TWI762845B - Integrated rehabilitation device - Google Patents

Abstract

The present invention discloses a integrated rehabilitation device which comprises a soft glove rehabilitation apparatus, a skeleton-like glove rehabilitation apparatus and an integration unit. The soft glove rehabilitation apparatus comprises a soft glove and a bending sensor unit for detecting a bending state of fingers of a user. The skeleton-like glove rehabilitation apparatus comprises a forearm fixing plate, a palm fixing plate, a thumb unit, plural finger units, plural power members and plural transmission strings. The thumb unit or the plural finger units are connected to the plural power members respectively by the plural transmission strings and are driven to move by the plural power members. The integration unit is electrically connected to the soft glove rehabilitation apparatus and the skeleton-like glove rehabilitation apparatus to detect, control and integrate working status of the soft glove rehabilitation apparatus and the skeleton-like glove rehabilitation apparatus.

Description

Integrated rehabilitation device

The invention relates to an integrated rehabilitation device, which uses an integrated unit to sense and integrate the operation of the soft glove rehabilitation device and the imitation exoskeleton glove rehabilitation device, so as to achieve the purpose of effectively rehabilitating the hand.

The causes of cerebral stroke include cerebral vascular obstruction and cerebral vascular rupture resulting in brain tissue compression. The sequelae of cerebral apoplexy include limb motor dysfunction, limb sensory dysfunction, language disorders, and swallowing disorders, etc., but limb motor dysfunction is the most common. In addition, the limb movement disorder of stroke patients occurs in half of the limbs, and half of the limbs will not be able to move voluntarily, including symptoms of weakness in half of the fingers or arms, which will affect various movements in daily life; however, if the patient can be rehabilitated as soon as possible , the better the recovery of limb mobility of stroke patients.

In order to assist stroke patients in efficient rehabilitation, a variety of auxiliary rehabilitation aids and device systems have been developed; for example, the Republic of China Patent No. TW I597092(B) is a hand rehabilitation system, which is suitable for finger rehabilitation. Rehabilitation includes an elastic ball for the finger to press; a pressure sensing unit arranged between the ball and the finger to detect the pressure exerted on the ball by the hand, and output a pressure information; and a processing module, and The pressure sensing unit is connected to information, receives pressure information in real time and converts the pressure information into a pressure value in real time, so as to detect the user's rehabilitation status and give feedback in real time. However, this type of device is suitable for patients with partial mobility of the fingers, and is not suitable for rehabilitation with this device for patients whose fingers cannot be opened on their own at all.

Today, considering that the existing hand rehabilitation device still has room for improvement, the inventor has worked tirelessly to improve it with the help of his rich professional knowledge and years of practical experience, and based on this research and creation. this invention.

The present invention relates to an integrated rehabilitation device, which achieves the purpose of effectively rehabilitating the hand by the integrated unit sensing and integrating the operation of the soft glove rehabilitation device and the imitation exoskeleton glove rehabilitation device.

The integrated rehabilitation device of the present invention comprises a soft glove rehabilitation device, an imitation exoskeleton glove rehabilitation device and an integrated unit.

The soft glove rehabilitation device includes a soft glove, a plurality of bending sensing units and a wrist fixing device, the soft glove includes five finger covers, the bending sensing units are correspondingly arranged on the finger coverings of the soft glove, and the wrist fixing device is provided On the palm of the soft glove close to the wrist.

The imitation exoskeleton glove rehabilitation device includes an arm fixing plate, a palm fixing plate, four finger units, a thumb unit, a plurality of power devices and a plurality of transmission ropes; the palm fixing plate is connected to the lower arm fixing plate at one side, Four finger units are connected to the other side of the palm fixing plate, the thumb unit is arranged on the lower arm fixing plate, a plurality of power devices are respectively arranged on the lower arm fixing plate, and a plurality of transmission ropes are respectively connected to each finger unit to each a power unit, and connecting the thumb unit to a power unit.

The integrated unit is electrically connected to the soft glove rehabilitation device and the imitation exoskeleton glove rehabilitation device to sense and control the operation of the integrated soft glove rehabilitation device and the imitation exoskeleton glove rehabilitation device.

