• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Robotic modular and self-adaptive device for the rehabilitation of the hand and procedure of use. The present invention consists of a modular and self-adaptive robotic device for the rehabilitation of the hand, which is comprised of: a robotic device of exoskeleton type, a system of dorsal and palmar stimulation synchronized with the assisted movement of opening and closing of the hand, a system of fixation and liberalization between the device and the user's hand based on the use of magnetized clip-type or similar systems, a system for acquiring physiological signals by means of sensors embedded in the device's fixation system, a system of control and a virtual reality system with different therapeutic activities. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2558024A1
    申请号:ES201400643
    申请日:2014-07-31
    公开日:2016-02-01
    发明作者:Nicolás GARCÍA ARACIL；José María Sabater Navarro；Eduardo Fernández Jover；Francisco J. BADESA CLEMENTE；Ricardo MORALES VIDAL；Jorge A. DÍEZ POMARES；Samara Catalina ENRIQUEZ URBANO
    申请人:Universidad Miguel Hernandez de Elche；
    IPC主号:
    专利说明:

    people who have totally or partially lost the motor function of the hand the total or partial rehabilitation of the lost function and / or that allows to assist in the performance of daily tasks that require the hand grip functionality.
    At present there are various exoskeleton devices that allow you to assist the lost or weakened motor function of the hand. These devices include the one described in the patent W02014068509. It is an exoskeleton type device consisting of three robotic units each of which is for the union of each of the thumb, index and middle fingers of a user's hand, where the robotic unit: i) first is for thumb fixation it has at least two fasteners to the distal and proximal phalanges of the thumb; ii) the second and third units are for the union with the index and middle finger and have two fasteners for distal, middle and proximal phalanges of the corresponding finger. The device has 5 degrees of freedom and was developed primarily to assist or rehabilitate handwriting. The difference between the system presented in the patent W02014068509 with the present invention is that the system described in the patent W02014068509 has only 3 robotic units for the thumb, index and middle finger while the present invention can control the opening and closing of All fingers of the hand. Furthermore, the application of the device presented in the patent W02014068509 is fundamentally restricted to the assistance or rehabilitation of handwriting while the present invention has a much broader field of application thanks to its modularity and the control of opening / closing of all fingers of the hand.
    Another device that should be noted is that described in patent W02011054983. It is a drive device for a disabled hand, of the type comprising means for moving, by an impulse from a mobile part of the user's body, one or more fingers of said disabled hand, from a first position in which the hand it is partially open to a second position in which said or said fingers have been retracted in the direction of the thumb, for the purpose of grasping or gripping an object, said actuator device comprising an exoskeleton applicable to the dorsal face of said hand. The difference between the system presented in the patent W02011 054983 with the present invention is that the system described in the patent W02011054983 has an exoskeleton type device that is covered by a glove and thus is fixed to the hand while the The present invention is fixed to the hand by means of the use of velcro straps or the like containing magnetized clip-type systems or similar to the proximal phalanges and middle phalanges of the fingers that are to be mobilized. In addition, patent W02011 054983 only refers to the description of an exoskeleton type device while the present invention claims an exoskeleton type device that integrates in the same device different characteristics, among others, such as: i) modularity, which allows locate as many drives on the base of the device as fingers of the hand are wanted; ii) palmar / dorsal stimulation during the hand opening / closing movement; iii) the self-adaptation of the device by modifying the level of assistance provided by the device together with the level of complexity of the rehabilitation therapy; and iv) the rapid fixation and liberalization between the device and the user's hand.
    In US2010305717, an exoskeleton type device consisting of 5 linear direct current motors that control the opening and closing of the 5 fingers of the hand according to a mechanical transmission system fixed to the phalangeal metacarpal joint (MCP) is presented. and the distal inter-phalangeal joint (PIP). The difference between the system presented in US201 0305717 with the present invention is that the system described in US2010305717 does not allow: i) to locate as many drives on the base of the device as fingers of the hand want to be rehabilitated and / or assist during daily life tasks; ii) stimulate palmar / dorsal during the opening / closing movement of the hand; iii) measure the user's physiological signals for use during device control. In addition, the present invention allows: i) rapid fixation and liberalization between the device and the user's hand through the use of magnetized clip-type systems or the like; and ii) the modification of the level of assistance provided by the device together with the level of complexity of the rehabilitation therapy based on the real-time estimation of the user's intention, its physiological state and its performance during the performance of therapies of rehabilitation.
