• 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:
    The present invention refers to a socially responsible portable flexible robotic exoskeleton for a hand with functional diversity, due to neurological disorders or another type of pathology that prevents it from using the hand independently. It has a structure that conforms to the shape of the user's hand and is made up of electronics, sensors and a motor mechanism. The advantage of the socially responsible portable flexible robotic exoskeleton is its ergonomics and placement at the user's hand, as well as its rapid manufacturing mode and opening mechanism that avoids the use of large motors or actuators that massify the volume of the exoskeleton, complicating its maintenance and usability. Its design takes into account parameters of economic, environmental and social sustainability, since both the design and the manufacturing process of the exoskeleton have been optimized so that it can be reproduced using a low-cost fused deposition modeling machine, in this way, avoids costly and complex manufacturing and mold processes. It allows its manufacture and customization anywhere in the world, which means savings in logistics and distribution. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2835345A1
    申请号:ES201931145
    申请日:2019-12-20
    公开日:2021-06-22
    发明作者:Jover Francisco Javier Esclapes；Menacho Manuel Alejandro Gomez；Alberto David PEREZ；Nicolau Mercedes Llorens
    申请人:Universidad de Alicante；
    IPC主号:
    专利说明:

    [0001] Socially Responsible Portable Flexible Robotic Hand Exoskeleton
    [0003] Socially responsible portable flexible robotic hand exoskeleton.
    [0005] FIELD OF THE INVENTION
    [0007] As the title of the invention indicates, the object is a portable flexible robotic exoskeleton for the hand, it being understood that a robotic exoskeleton is an aid to transmit movement to the user who has little or no movement due to neurological and / or physiological disorders.
    [0009] The present invention falls within the category of robotic exoskeletons and therapeutic instruments.
    [0011] STATE OF THE PRIOR ART
    [0013] There are models of portable robotic exoskeleton for the hand that consist of an external structure that is located in the hand and with its own rigid structure transmits movement to the limb that has little functionality.
    [0015] In general, portable robotic exoskeleton models have been created in the shape of a glove to help those who cannot move their fingers.
    [0017] Normally, portable robotic exoskeletons for the hand have an actuation system that allows each finger to be moved and for their operation they have an electronics in charge of activating the motor mechanism that transmits the force.
    [0019] Some conventional exoskeletons for hand that exist are composed of rigid materials and with a complex mechanism for their actuation, these mechanisms make the volume of the exoskeleton for hand very large and / or heavy and not very functional for the user.
    [0020] In general, portable robotic exoskeletons are complex to maintain and fine-tune, due to their mechanism and bulk. Dirt stays on the components and makes the user unable to use the exoskeleton until each component is cleaned.
    [0022] On the other hand we have rehabilitation gloves that detect muscle signals and guide the hand to perform recovery exercises. This type of exoskeleton is used for patients who have lost the functions of the hand due to injuries or diseases related to the nerves, such as strokes and muscular dystrophy.
    [0024] These robotic exoskeletons use composite materials that try to conform to the shape of the hand, they have cables that allow the movement of only three fingers, thumb, index and middle. Each performance works independently, providing assistance to each finger separately.
    [0026] Another form of actuation is the pneumatic exoskeletons, they are connected to a pump valve control system that modulates the air pressure that directs the soft actuators, when the actuators are pressurized by air, they apply forces distributed along the length of the finger to promote finger movements and support different hand movements.
    [0028] Another added problem is that most robotic exoskeletons have a high cost, being a not very accessible product, in addition to having complex technology and assembly for the user or rehabilitation specialists.
    [0030] Therefore, the need arises to design a flexible, inexpensive exoskeleton that can be perfectly adapted to the user in a personalized way.
    [0032] EXPLANATION OF THE INVENTION
    [0034] The present invention aims to solve the problems mentioned above. The present invention presents great advantages in terms of functionality and design of the cost-sustainable portable flexible robotic exoskeleton, in addition to affordable materials, allowing to obtain the invention in the most accessible way possible.