In one embodiment of the present invention, the bending sensing unit of the soft glove rehabilitation device is a bending sensing tube, each bending sensing tube is fixed on the finger cover of the soft glove by the first fixing belt, and the The wrist fixing device of the glove rehabilitation device is fixed with a strap to the part of the palm of the soft glove close to the wrist.

In one embodiment of the present invention, the lower arm fixing plate of the imitation exoskeleton glove rehabilitation device is provided with at least one ball head seat, and the thumb unit is provided with a ball head device for pivoting on the ball head seat of the lower arm fixing plate.

In one embodiment of the present invention, the thumb unit includes a first bracket and a second bracket, the first bracket is pivotally connected to the second bracket, and the second bracket is pivotally connected to the ball head device, and each finger unit includes a The third bracket and a fourth bracket are pivotally connected to the fourth bracket, and the fourth bracket is pivotally connected to a bottom surface of the palm fixing plate.

In one embodiment of the present invention, the thumb unit includes two links, and one end of the link is pivotally connected to the first bracket, and the other end is pivotally connected to the ball head device, and each finger unit also includes two links, each of which is pivotally connected to the first bracket. One end of a link is pivotally connected to the third bracket, and the other end is pivotally connected to the bottom surface of the palm fixing plate.

In one embodiment of the present invention, one end of the transmission rope connecting the thumb unit and the power device is fixed on the second bracket, the other end is fixed on the power device, and one end of the transmission rope connecting each finger unit is fixed on the fourth bracket. , and the other end is fixed to the power unit.

In an embodiment of the present invention, the power device is a servo motor, and the maximum torque of the servo motor is 37kg/cm when the voltage is 7.4V.

In an embodiment of the present invention, the transmission rope is an inelastic transmission rope.

In an embodiment of the present invention, each transmission rope is covered with a tube body.

In an embodiment of the present invention, a pad is provided on the bottom surface of the lower arm fixing plate of the imitation exoskeleton glove rehabilitation device, and the pad is provided with a lower arm fixing unit, and the lower arm fixing unit can be a strap.

Therefore, the integrated rehabilitation device of the present invention achieves the purpose of effectively rehabilitating the hand by sensing and integrating the operation of the soft glove rehabilitation device and the imitation exoskeleton glove rehabilitation device through the integrated unit.

1: Soft glove rehabilitation device

11: Soft Gloves

111: Finger Cover

12: Bending Sensing Unit

121: The first fixing belt

13: Wrist Immobilizer

14: Sensing unit integration device

2: Imitation exoskeleton glove rehabilitation device

21: Lower arm fixing plate

211: Ball Seat

212: The third positioning piece

22: Palm fixing plate

221: Second positioning piece

222: Second Piercing

23: Thumb Unit

231: Ball head device

232: Ball Head

233: First bracket

234: Second bracket

235: The first positioning piece

236: First Piercing

24: Finger Unit

241: Third bracket

242: Fourth bracket

25: Powerplant

251: Swivel Arm

252:Second Fixture

26: connecting rod

27: Transmission rope

271: Tube body

28: The first fastener

Figure 1: The three-dimensional combined view of the soft glove rehabilitation device and the imitation exoskeleton glove rehabilitation device of the present invention.

The second figure: a three-dimensional combined view of the imitation exoskeleton glove rehabilitation device of the present invention.

Figure 3: Partial exploded perspective view (1) of the imitation exoskeleton glove rehabilitation device of the present invention.

Figure 4: A partial exploded perspective view (2) of the imitation exoskeleton glove rehabilitation device of the present invention.

The purpose of the present invention and its structural and functional advantages will be described with reference to the following drawings and specific embodiments, so as to enable the examiners to have a deeper and more specific understanding of the present invention, but it is not intended to limit the present invention in any form. scope of invention.