    Another device is that presented in patent W02014033613. It is an exoskeleton type device for the rehabilitation of the hand or to assist in the movements of the hand in tasks of daily life. Said device has three active rotational joints for each finger used to act on: interphalangeal distal flexion / extension (DIP), proximal interphalangeal (PIP) and metacarpophalangeal (MP). In DIP and PIP joints, kinematic compatibility (alignment between the axes of the orthosis joint and those of the hand) is obtained through a flexible material located inside the housing. In the case of the MP joint, there is an additional passive joint (abduction / adduction) of self-alignment obtained through an elastic sleeve and there is a self-adjusting (flexion / extension joint) obtained through a mechanism of sliding handle. The difference between the system presented in the patent W02014033613 with the present invention is fundamentally in that in the patent W02014033613 the active joints of the device are aligned and in direct contact with the joints of the fingers of the hand to be mobilized while in the present What is aligned with the finger joints is the virtual center of movement of each of the circular guides that form the exoskeleton type mechanism.
    The robotic devices of the exoskeleton type are also used as man-machine interfaces to interact with virtual worlds and provide kinesthetic reflection, such as the device presented in patent W0951 0396 and the like.
    We have not found references of exoskeleton type devices that integrate in the same device: i) modularity, which allows locating as many drives on the base of the device as fingers of the hand want to be rehabilitated and / or assist during daily life tasks; ii) palmar / dorsal stimulation during the hand opening / closing movement; iii) physiological signal measurement systems for use during device control and iv) innovative system for rapid fixation and liberalization between the device and the user's hand.
    DESCRIPTION OF THE INVENTION The modular and self-adaptive robotic device for the rehabilitation of the hand and the assistance of the movements of the hand in daily life tasks can be classified as an exoskeleton type device. The device is formed by a base (1) that is placed on the dorsal part of the hand and fastened to it by means of fastening tapes and a tongue-shaped element (2) that closes on the palmar part of the hand. On the base (1) of the device is located the assembly formed by the exoskeleton type mechanism (3) and its corresponding linear actuator (7) joined by an elastic joint (6, 20) that allows the opening / closing movement of each One of the fingers The exoskeleton type mechanism is fixed to the proximal phalanx (4) and a half
    (5) of each of the fingers through an innovative system of rapid fixation and liberalization between the device and the user's hand based on the use of magnetized clip-type systems or the like (8). The exoskeleton type mechanism (3) formed by two circular guides (9, 18) that join the base (1) through a small rotating base with stops at the sides to allow and at the same time limit the proper movement of finger separation (10). An advantage of not having the joint between each mechanism of the exoskeleton type fixed to the base is that it is not necessary for the linear actuator to be aligned with each mechanism. This feature allows the actuators of the device to be located parallel to each other, except for the one corresponding to the thumb, without affecting the correct movement of the hand and giving greater freedom to the position of the fingers. The linear actuator that transmits the movement to the circular guide fixed to the proximal phalanx is attached to the base by a fixing system (11) and a support (12) that has a rotational joint (13) whose axis is perpendicular to the axis whereby the linear movement of the actuator is described. This degree of freedom of the linear actuator makes the device more ergonomic. One of the main features of the invention is that the robotic device can be configured by locating on the base so many modules, formed by linear actuator (7) and exoskeleton type mechanism (3), as fingers of the hand want to be rehabilitated and / or assist during daily life tasks. The exoskeleton type mechanism is composed of a circular guide
    (9) whose movable part (17) is fixed to the proximal phalanx by means of the semi-cylindrical fixation (4) and at the same time transmits the movement to the second circular guide (18) by means of a mechanism of three articulated bars (14, 15 and 16). The second circular guide (18) transmits the movement through its movable part (19) whose final effector of semi-cylindrical shape (5) is fixed to the medial phalanx. In this way, the opening and closing movement of the hand is controlled. The present invention consists of a control system (29) which, depending on the information acquired from the position sensors (21) of each of the linear actuators, from the pressure sensors (24, 25), from the sensors pulse (26) and galvanic skin response sensors
