阅读说明：本技术 结合视觉反馈系统的人手拇指内收康复用外骨骼装置 (Exoskeleton device for human hand thumb adduction rehabilitation combined with visual feedback system ) 是由 庄新村 李林飞 戴燕琼 赵震 唐亮 于 2020-07-24 设计创作，主要内容包括：一种结合视觉反馈系统的人手拇指内收康复用外骨骼装置,包括：各自带有形状记忆合金驱动器的刚性拇指关节和柔性腕指连接端,其中：刚性拇指关节上设有视觉追踪标记点并通过视觉追踪系统实时监测外展角,通过闭环反馈实现对形状记忆合金驱动器的精确控制。本发明能够随时随地的进行康复训练；采用形状记忆合金作为驱动器,相较于电机、气缸具有更大的功重比,并且由于体积和质量小,则对人手的负担小；采用柔性结构能够良好贴合人手；结合计算机视觉追踪,实现了闭环反馈控制,提高了控制精度,保证了外展角度受到实时监测,提升了外骨骼的安全性。(An exoskeleton device for human hand thumb adduction rehabilitation in combination with a visual feedback system, comprising: a rigid thumb joint and a flexible wrist finger connecting end each with a shape memory alloy driver, wherein: the rigid thumb joint is provided with a visual tracking mark point, an abduction angle is monitored in real time through a visual tracking system, and the shape memory alloy driver is accurately controlled through closed-loop feedback. The invention can carry out rehabilitation training at any time and any place; the shape memory alloy is used as a driver, so that the power-weight ratio is higher than that of a motor and an air cylinder, and the burden on hands is small due to small volume and mass; the flexible structure is adopted, so that the hand can be well attached; by combining with computer vision tracking, closed-loop feedback control is realized, control precision is improved, real-time monitoring on the abduction angle is guaranteed, and safety of the exoskeleton is improved.)

1. An exoskeleton device for human hand thumb adduction rehabilitation combined with a visual feedback system, comprising: a rigid thumb joint and a flexible wrist finger connecting end each with a shape memory alloy driver, wherein: the rigid thumb joint is provided with a visual tracking mark point, an abduction angle is monitored in real time through a visual tracking system, and the shape memory alloy driver is accurately controlled through closed-loop feedback;

the rigid thumb joint comprises: the visual tracking mark points are specifically arranged on the surfaces of the tip knuckle exoskeleton, the middle knuckle exoskeleton and the rotating joint so as to monitor the abduction angle in real time.

2. The exoskeleton device for thumb adduction rehabilitation of a human hand incorporating a visual feedback system of claim 1, wherein said flexible wrist finger connecting end comprises: a flexible band and a watch clasp located thereon.

3. The exoskeleton device for thumb adduction rehabilitation of a human hand incorporating a visual feedback system of claim 1, wherein said tip knuckle exoskeleton comprises: the device comprises a cavity for accommodating a knuckle P1 of a human hand, rotating assemblies respectively arranged at two sides of the cavity and a connecting rod positioned between the rotating assemblies and the cavity; the middle knuckle exoskeleton comprises: a cavity for accommodating a knuckle P2 of a human hand and a semi-open type rotating shaft sleeve which is respectively arranged at two sides of the cavity and is matched with the rotating assembly of the exoskeleton of the tip knuckle and provided with a second torque spring groove.

4. The exoskeleton device for thumb adduction rehabilitation of a human hand incorporating a visual feedback system of claim 3, wherein said shape memory alloy actuator comprises: set up wire, guide card, shape memory alloy spring and the cord in bilateral symmetry's casing, wherein: the conducting wire is connected with two ends of the shape memory alloy spring, the guide sheet is fixedly connected with the shape memory alloy spring, one end of the soft rope is connected with the shape memory alloy spring and is output by the output hole of the shell to be connected with the connecting rod of the tip knuckle exoskeleton and the connecting hole of the middle knuckle exoskeleton.