Referring to the first figure, the present invention is an integrated rehabilitation device, comprising a soft glove rehabilitation device (1), an imitation exoskeleton glove rehabilitation device (2) and an integrated unit. Wherein, the soft glove rehabilitation device (1) and the imitation exoskeleton glove rehabilitation device (2) can be either a left-hand glove or a right-hand glove. The skeletal glove rehabilitation device (2) is described as an example of a right glove, but it is not intended to limit the scope of protection of the present invention.

The soft glove rehabilitation device (1) includes a soft glove (11), a plurality of bending sensing units (12), a wrist fixing device (13) and a sensing unit integration device (14); the soft glove (11) includes five fingers (111), the bending sensing unit (12) is disposed on the finger cover (111) of the soft glove (11), and the bending sensing unit (12) can be a bending sensing tube, and each bending sensing unit ( 12) is fixed on the finger cover (111) of the soft glove (11) by means of a first fixing belt (121); the wrist fixing device (13) is arranged on the part of the palm of the soft glove (11) close to the wrist, It can be a strap to fix the soft glove (11) on the user's hand after the user wears the glove, so as to prevent the soft glove (11) from being easily displaced or loosened; in addition, a plurality of bending sensing units (12) ) are all electrically connected to the sensing unit integrating device (14), so as to transmit the sensed information to the sensing unit integrating device (14). When in use, the user wears the soft gloves (11) on their hands, and respectively inserts their fingers into the finger covers (111), and after fixing the soft gloves (11) with the wrist fixing device (13), the When the movement is started, the bending activity of the finger will be detected and recorded by the bending sensing unit (12) at this time, and transmitted to the sensing unit integration device (14).

Please refer to the second and third figures together, the imitation exoskeleton glove rehabilitation device (2) comprises an arm fixing plate (21), a palm fixing plate (22), a thumb unit (23), four finger units (24), a plurality of power devices (25), and a plurality of transmission ropes (27). The palm fixing plate (22) is connected to the lower arm fixing plate (21) at one side, and is connected to the four finger units (24) at the other side, and the thumb unit (23) is arranged on the lower arm fixing plate (21) ; Please refer to the third figure, in one embodiment, the top surface of the lower arm fixing plate (21) is provided with at least two ball sockets (211), and the thumb unit (23) is provided with a ball head device (231), the ball The head device (231) includes a ball head (232), and the thumb unit (23) is assembled on the ball head seat (211) of the lower arm fixing plate (21) by the ball head (232). Due to the size of the user's palm And the position of the thumb is different, the thumb unit (23) can be installed on the ball seat (211) at different positions according to the difference of each user's palm, so as to conform to the user's hand shape.

Please refer to the third figure again, the thumb unit (23) includes a first bracket (233) and a second bracket (234), and the first bracket (233) and the second bracket (234) are pivotally connected to each other, and the second bracket ( 234) It is then pivoted to the ball head device (231) to assemble the thumb unit (23), wherein the front of the first bracket (233) presents a similar “ㄩ” The font shape has a concave accommodating space, and the front surface of the second bracket (234) presents a shape similar to the "mouth" font, with a hollow accommodating space, when the user wears it, the thumb is passed through the first bracket. The hollow accommodating space of the two brackets (234), the first phalanx of the thumb is placed in the concave accommodating space of the first bracket (233), and the joints of the first phalanx and the second phalanx are placed correspondingly at the pivot point of the first bracket (233) and the second bracket (234); further, the thumb unit (23) includes two links (26), and one end of each link (26) is pivotally connected to the first bracket (233), the other end of the connecting rod (26) is pivotally connected to the ball head device (231) to control the pivoting angle of the first bracket (233) and the second bracket (234).