    (27) It calculates the level of assistance that the robotic device must provide (30), updates the therapeutic activity presented to the user by the virtual reality system (28) and modifies the level of complexity of said activity. The present invention consists of software that allows to calibrate, configure and control the device; manage its users; produce graphical and numerical reports of the therapies performed with the device; and present to the user different virtual therapeutic activities. For the placement and removal of the device in the hand of the person with loss of mobility, the following procedure for fixing and liberalizing the robotic device must be followed by the user using magnetized clip-type systems or similar (8) is performed by relaxing the user's hand and fixing the velcro straps or similar that contain the magnetized clip-type systems or similar to the proximal phalanges and middle phalanges of the fingers that are to be mobilized. In the case of the thumb they will be fixed to the proximal phalanx and distal phalanx. Subsequently, the robotic device is configured with as many assemblies formed by exoskeleton type mechanism and linear actuator as necessary to mobilize the user's fingers. Finally, the base (1) of the device is fixed to the user's hand by means of fastening straps and a tongue-shaped fixing element (2); fixing then each of the exoskeleton type mechanisms to the velcro straps or similar located in the proximal phalanges and middle phalanges of the fingers (except in the case of the thumb that are located in the proximal phalanx and distal phalanx) and that contain magnetized clip-type systems or the like (8). Once the device is fixed to the user's hand, its calibration is carried out by means of a calibration software that allows defining the maximum and minimum ranges of movement of each of the fingers of the hand, the speed in the execution of the movement for each finger and if set
    the system so that all the fingers of the hand open / close at the sameweather. Once the calibration is completed, 5 movements ofsetting to determine the parameters using the calibration softwareof control needed.In order to use the self-adaptation feature of thisinvention, the learning phase of the algorithms must be carried outof estimation of the psychophysiological state of the user during useof the robotic device and consisting of: the realization of a protocol ofacquisition of information of the physiological sensors embedded in thedevice during the performance of rehabilitation therapies; hetraining of artificial intelligence algorithms that estimate thepsychophysiological state of the user; and the continuous adaptation ofartificial intelligence algorithms drifting over time through atraining phase before each rehabilitation session.Once the learning phase of the estimation algorithms is completed,the following steps should be carried out that allow the caradaptation of the robotic device to the user during the performance ofhand rehabilitation tasks: setting minimum levels andmaximum assistance and complexity of therapy; time estimationreal user intention, physiological state of the user and performanceduring the performance of rehabilitation therapies assisted by thedevice; and the modification of the level of assistance provided by thedevice and the level of complexity of rehabilitation therapy.
    BRIEF DESCRIPTION OF THE DRAWINGS
    Figure 1. Perspective view of the hand rehabilitation systemaccording to the present invention;Figure 2. View of the robotic device configured to mobilize the 5fingers (left) and configured to mobilize the thumb,index and heart of the hand (right).
    Figure 3. Detailed view of the process of fixing the device to the user's hand. Figure 4. Detail view of an assembly formed by the exoskeleton type mechanism and the linear actuator of the hand rehabilitation system according to the present invention; Figure 5. Detail view of the exoskeleton type mechanism. Figure 6. Perspective view of the system for assistance in the opening / closing movements of the hand in daily life tasks according to the present invention; Figure 7. Perspective view of the system with the detail of the position and pressure sensors. Figure 8. Block diagram of the use of the device for hand rehabilitation. Figure 9. Example of embodiment of the invention as a wearable device to assist in the performance of daily tasks that require hand grip functionality and that has an interface. Legend of the figures:
    (one) Device base
    (2) Tongue for holding the device to the patient's hand.
    (3) Exoskeleton type mechanism.
    (4) Semi-cylindrical element for fixing the exosquele type mechanismto
    to the proximal phalanx of the fingers.
    (5) Semi-cylindrical element for fixing the ex-type mechanismor skeleton
    to the medial phalanx of the fingers.
    (6) Elastic joint between the exoskeleton type mechanism and the actuatoror
    linear.
    (7) Linear actuator.
    (8) Fixation and liberalization system between the device and thehand of
    user based inheuseof magnetized clip type systemsor
    Similar.
    (9) First circular guide of the exoskeleton type mechanism
    (10) Rotating base of the exoskeleton type mechanism that allows a small movement of separation of the fingers.
    (eleven) Linear actuator fixing system
    (12) Linear actuator support
    (13) Rotational joint of the linear actuator bracket
    (14) First articulated bar that transmits the movement between the two circular guides of which the exoskeleton type mechanism is composed
    (fifteen) Second articulated bar that transmits the movement between the two circular guides of which the exoskeleton type mechanism is composed
    (16) Third articulated bar that transmits the movement between the two circular guides of which the exoskeleton type mechanism is composed
    (17) Moving part of the first circular guide of the exoskeleton type mechanism
    (18) Second circular guide of the exoskeleton type mechanism
    (19) Moving part of the second circular guide of the exoskeleton type mechanism
    (twenty) Fixing point of the linear actuator to the mobile part of the first circular guide of the exoskeleton type mechanism through the elastic joint (6).
    (twenty-one) Position sensor.
    (22) Fixing the position sensor to the non-mobile part of the linear actuator.
    (2. 3) Fixing the position sensor to the mobile part of the linear actuator.