    [0036] The objective is to create a socially responsible portable flexible robotic exoskeleton that gives movement to the hand of users who have little or no muscle tone, due to neurological disorders, chronic pathologies or any type of accident that has left the limb without mobility. Movement can be transmitted by reading myoelectric signals from another functional muscle.
    [0038] In detail, its advantages are indicated:
    [0039] • The exoskeleton is manufactured flat, obtaining a minimum thickness to make it as less cumbersome and as ergonomic as possible for the user. It is designed with a flat shape which allows it to be reproduced in a 3D printer placing most of the surface on the work table, avoiding the placement of supports and / or critical areas that weaken, damage or disfigure the final shape of the product. Another advantage provided by the flat shape of the design is the strength of the exoskeleton throughout. The 3D printer will place each layer of flexible filament on the work table, creating the exoguante perpendicular to the forces that will be subjected, in addition to the fact that its thickness or height is minimal.
    [0040] • The design of the fingers and its flexible material allows the adaptation of the exoskeleton to any size of finger.
    [0041] • Allows use of the product by the user even if he lacks muscle tone or mobility.
    [0042] • It can be operated with any functional muscle involved in the movement.
    [0043] • When manufactured with a fused deposition modeling (FDM) machine, it saves high distribution and logistics costs, as well as the hassle of reaching unreachable destinations through conventional distribution means. The socially responsible portable flexible robotic exoskeleton is designed with economic, environmental and social sustainability parameters in mind. For this, both the design and the manufacturing process of the exoskeleton have been optimized so that it can be produced by means of a low-cost fused deposition modeling (FDM) machine, avoiding the costs of conventional die making, and in turn considerably lowering the cost. of the set.
    [0044] • The socially responsible portable flexible robotic exoskeleton is modular, each part is printed separately and allows its subsequent coupling with the others, thus achieving greater adaptability to the user, as well as ease of personalizing or adapting each part to it. Another reason for opting for a modular design is to subdivide a complex product into simpler parts or modules, so that the design, development and manufacturing tasks of the modules can be organized into sub-projects that are carried out by different teams. Establishing a modular structure has required criteria and methods to distribute the functions and establish the connections between modules, as well as techniques to adequately transmit information between the different members of the team.
    [0045] • It can be connected and disconnected from the electrical part according to the type of use. Once the exoskeleton has been printed and the complete set has been obtained, it can be easily connected and disconnected to the electrical part of it, thus facilitating its cleaning and hygiene without damaging this part.
    [0046] • Low cost and accessible materials are used for everyone, saving a high manufacturing process.
    [0047] • Ergonomic design, due to the type of flexible material used, easily adapting to the shape of the hand according to the user. The exoskeleton has an ergonomic design, taking into account the anthropometric measurements of the hand in all its positions and activities, that is, a study of all the quantitative and qualitative metric characters of the hand. In addition to the study of anthropometry, human factors such as biomechanics have been considered to understand how the hand moves and anatomy to see how it is composed. • The material is resistant to liquids so it is washable.
    [0048] • The material is breathable, which facilitates its prolonged use and avoids problems of skin infections and bad smell of it.
    [0049] • Durability and continuous use, in turn, the product adapts to the user's needs and effectively fulfills the activities that the user wishes to carry out with it. The design focuses its activity on the functionality of the product, in order to take into account the useful actions that can be carried out with the exoskeleton, incorporating information about them.
    [0051] The exoskeleton consists of an external structure that conforms to the shape of the hand and consists of electronics, sensors, and a motor mechanism. Ergonomic shape and flexible material assist in positioning the flexible robotic exoskeleton to the hand of the user.
    [0053] The exoskeleton comprises parts designed in a flat shape. The material of manufacture is flexible and allows it to adapt to the geometry of the hand after manufacture. The exoskeleton comprises the following parts:
    [0054] • Upper part that adjusts to the hand, being placed on the back of it. It is connected to the fingers by mechanical connection through a segment of the finger piece, so that that segment is placed on top. It is also connected across the width of the lower part that sits on the palm of the hand. • Lower part that sits on the palm of the hand. This part is attached to the top piece. The lower part comprises discontinuous tubular channels, at least two for each finger. Each channel comprises a tensioner. These channels serve as guides for the tensioners that transmit the tension force to the fingers and also serve as protection to the user from a possible chafing or strangulation when tension occurs, as well as to the tensioner itself when it comes into contact with other objects. .