Please refer to the fourth figure again, each finger unit (24) includes a third bracket (241) and a fourth bracket (242), the third bracket (241) is also pivotally connected to the fourth bracket (242), and the fourth bracket (241) is also pivoted to the fourth bracket (242). The bracket (242) is pivotally connected to the bottom surface of the palm fixing plate (22) to be assembled into a finger unit (24), wherein the front surface of the third bracket (241) presents a shape similar to "ㄩ" and has a concave accommodation The space, and the front of the fourth bracket (242) presents a shape similar to the word "mouth", with a hollow accommodation space, when the user wears it, the corresponding fingers are passed through the hollow container of the fourth bracket (242). The first phalanx of the finger is placed in the concave accommodating space of the third bracket (241), and the joint of the first phalanx and the second phalanx is correspondingly placed on the third bracket (241) and the third bracket (241). The pivot point of the fourth bracket (242); further, each finger unit (24) also includes two links (26), one end of each link (26) is pivotally connected to the third bracket (241), and the other One end is pivotally connected to the bottom surface of the palm fixing plate (22) to control the pivoting angle of the third bracket (241) and the fourth bracket (242). Because the thumb unit (23) is mainly formed by pivoting the first bracket (233) and the second bracket (234), and the finger unit (24) is mainly formed by pivoting the third bracket (241) and the fourth bracket (242) Therefore, the thumb unit (23) or the finger unit (24) can simulate the bending state of the finger knuckles when the thumb unit (23) or the finger unit (24) is in action, thereby improving the movement flexibility of the imitation exoskeleton glove rehabilitation device (2).

Please refer to the first to fourth figures again, the thumb unit (23) and the finger unit (24) are respectively connected to the power device (25) by at least one transmission rope (27), and the transmission rope (27) is exposed to the external most areas A tube body (271) can be further covered to protect the transmission rope (27) so that it is not easy to break; please refer to the third figure, in this embodiment, one end of the transmission rope (27) is fixed on the thumb unit (23). ) or the first fixing member (28) on the finger unit (24), in the embodiment shown in the figure, the first fixing member (28) is arranged on the second bracket (234) of the thumb unit (23), and The first fixing member (28) is arranged on the fourth bracket (242) of the finger unit (24), and the first fixing member (28) is locked on the second bracket (234) and the fourth bracket (242) screw, the other end of the transmission rope (27) is connected to the power device (25), and the power device (25) is used to pull the transmission rope (27) to drive the thumb unit (23) and the finger unit (24) to move; In the embodiment of the present application, the power device (25) can be a servo motor, and when the voltage of the servo motor is 7.4V, its maximum torque is 37kg/cm; and each power device (25) is provided with a rotating arm (251). ), a second fixing member (252) is also provided on the rotating arm (251) to fix the other end of the transmission rope (27); and the transmission rope (27) can be an inelastic transmission rope.

In the embodiment disclosed in this application, in order to fix the stretching direction of the transmission rope (27), a first positioning member (235) is arranged on the thumb unit (23), and a second positioning member (235) is arranged on the palm fixing plate (22). 221) and a plurality of third positioning members (212) are respectively provided on the lower arm fixing plate (21); the first positioning member (235) is provided with a first through hole (236), and the second positioning member (221) is The positions corresponding to the finger units (24) are provided with a plurality of second through holes (222), and the third positioning member (212) is a tubular structure; when assembled, the transmission rope (27) is fixed to the thumb unit (23) or After the first fixing member (28) on the finger unit (24), it will pass through the first through hole (236) on the first positioning member (235), or through the second positioning member (221). The second through holes (222) then pass through the third positioning members (212) disposed on the top surface of the lower arm fixing plate (21) respectively, and finally are respectively fixed to the rotating arms (251) of each power device (25) on the second fixing member (252).

The integrated unit is electrically connected to the soft glove rehabilitation device (1) and the imitation exoskeleton glove rehabilitation device (2), and can receive information transmitted from the soft glove rehabilitation device (1), such as receiving user information In addition, the integrated unit also has the function of controlling the action of the imitation exoskeleton glove rehabilitation device (2), for example, controlling the traction of the power device (25) on the transmission rope (27).

When wearing the imitation exoskeleton glove rehabilitation device (2), the user first puts the fingers and thumb in the thumb unit (23) and the finger unit (24), and then further puts the lower part of the imitation exoskeleton glove rehabilitation device (2) on. The arm fixing plate (21) is fixed on the back of the user's lower arm. For example, a strap or an elastic elastic band can be used to fix the lower arm fixing plate (21) on the user's lower arm, and then the rehabilitation training can be performed. The action mode of the imitation exoskeleton glove rehabilitation device (2) is mainly to drive the rotating arm (251) to rotate through the power device (25), and after the rotating arm (251) rotates, it will pull the transmission rope (27), so that the transmission rope (27) Further drive the thumb unit (23) or the finger unit (24) to move, and each transmission rope (27) is connected to a separate power device (25), so the thumb unit (23) can be controlled independently in this case. Or the action situation of each finger unit (24).