5. The exoskeleton device for human hand thumb adduction rehabilitation combined with a visual feedback system as claimed in claim 1, wherein said visual tracking mark points are arranged on the first mark point of the top knuckle exoskeleton, the second mark point of the middle knuckle exoskeleton and the surface of the revolute joint, namely, circular color marks are pasted or sprayed on the three points, the real-time movement positions of the three points in the movement process are tracked by the visual tracking system, and the included angle formed by the connection line from the first mark point to the revolute joint and the connection line from the second mark point to the revolute joint is calculated in real time.

6. The exoskeleton device for thumb adduction rehabilitation of a human hand incorporating a visual feedback system as claimed in claim 1, wherein said visual tracking system comprises: support OpenMV's intelligent camera and identification module, wherein: the intelligent camera acquires an image, processes the image through the identification module, identifies pixel coordinates of the mark points in the image through setting a threshold value of a color gamut, obtains real-time positions of the mark points through coordinate matrix transformation, and further calculates to obtain real-time angles formed by the tip knuckle exoskeleton and the middle knuckle exoskeleton.

7. The exoskeleton device for human thumb adduction rehabilitation in combination with a visual feedback system of claim 1, wherein the bottom of said housing is provided with a thermally insulated cavity to reduce the rate of heat transfer from the actuator.

8. The exoskeleton device for human hand thumb adduction rehabilitation combined with a visual feedback system of claim 1, wherein the bottom of the shell is provided with a boss with holes, and the boss with holes is connected with the middle knuckle exoskeleton and the flexible wrist finger connecting end through a driver connecting plate.

9. The exoskeleton device for human hand thumb adduction rehabilitation combined with a visual feedback system of claim 8, wherein a thermal insulation layer is arranged between the driver and the driver connecting plate.

10. The exoskeleton device for human hand thumb adduction rehabilitation combined with a visual feedback system as claimed in claims 1 to 9, wherein the middle knuckle exoskeleton is provided with a gap at the joint with the palm muscle for wearing.

Technical Field

The invention relates to a technology in the field of rehabilitation training equipment, in particular to an exoskeleton device for human hand thumb adduction rehabilitation combined with a visual feedback system.

Background

For the adduction of the thumb caused by spastic cerebral palsy, the abduction of the thumb of a patient is realized by stretching or fixing by utilizing the appliance therapy, and the good treatment effect cannot be realized because the appliance statically but dynamically assists the patient to perform the abduction movement of the thumb. Along with the rapid development of the robot technology, the existing rehabilitation robot usually adopts a motor or a steering engine as a driver, has a complex structure, a large volume, is inconvenient for a patient to wear, and has a large difference with the flexible movement of the muscle of the patient due to rigid movement, thereby influencing the rehabilitation training effect.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the exoskeleton device for the adduction and recovery of the thumb of the human hand combined with the visual feedback system, which adopts shape memory alloy as a driver, adopts a rigid structure at the exoskeleton part of the joints P1 and P2 of the thumb of the human hand, adopts a flexible structure at the exoskeleton part connected with the thumb at the wrist, drives the thumb of a patient to carry out abduction recovery training by flexible motion, and combines computer visual tracking as a feedback control means, thereby improving the motion precision of the exoskeleton, realizing the wearability of the exoskeleton on the thumb of the human hand and further improving the recovery training effect.

The invention is realized by the following technical scheme:

the invention relates to an exoskeleton device for human hand thumb adduction rehabilitation combined with a visual feedback system, which comprises: a rigid thumb joint and a flexible wrist finger connecting end each with a shape memory alloy driver, wherein: the rigid thumb joint is provided with a visual tracking mark point, an abduction angle is monitored in real time through a visual tracking system, and the shape memory alloy driver is accurately controlled through closed-loop feedback.

The rigid thumb joint comprises: the visual tracking mark points are specifically arranged on the surfaces of the tip knuckle exoskeleton, the middle knuckle exoskeleton and the rotating joint so as to monitor the abduction angle in real time.

The flexible wrist finger joint end comprises: a flexible band and a watch clasp located thereon.

The tip knuckle exoskeleton comprises: the device comprises a cavity for accommodating a knuckle P1 of a human hand, rotating assemblies respectively arranged at two sides of the cavity and a connecting rod positioned between the rotating assemblies and the cavity.