    [0055] • Part of the finger that sits on top of each finger, excluding the thumb. It is a generic flat structure for all fingers with an irregular outline and a variable length depending on the finger on which it is located, since it can be scaled depending on the size of the user's finger. Three parts are distinguished that coincide with the proximal, medial and distal part of the human finger, where at the ends of these parts there are projections and at the edge tubular channels that house tensors. • Cover piece that is placed on top of the proximal part of the finger piece. It coincides in shape and size with the proximal part of the finger piece so that when it comes together it creates a container that houses the ring piece. In the same way, another cover piece is placed on the medial part of the finger piece, performing the same function.
    [0056] • Ring piece. It is a cylindrical piece of rigid material in the shape of a ring that is inserted into the space left by the covered piece when it joins the proximal or medial part of the finger piece, giving grip to the whole on the finger. In this way, the exoskeleton finger takes the curved shape adjusting to the thickness of the user's finger.
    [0057] • Thumb piece. Flat-shaped structure shaped like a finger at one end and elongated at the other, the end that follows the shape of the finger is placed on the user's thumb and the elongated part is rolled up the front part of the wrist to the part upper part of it, fitting in the lower part of the thumb.
    [0058] • Tensioner piece. The tensioner passes all the way around the fingers through the tubular channels on the edges of the fingers allowing it to adjust to any type of finger thickness when the actuation is activated and transmits the tension.
    [0059] • Bracelet. Flat, adjustable and flexible structure that is responsible for supporting the control box and is located on the user's arm.
    [0060] • Control box. Structure that houses all the electronics and mechanics that are responsible for transmitting the necessary force so that the user can reproduce basic movements.
    [0062] The exoskeleton, as it is modular, differentiates the part that is located in the user's hand and the part of the bracelet with the control and actuation box. These parts can be separated depending on the use that is given to it, facilitating separate assembly and disassembly.
    [0064] The material of the present invention allows the handling of liquids avoiding residues after use, in addition to being breathable allowing prolonged use. The flat shape of the exoskeleton makes it easy for the user to wash and maintain proper hygiene.
    [0066] Due to the material with which it is made and the design that allows it to fit different hand structures of the user, the production of different types of portable flexible robotic exoskeletons is avoided.
    [0068] Additive manufacturing allows a generic exoskeleton model to be scaled to a specific measure, based on the measurements of the user's hand and without the need for a new design. Produced by fused deposition modeling, it provides the user or rehabilitation professional with the facility to customize and self-fabricate their own socially responsible portable flexible robotic exoskeleton.
    [0070] BRIEF DESCRIPTION OF THE FIGURES
    [0072] Figure 1.- Exploded perspective view of the socially responsible portable flexible robotic exoskeleton with the thumb and index finger.
    [0073] DETAILED EXHIBITION OF IMPLEMENTATION MODES
    [0075] As previously mentioned, the socially responsible portable flexible robotic exoskeleton is manufactured flat, due to its flexible composition, it can be adapted to the user's hand.
    [0077] The portable flexible robotic exoskeleton comprises the following elements:
    [0078] • Ergonomically shaped upper 1 with flexible material that helps with the positioning of the exoskeleton. The outline of the upper part 1 is similar to that of the user's hand. At the top it connects with the 3 fingers of the exoskeleton. For this, it has small punctual and equidistant perforations forming a rectangle, with at least four perforations on each side. In the lower part it adjusts to the width of the wrist so that it can be grasped. The outer side joins the lower part 2 of the exoskeleton by means of an elongated section located at the top. On the same outer side, at the height of the wrist, it has another elongated section that allows it to be attached to the user's wrist. On the inner side, both in the upper part and in the lower part, it has an elongated perforation that allows adjustment to the geometry of the hand.