The integrated rehabilitation device in this case can be used in a variety of ways, and several applications will be listed below, but we do not intend to limit the scope of protection in this case.

First, if the user's hand movement ability is not completely lost, but is in a relatively weak state, the user can put the soft glove rehabilitation device (1) on the hand that needs to be trained, and use the integrated unit , the soft-glove rehabilitation device (1) is electrically connected to a game device, such as a virtual reality (VR) game device, so that the user wears the soft-glove rehabilitation device (1) to play games; , the bending sensing unit (12) of the soft glove rehabilitation device (1) will sense the bending situation of the user's finger, and transmit this information to the integration unit, and the integration unit can analyze the bending situation of the user's finger, and in the game to assess the user's current hand rehabilitation status to decide whether to adjust the difficulty of the game, or provide different training modes, etc.; because the hand rehabilitation is performed by playing games, the user Less boredom and increased willingness to rehabilitate.

In addition, if the user's one hand is completely incapacitated or almost unable to move autonomously, the hand requiring rehabilitation can be put on the imitation exoskeleton glove rehabilitation device (2), and the power device can be controlled by the integrated unit. (25), making the power device (25) pull the transmission rope (27) to further drive the thumb unit (23) or the finger unit (24) to move, so as to achieve the required rehabilitation effect.

In addition, the imitation exoskeleton glove rehabilitation device (2) can also be put on the hand that needs rehabilitation, and the soft glove rehabilitation device (1) can be put on the other hand that can move normally, and the soft glove can be rehabilitated. The rehabilitation device (1) and the imitation exoskeleton glove rehabilitation device (2) are electrically connected through an integrated unit; when performing rehabilitation, the user bends or grasps the fingers of the normally active hand, and these actions will It is detected by the bending sensing unit (12) on the soft glove rehabilitation device (1), and the detection result is sent back to the integration unit, and the integration unit instructs the power device ( 25), corresponding to the bending state of the fingers of the soft glove rehabilitation device (1), pull the connected transmission rope (27), so that the user wears the finger of the hand of the imitation exoskeleton glove rehabilitation device (2). The movement of the hand of the glove rehabilitation device (1) makes a corresponding mirror action; for example, when the index finger of the hand wearing the soft glove rehabilitation device (1) is lifted, the imitation exoskeleton glove rehabilitation device (2) will It will drive the power device (25) connecting the index finger and finger unit (24) to pull the transmission rope (27) and pull the finger unit (24), so that the index finger of the other hand is lifted by the action of the finger unit (24); In the present invention, various actions can also be performed by the normally active hand, so as to drive the hand in need of rehabilitation to perform various rehabilitative actions.

It can be seen from the above description of the implementation that the integrated rehabilitation device of the present invention includes a soft glove rehabilitation device, an imitation exoskeleton glove rehabilitation device, and an integrated unit, and the soft glove rehabilitation device and the imitation glove rehabilitation device can be used alone according to the user's condition. The exoskeleton glove rehabilitation device, or a combination of the two, can achieve a variety of rehabilitation effects; in addition, the present invention can also be used together with game devices, such as virtual reality game devices, so that the user can play in the game. Rehabilitation, improve the fun of use, and then improve the user's willingness to rehabilitate.

To sum up, the integrated rehabilitation device of the present invention can indeed achieve the expected use effect through the above disclosed embodiments, and the present invention has not been disclosed before the application, which fully complies with the requirements of the patent law and the Require. If you file an application for a patent for invention in accordance with the law, please be kind to review it and grant the patent

However, the above-mentioned descriptions are only the preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention; those who are familiar with the art may make other equivalent changes according to the characteristic scope of the present invention. or modification, should be regarded as not departing from the design scope of the present invention.