The rotating assembly comprises: a torque spring, an inner rotating shaft and an outer rotating shaft with a first torque spring groove, wherein: the inner rotating shaft and the outer rotating shaft are coaxially arranged, the torque spring is wound on the outer side of the inner rotating shaft, and one end of the torque spring is fixed in the first torque spring groove.

The middle knuckle exoskeleton comprises: a cavity for accommodating a knuckle P2 of a human hand and a semi-open type rotating shaft sleeve which is respectively arranged at two sides of the cavity and is matched with the rotating assembly of the exoskeleton of the tip knuckle and provided with a second torque spring groove.

The other end of the first torque spring of the rotating assembly is arranged in the second torque spring groove.

The shape memory alloy actuator includes: set up wire, guide card, shape memory alloy spring and the cord in bilateral symmetry's casing, wherein: the conducting wire is connected with two ends of the shape memory alloy spring, the guide sheet is fixedly connected with the shape memory alloy spring, one end of the soft rope is connected with the shape memory alloy spring and is output by the output hole of the shell to be connected with the connecting rod of the tip knuckle exoskeleton and the connecting hole of the middle knuckle exoskeleton.

The bottom of the shell is provided with a heat insulation cavity so as to reduce the speed of heat conduction of the driver.

The middle knuckle exoskeleton is provided with a gap at the joint with the palm muscle so as to be convenient to wear.

Technical effects

The invention integrally solves the problem that the treatment of the appliance and the like can not treat the adduction of the thumb well; compared with the prior art, the invention can help the patient do thumb abduction exercise, has portability, and can carry out rehabilitation training at any time and any place; the shape memory alloy is used as a driver, so that the power-weight ratio is higher than that of a motor and an air cylinder, and the burden on hands is small due to small volume and mass; the flexible structure is adopted, so that the hand can be well attached; by combining with computer vision tracking, closed-loop feedback control is realized, the control precision is improved, the abduction angle is ensured to be monitored in real time, and the safety of the exoskeleton is improved.

Drawings

FIG. 1 is a schematic view of the present embodiment;

FIG. 2 is a schematic diagram of the structure of the tip knuckle;

FIG. 3 is a schematic diagram of the structure of the middle knuckle;

FIG. 4 is a schematic view of a wrist finger joint structure;

FIG. 5 is a schematic diagram of the structure of the driver;

in the figure: the rigid thumb joint 1, the wrist and finger connecting end 2, the driver 3, the tip knuckle exoskeleton 4, the middle knuckle exoskeleton 5, the rotary joint 6, the soft rope 7, the first marking point 8, the torque spring 9, the threaded hole 10, the rotary inner shaft 11, the rotary outer shaft 12, the first torque spring groove 13, the tip knuckle cavity 14, the connecting rod 15, the heat-insulating layer 16, the first driver connecting plate 17, the rounded hole 18, the trapezoidal boss 19, the middle knuckle cavity 20, the second torque spring groove 21, the rotary shaft sleeve 22, the bearing hole 23, the bearing 24, the second marking point 25, the connecting hole 26, the supporting plate 27, the belt-shaped hole 28, the shape memory alloy spring 29, the second driver connecting plate 30, the screw connecting rod 31, the flexible belt 32, the watch lock 33, the inner cavity 34, the fastening arm 35, the wire hole 36, the output hole 37, the guide vane 38, the boss 39 with the hole, the heat-insulating cavity 40, the guide vane cavity, A wire 42.

Detailed Description

As shown in fig. 1, the present embodiment relates to an exoskeleton device for human hand thumb adduction rehabilitation combined with a visual feedback system, comprising: a rigid thumb joint 1 with visual tracking mark points, a flexible wrist finger connecting end 2 and two drivers 3 respectively connected with the two.

The rigid thumb joint 1 comprises: a tip knuckle exoskeleton 4 and a middle knuckle exoskeleton 5 hinged by a revolute joint 6.

The tip knuckle exoskeleton 4 comprises: a cavity 14 for accommodating the knuckle of a thumb P1 of a human hand, rotating assemblies respectively arranged at two sides of the cavity and a connecting rod 15 positioned between the rotating assemblies.

