusting the binding position of the magic tape at the wrist, the small arm near the elbow end and the large arm near the elbow end, the compactness of the range-extending mechanism can be adjusted, so that the range-extending mechanism is more fit with the shape of the human arm. After the SMA wire in the back side range extending mechanism is electrified, the temperature rises to generate phase change, so that the extension length of the back side rope is shortened due to shrinkage, and fingers are pulled to extend. Similarly, the fingers flex when the range extending mechanism on the palm side is energized.
As shown in fig. 4, the range extending mechanism is composed of an upper bottom plate 11, a lower bottom plate 11, positioning blocks at the left end and the right end, an SMA wire 2, a rope 6, a rope wheel 10 and a plurality of bolts 12 and 13. After the SMA wire is electrified, the phase change contracts, and the left retainer 9 connects the bending of the SMA wire and the rope on the rope wheel together. When the SMA wire contracts, the retainer drives the rope to move leftward, so that the length of the rope extending out of the retainer (i.e., the length of the part of the rope covered on the back of the hand or the palm) becomes smaller, thereby driving the fingers to flex and stretch.
As shown in fig. 5, the fabric is of a layered structure, the innermost fabric is close to the skin, the middle layer fabric 302 fixes the cage therein by stitching, and the outermost layer fabric 301 covers all the cages, so that the finger rehabilitation device is more beautiful. The space between every two layers of fabrics can be filled with silica gel, so that the damage to the skin of the arm can be reduced.
As shown in fig. 6, the rope is inserted from one hole of the positioning block where the bolt 13 is located and fixed by a screw, and after three windings are wound around the two sheaves, it is freely protruded from the other hole of the positioning block. A length of SMA wire enters and is fixed through a hole in the left locating block, passes around two holes in the left side of the cage 9 and then passes out of the other hole in the locating block 401 and is fixed. The stroke increasing mechanism amplifies the contraction amount of the SMA wire by using the movable pulley, so that the buckling and stretching of the finger can be effectively controlled.
Claims (1)
1. The finger movement function rehabilitation device driven by the shape memory alloy wire is characterized by comprising a range-extending mechanism, a finger ring, a rope, an SMA wire and fabrics on an arm;
Wherein the finger ring is positioned at the finger tip, the finger and palm parts are fabrics which conform to the human engineering and the shape of the hand, and the skin of the hand is protected; the comfort of the device is improved by adding some silica gel between the layers of fabrics; providing guidance and support for the range extending mechanism by stitching portions of the fabric; ten range-extending mechanisms for pulling the fingers to perform buckling and stretching movement are symmetrically designed on the forearm, and the back side and the palm side of each finger correspond to one range-extending mechanism respectively;
The range extending mechanism consists of an upper slender bottom plate, a lower slender bottom plate, two limiting blocks at the left end and the right end, two middle retainers and corresponding nylon rope pulleys; wherein the rope starts from the finger ring of the finger tip and extends to the end of the range extending mechanism close to the finger, and extends out to the finger end after 3 turns on the two rope wheels and is fixed on the holding frame, so that the displacement of the rear rope wheel is amplified to six times to the free end of the rope; the SMA wire enters from one end of the range extending mechanism far from the finger, bypasses two holes on the retainer and extends out from one end far from the finger, both ends of the SMA wire are fixed on the positioning block, both ends of the SMA wire are respectively powered on the positive electrode and the negative electrode of the power supply, and phase change shrinkage is carried out under the thermal effect of current; when the range extending mechanism on the back side of the hand is electrified, the fingers are driven to extend; the finger is driven to bend when the range extending mechanism on the palm side is electrified;
The SMA wire contracts along with the rise of the temperature after the electrification, and the corresponding retainer is driven to move in the direction away from the finger, so that a pulley mechanism consisting of two nylon rope pulleys is driven, the tail end of the rope is further driven to move by six times the distance of the displacement of the retainer, and the buckling and stretching of the finger are effectively driven;
Wherein, the wrist, the small arm near the elbow and the large arm near the elbow are respectively provided with an annular magic tape which is used for adapting to different arm thicknesses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910976054.4A CN111685966B (en) | 2019-10-15 | 2019-10-15 | Finger movement function rehabilitation device driven by shape memory alloy wire |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910976054.4A CN111685966B (en) | 2019-10-15 | 2019-10-15 | Finger movement function rehabilitation device driven by shape memory alloy wire |
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| CN111685966A CN111685966A (en) | 2020-09-22 |
| CN111685966B true CN111685966B (en) | 2024-04-19 |
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| CN112263437A (en) * | 2020-10-26 | 2021-01-26 | 东北林业大学 | Finger motion function rehabilitation device |
| CN112426328B (en) * | 2020-11-17 | 2022-05-13 | 中国科学技术大学 | Intelligent flexible hand function rehabilitation glove based on shape memory alloy |
| CN112274388B (en) * | 2020-11-20 | 2024-04-19 | 东北林业大学 | Device for hand rehabilitation exercise |
| CN113940856B (en) * | 2021-10-22 | 2023-01-03 | 燕山大学 | Hand rehabilitation training device and method based on myoelectricity-inertia information |
| CN114128492B (en) * | 2021-11-24 | 2022-06-14 | 东北林业大学 | Telescopic rod pinecone picking device driven by shape memory alloy thermal deformation principle |
| CN114533497B (en) * | 2022-04-27 | 2024-03-01 | 中国科学技术大学 | Flexible rehabilitation glove and use method and life assisting method thereof |
| CN116872187A (en) * | 2023-09-01 | 2023-10-13 | 华南理工大学 | Power-assisted glove |
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| 基于SMA的手部康复装置的设计与实验;封凯迪;《中国优秀硕士学位论文全文数据库 (工程科技Ⅱ辑)》;20190815;C030-76 * |
| 形状记忆合金驱动手指功能康复外骨骼设计;王扬威，吕佩伦，郑舒方，王奔，李健;《浙江大学学报(工学版)》;20221231;第56卷(第12 期);2340-2348 * |
| 软体手功能康复机器人耦合动力学建模与仿真研究;郑舒方;《中国优秀硕士学位论文全文数据库 (医药卫生科技辑)》;20230215;E060-2192 * |
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