    (24) Pressure sensor of a pneumatic cylinder linear actuator chamber.
    (25) Pressure sensor of the other chamber of the pneumatic cylinder linear actuator.
    (26) Pulse sensor
    (27) Sensors to measure the galvanic response of the skin
    (28) Virtual reality system
    (29) Control system
    (30) Robotic device
    (31) Wearable device to assist in performing daily tasks that require hand grip functionality.
    (32) Interface through which the user can indicate to the device the opening / closing of the hand as well as the speed and force with which to perform the movement.
    DETAILED EXHIBITION OF A MODE OF REALIZATION OF THE
    INVENTION The present invention is further illustrated by the following examples, which are not intended to be limiting in scope. Figure 1 shows a perspective view of a preferred embodiment of the robotic device for hand rehabilitation. In this embodiment, the linear actuators (7) of each of the assemblies, formed by them and the exoskeleton type mechanism, are pneumatic double-acting cylinders of low friction and stroke between 40-50 mm. This configuration allows the user to move the set that acts on each finger with ease. The movement of the cylinder in both directions is done by varying the pressure in the contracted chambers by means of two proportional pressure valves. The position of the pneumatic cylinder rod is measured with a position sensor which in this preferred embodiment is a linear potentiometer (21). In addition, the force made by the pneumatic cylinder is estimated by the information provided by two pressure sensors (24.25) located in the two air inlets / outlets thereof. In this embodiment, the device has a pulse sensor (26) embedded in the fastening straps of the distal phalanx of the thumb and two sensors: one in the middle phalanx of the index finger and another sensor in the middle phalanx of the middle finger that measure the galvanic response of the skin (27). The control system (29) in this preferred embodiment is implemented in a computer and that acquires the sensor data and sends actuation information to the device and the virtual reality software associated therewith by means of electronic input / output cards connected to the computer's usb ports. The control algorithm implemented will modify the level of assistance provided by the device (30), as well as update the positions of the fingers in the virtual reality system (28) and modify the level of
    5 complexity of virtual rehabilitation therapy. The present invention has in its preferred embodiment a human machine interface implemented in a software that allows the device to be calibrated, configured and controlled; manage its users; produce graphical and numerical reports of the therapies performed with the
    10 device; and present to the user different virtual therapeutic activities. The present invention in its preferred embodiment to assist in the performance of daily tasks that require hand grip functionality (31) and that has an interface (32) by means of which the
    The user can indicate to the device the opening / closing of the hand as well as the speed and force with which to perform the movement by means of voice commands.
    权利要求:
    Claims (15)
    [1]
    1. Modular and self-adaptive robotic device for the rehabilitation of the hand, which is comprised of:
    i. A robotic device of exoskeleton type comprising
    an ergonomic base (1) that is placed on the dorsal part
    of the hand and is attached to it by means of fastening tapes
    and a tongue-shaped element (2) that closes on
    the palmar part of the hand; on the basis (1) of the device
    so many sets are located, formed by a mechanism of
    exoskeleton type (3) and its linear drive (4)
    corresponding, as fingers of the hand want
    rehabilitate.
    ii. A palmar stimulation system housed in the element in
    tongue shape (2) that closes on the palmar part of
    the hand and a dorsal stimulation system that is located
    at the base of the device on the face that is in contact with
    the dorsal part of the hand.
    iii. A system of fixation and liberalization between the device and the
    User hand based on the use of clip type systems
    magnetized or similar (6).
    iv. A physiological signal acquisition system through
    sensors embedded in the device fixation system
    that evaluate the pulse (26) and the galvanic response of the skin
    (27).
    v. A control system that independently governs the
    opening and closing each of the fingers of the hand at
    that the exoskeleton type device is fixed.
    saw. A software that allows to calibrate, configure and control the
    device; manage its users; produce
    graphic and numerical reports of therapies performed with
    the device; and present different activities to the user
    virtual therapeutics
    [2]
    2. Modular and self-adaptive robotic device for the rehabilitation of the hand according to claim 1, wherein the exoskeleton type mechanism (3) comprises 2 circular guides joined by a set of levers that transmit the movement of the carpometacarpal joint to the joint metacarpophalangeal and the interfalangeal joint in all fingers except the thumb that transmit it from the carpometacarpal joint to the interphalangeal joint.
    [3]
    3. Modular and self-adaptive robotic device for the rehabilitation of the hand according to claim 1, characterized in that it has 1 to 5 exoskeleton type mechanisms that are fixed to the proximal and middle phalanx of each of the fingers.