The rotating assembly comprises: a torque spring 9, a rotating inner shaft 11 and a rotating outer shaft 12 with a first torque spring groove 13, wherein: the inner rotating shaft 11 and the outer rotating shaft 12 are coaxially arranged, the torque spring 9 is wound outside the inner rotating shaft 11, and one end of the torque spring is fixed in the first torque spring groove 13.

The middle knuckle exoskeleton 5 comprises: a cavity 20 for accommodating the knuckle of a human hand P2, a semi-open type rotating shaft sleeve 22 with a second torque spring groove 21 and a trapezoid boss 19 with a reversed round hole 18, wherein the semi-open type rotating shaft sleeve 22 is respectively arranged at two sides of the cavity and matched with the rotating assembly, and the trapezoid boss 19 is positioned between the cavity and the rotating assembly, wherein: the other end of the turning assembly torsion spring 9 is inserted into the second torsion spring slot 21 when the tip knuckle exoskeleton 4 is in a perpendicular position with the middle knuckle exoskeleton 5.

The rotary joint 6 is a ball bearing 24 and a screw which are matched with each other, wherein: the ball bearing 24 is in interference fit with the bearing hole 23 of the rotating sleeve 22, and the screw is connected with the threaded hole 10 of the rotating inner shaft 11 through the ball bearing 24.

The middle knuckle exoskeleton 5 is provided with a gap at the joint with the palm muscle so as to be convenient to wear.

The flexible wrist finger connecting end 2 comprises: a flexible strap 32 and a watch clasp 33 located thereon.

The shape memory alloy actuator 3 includes: the left and right symmetrical outer shell body which is fastened by the bolt, the boss 39 with the hole, the lead 42, the guide sheet 38, the shape memory alloy spring 29 and the soft rope 7, wherein: the perforated boss 39 is arranged at the bottom of the outer shell, the lead wire 42 is arranged in the lead wire hole 36 of the outer shell, the guide vane 38 is arranged in the guide vane cavity 41 of the outer shell, the shape memory alloy spring 29 is positioned in the inner cavity 34 of the outer shell, the guide vane 38 is connected with the shape memory alloy spring 29 through tin soldering, one end of the soft rope 7 is connected with the shape memory alloy spring 29 and is output from the output hole 37 of the outer shell, and two ends of the soft rope 7 are respectively connected with the connecting rod 15 and the connecting hole 26 of the middle knuckle exoskeleton 5.

The rounded hole 18 provides a guide for the cord 7.

The bottom of the outer casing is provided with a heat insulating chamber 40 to reduce the rate of heat transfer from the actuator 3 and to provide heat insulation.

Two fastening arms 35 are respectively arranged on two sides of the outer shell to ensure that the left part and the right part of the driver 3 are tightly connected.

The apertured bosses 39 are connected to the respective intermediate knuckle exoskeletons 5 and flexible straps 32 by first and second driver attachment plates 17 and 30, respectively, the apertured bosses 39 being adapted to provide bolted connections for reducing the contact area between the driver 3 and the drive attachment plates to reduce heat transfer.

The first driver connecting plate 17 is connected with the middle knuckle exoskeleton 5 through a supporting plate 27, and a strip-shaped hole 28 is formed in the connecting plate.

The second actuator attachment plate 30 is connected to a flexible strap 32 by means of a screw connection rod 31.

And a heat insulation layer 16 is arranged between the driver 3 and the driver connecting plate.

The visual tracking mark points are arranged on the surfaces of the first mark point 8 of the tip knuckle exoskeleton 4, the second mark point 25 of the middle knuckle exoskeleton 5 and the rotating joint 6, and specifically, circular color marks are pasted or sprayed on the three positions, namely red, green and blue. The real-time movement positions of the three points in the movement process are tracked through a visual tracking system, and the included angle formed by the connecting line from the first marking point 8 to the rotating joint 6 and the connecting line from the second marking point 25 to the rotating joint 6 is calculated in real time.