1: Soft glove rehabilitation device

11: Soft Gloves

111: Finger Cover

12: Bending Sensing Unit

121: The first fixing belt

13: Wrist Immobilizer

14: Sensing unit integration device

2: Imitation exoskeleton glove rehabilitation device

21: Lower arm fixing plate

211: Ball Seat

212: The third positioning piece

22: Palm fixing plate

221: Second positioning piece

222: Second Piercing

23: Thumb Unit

233: First bracket

234: Second bracket

235: The first positioning piece

24: Finger Unit

241: Third bracket

242: Fourth bracket

25: Powerplant

251: Swivel Arm

252:Second Fixture

26: connecting rod

27: Transmission rope

271: Tube body

28: The first fastener

Claims (9)

An integrated rehabilitation device, comprising: a soft glove rehabilitation device, including a soft glove, the soft glove includes five finger covers, at least five bending sensing units are correspondingly disposed on the finger covers of the soft glove, and A wrist fixation device is installed on the palm of the soft glove near the wrist; an imitation exoskeleton glove rehabilitation device includes an arm fixation plate fixed on the back of a user's arm, and a palm fixation plate is connected with one side to the back of a user's arm. The lower arm fixing plate covers the back of a user's palm, four finger units are connected to the other side of the palm fixing plate, a thumb unit is connected to the lower arm fixing plate, and a plurality of power devices are respectively arranged on the lower arm fixing plate The arm fixing plate, and a plurality of transmission ropes respectively connect each of the finger units to each of the power devices, and connect the thumb unit to the power device, wherein each of the power devices is provided with a rotating arm, and the rotating arm is fixed One end of the transmission rope; and an integration unit electrically connected to the soft glove rehabilitation device and the imitation exoskeleton glove rehabilitation device to sense and control the integration of the soft glove rehabilitation device and the imitation exoskeleton glove The operation of the rehabilitation device wherein, the lower arm fixing plate of the imitation exoskeleton glove rehabilitation device is provided with at least one ball head seat, and the thumb unit is provided with a ball head device to be pivoted on the at least one of the lower arm fixing plate A ball head. The integrated rehabilitation device as claimed in claim 1, wherein the bending sensing unit of the soft glove rehabilitation device is a bending sensing tube, and each bending sensing tube is connected by a first fixing strap It is fixed on the finger cover of the soft glove, and wherein the wrist fixing device of the soft glove rehabilitation device is fixed on the part of the palm of the soft glove close to the wrist with a strap. The integrated rehabilitation device as claimed in claim 1, wherein the thumb unit comprises a first bracket and a second bracket, the first bracket is pivotally connected to the second bracket, and the second bracket is pivotally connected to In the ball head device, each of the finger units includes a third bracket and a fourth bracket, the third bracket is pivotally connected to the fourth bracket, and the fourth bracket is pivotally connected to one of the palm fixing plates underside. The integrated rehabilitation device according to claim 3, wherein the thumb unit comprises two links, and one end of each link is pivotally connected to the first bracket, and the other end is pivotally connected to a bottom surface of the ball head device , wherein each finger unit includes two connecting rods, one end of each connecting rod is pivotally connected to the third bracket, and the other end is pivotally connected to the bottom surface of the palm fixing plate. The integrated rehabilitation device as claimed in claim 3, wherein one end of the driving rope connecting the thumb unit and the power device is fixed on the second bracket, the other end is fixed on the power device, and each finger is connected One end of the transmission rope of the unit is fixed on the fourth bracket, and the other end is fixed on the power device. The integrated rehabilitation device of claim 1, wherein the power device is a servo motor. The integrated rehabilitation device according to claim 1, wherein the plurality of transmission ropes are inelastic transmission ropes. The integrated rehabilitation device as claimed in claim 1, wherein each of the plurality of transmission ropes is covered with a tubular body. The integrated rehabilitation device according to claim 1, wherein a pad is further provided on the bottom surface of the lower arm fixing plate of the imitation exoskeleton glove rehabilitation device, and the pad is provided with a lower arm fixing unit.

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