    [4]
    Four. Modular and self-adaptive robotic device for the rehabilitation of the hand according to claims 1 to 3, characterized in that it has a linear actuator attached to the circular guide closest to the proximal end of the hand by means of an elastic element; The linear actuator is of the type: pneumatic cylinder, pneumatic muscles, linear direct current motor or hydraulic cylinders.
    [5]
    5. Modular and self-adaptive robotic device for the rehabilitation of the hand according to claims 1 to 4, characterized by fixing the exoskeleton type mechanism (3) to the base of the device by means of a small rotating base (10) with stops on the sides that allows and at the same time limits the movement of separation of the fingers.
    [6]
    6. Modular and self-adaptive robotic device for the rehabilitation of the hand according to claims 1 to 4, characterized in that the actuators of the device are located parallel to each other, except for the one corresponding to the thumb, without
    affect the correct movement of the hand and giving greater freedom to the position of the fingers.
    [7]
    7. Modular and self-adaptive robotic device for the rehabilitation of the hand according to claim 1, characterized in that the fixing and liberalization system between the device and the user's hand comprises a series of straps that are fixed by velcro or the like (6 ) to the proximal phalanges and middle phalanges of the fingers that are to be mobilized with the assistance of the robotic device; The belts located in the phalanges and the exoskeleton type mechanism are fixed and released by a magnetized clip type system or the like.
    [8]
    8. Modular and self-adaptive robotic device for the rehabilitation of the hand according to claim 1, characterized in that it consists of a sensor embedded in the fastening straps of the distal phalanx of the thumb to measure the pulse (26); a sensor in the middle phalanx of the index finger and another sensor in the middle phalanx of the middle finger that measures the galvanic response of the skin (27).
    [9]
    9. Modular and self-adaptive robotic device for hand rehabilitation according to claims 1 to 6, characterized by having position sensors (21), pressure (22), pulse (26), galvanic skin response (27 ) of the different elements that make up the device.
    [10]
    10. Modular and self-adaptive robotic device for the rehabilitation of the hand according to claims 1 to 7, characterized by having a virtual reality system with different therapeutic activities.
    [11]
    eleven. Modular and self-adaptive robotic device to assist in the performance of daily tasks that require hand grip functionality (31) according to claims 1 to 7 which has an interface (32) through which the user can
    indicate to the device the opening / closing of the hand as well as the speed and force with which to perform the movement.
    [12]
    12. Procedure for fixing and liberalizing the robotic device described in claim 1 and the user's hand comprising the following steps:
    [13]
    13. Calibration procedure of the robotic device described in claim 1 comprising the following steps:
    i. Adjustment of the device to the user's hand
    ii. Execution of a calibration software that allows to define the maximum and minimum ranges of movement of each of the fingers of the hand, the speed in the execution of the movement for each finger and if the system is configured so that all the fingers of the hand They open / close at the same time.
    iii. Performing 5 adjustment movements to determine the necessary control parameters using the calibration software.
    [14]
    14. Learning method of the algorithms for estimating the psychophysiological state of the user during the use of the robotic device described in claim 1 comprising the following steps:
    i. Performing an information acquisition protocol of the physiological sensors embedded in the device during the performance of rehabilitation therapies.
    ii. Training of artificial intelligence algorithms that estimate the psychophysiological state of the user.
    iii. Adaptation of artificial intelligence algorithms to their drift over time through a training phase before each rehabilitation session.
    [15]
    fifteen. Procedure of self-adaptation of the robotic device to the user for performing hand rehabilitation tasks includes the following steps:
    i. Relax the user's hand and fix the straps by Velcro
    or similar to those to the proximal phalanges and middle phalanges of
    the fingers that bethey wantmobilize.Inhecaseof the finger
    Thumb will be fixed to the proximal phalanx and distal phalanx.
    ii. Robotic device configurationwithso manysets
    formed by exoskeleton and actuator type mechanism
    linear howbenecessaryformobilize the fingers of
    Username.
    iii. Fixing the base (1) of the robotic device that is placed
    on the dorsal part of the hand and is held by it
    of fastening straps and a tongue-shaped element (2)
    which closes on the palmar part of the hand.
    iv. Fixation of the exoskeleton type mechanism atstraps
    located in the phalanges of the fingers to be mobilized through the
    device.
    i. Configuration of minimum and maximum levels of assistance and complexity of therapy
    ii. Real-time estimation of the user's intention, physiological state of the user and performance during the performance of rehabilitation therapies assisted by the device.
    iii. Modification of the level of assistance provided by the device and variation of the level of complexity of rehabilitation therapy.
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    同族专利:
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    引用文献:
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