The visual tracking system comprises: support OpenMV's intelligent camera and identification module, wherein: the intelligent camera acquires an image, processes the image through the identification module, identifies pixel coordinates of the mark points in the image through setting a threshold value of a color gamut, obtains real-time positions of the mark points through coordinate matrix transformation, and further calculates to obtain real-time angles formed by the tip knuckle exoskeleton 4 and the middle knuckle exoskeleton 5.

The inner cavity 34, the wire guide 36, the output hole 37 and the flexible rope 7 ensure that the driver 3 can output tension with stable direction.

The soft ropes 7 are all soft steel wire ropes.

The shape memory alloy spring 29 is a nickel-titanium one-way memory shape memory alloy, which is in a natural extension state at normal temperature and in a contraction state when being electrified and heated, when the conducting wire 42 applies current to two ends of the shape memory alloy spring 29, the shape memory alloy spring 29 is shortened to a memory state, and the current at two ends of the shape memory alloy spring 29 can be controlled through a pulse width modulation control circuit, so that whether the shape memory alloy spring 29 deforms or not and the deformation speed are controlled. Because the shape memory alloy has a high-temperature austenite phase and a low-temperature martensite phase, and simultaneously has a stress-induced martensite phase; under the adduction of the thumb of the patient and the action of the torque spring 9, the shape memory alloy spring 29 is in an extension deformation state, namely the shape memory alloy is in a martensite phase, when the thumb needs to perform abduction movement, current is applied to the shape memory alloy spring 29, the spring is heated according to joule's law, the shape memory alloy is changed from the martensite phase to the austenite phase, namely the shape memory alloy spring 29 returns to a contraction state from an extension state, and in the contraction process of the shape memory alloy spring 29, a stretching force can be output, so that the thumb can be stretched from the adduction state to the abduction state; after the abduction movement is finished, the energization of the shape memory alloy is only stopped, the temperature is reduced, the shape memory alloy spring 29 is changed into the martensite phase again, and the shape memory alloy spring 29 is changed into the extension state again under the adduction symptom of the thumb of the patient and the action of the torque spring 9.

When the thumb of a patient needs to be abducted for rehabilitation training, the pulse width modulation circuit control system outputs current to the driver 3 by setting the angle and the speed of the thumb to be abducted for rehabilitation training of the patient, the wrist finger connecting end 2 and the driver 3 on the middle knuckle exoskeleton 5 drive the exoskeleton to move, the exoskeleton drives the thumb of the patient to carry out abduction rehabilitation training, and closed-loop feedback control is realized by introducing real-time tracking of computer visual feedback; and because a vision tracking system is introduced, the abduction angle is ensured to be monitored in real time, and the safety of the exoskeleton is improved. Specifically, abduction rehabilitation includes: the middle knuckle exoskeleton 5 and the tip knuckle exoskeleton 4 are changed from a vertical state to a horizontal state through rotation, and the interphalangeal joints of the thumb of a human hand are driven to move from a bent, contracted state to an abducted state; under the drive of the driver 3, the middle knuckle exoskeleton 5 is stretched by the driver 3 on the wrist-finger connecting end 2 to perform abduction motion, so that the metacarpophalangeal joint and the first carpometacarpal joint of the thumb of the human hand are driven to perform abduction motion; under the drive of the torque spring 9, the tip knuckle exoskeleton 4 and the middle knuckle exoskeleton 5 return to the bending vertical state from the stretching horizontal state.

In conclusion, the invention can help the patient do thumb abduction exercise, has portability and can carry out rehabilitation training at any time and any place; compared with the defect that a pure rigid exoskeleton is difficult to be tightly worn on a thumb, the hand-held exoskeleton is easy to wear; the shape memory alloy is used as a driver, so that the power-weight ratio is higher than that of a motor and an air cylinder, and the burden on hands is small due to small volume and mass; the existing device adopting the shape memory alloy as the driver has low control precision because the shape memory alloy has hysteresis and an angle sensor cannot be adopted as feedback in a flexible driver, and the device combines computer vision tracking to realize closed-loop feedback control, improve the control precision, simultaneously ensure that the abduction angle is monitored in real time and improve the safety of the exoskeleton.

The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.