    [0079] • Bottom 2 ergonomically shaped and flexible to follow the curve of the palm. The lower part 2 of the exoskeleton is placed on the palm of the user. At the top it has a curve that serves to better fit the palm when the hand is contracted. On the outer side of the hand, both in the upper part and in the lower part at the height of the wrist, there are equidistant punctual perforations that allow the union with the upper part 1 of the device. On the inner side, in the upper and lower part, it has an elongated perforation to adjust to the geometry of the hand. The center narrows making the tensioners perform the force from a central point, trying to simulate the tendons of the hand. Through the center there are tubular channels, at least two for each finger. Each channel comprises a tensioner.
    [0080] • Part of finger 3 is a flat structure with an irregular contour that is placed on top of each finger of the user so that its length varies depending on the finger in which it is located and can be scaled according to size, having a generic model for all fingers excluding the thumb. Three parts are distinguished that coincide with the proximal, medial and distal part of the human finger. Between these three parts, there are two intermediate areas, where each area has two perforations leaving gaps that provide a more fluid movement in the joint of each phalanx. On the sides, on each phalanx, there are two projections that hug the user's finger. In the distal phalanx the structure changes and in total there are five projections, two on each side and one more in the central part. At the edges of these projections there are tubular channels that house tensioners 8 that are responsible for transmitting the tension force to the fingers. The tubular sections serve as a guide and protection for the tensioners 8 and prevent the user from being subjected to friction or strangulation when the tensioners 8 are actuated. Between each phalanx, there is an area comprising two perforations that allow the Flexible material does not resist this action. In addition, it leaves gaps that provide a more fluid movement in the joint of each phalanx. In each phalanx, in the two projections, there are punctual perforations that allow the union with the pieces covers to later be able to contain the pieces rings. The lower part of the finger 3 is connected to the upper part 1 of the exoskeleton thanks to equidistant punctual perforations, in the shape of a rectangle, where there are a minimum of four perforations per side. In addition, finger 3 has a piece of elastic material 4 connected to the proximal phalanx of the finger, so that when the force exerted by the actuators, located in the control box, is reduced, when the finger is contracted, the material elastic 4 recovers its elastic deformation by returning the finger to an ergonomic opening position.
    [0081] Cover piece 5 has an irregular contour and coincides in shape with the proximal part of the finger piece. So that when placing the cover piece 5 above the proximal part of the finger piece, container spaces are generated to be able to insert two ring pieces. This piece is printed separately to guarantee its flat shape and avoid the placement of supports on the finger piece, in addition to giving a minimum thickness to the whole. Another cover piece 5 is also placed in the medial part of finger piece 3 for the same purpose.
    [0082] Ring piece 6 is a cylindrical piece in the shape of a ring that is inserted inside the space left by the piece covers 5 when it joins with the proximal part of finger piece 3, and in the same way and performing the same function they are placed two ring pieces 6 in the container space left by the cover piece 5 when placed on the medial part of the finger piece 3. Two ring pieces 6 are located in each cover piece 5.
    [0083] The ring piece 6 is made of a rigid material that adjusts to the thickness of the finger by hugging the finger piece 3 to the user.
    [0084] Thumb piece 7 is an independent part due to the complexity and greater degree of freedom compared to the other fingers. The outline of the thumb 7 is irregular, the upper end is shaped similar to the user's thumb with a perforation in the center to prevent the material from producing resistance when the finger contracts. On each side it has two projections that are responsible for hugging the finger when the tensioners act, these projections have at least four holes that allow the union. At the edges it has tubular channels which in turn comprise tensioners 8. The thumb piece 7 is joined on its two sides forming a curve that coincides with the bridge between the thumb and the index finger, in such a way that it facilitates placement. of this piece on the user's thumb. The lower part of the piece is prolonged as long as necessary until it reaches and is joined by the perforations that it presents with the lower piece 2, and thus allows the adjustment of the piece.
    [0085] Tensioner piece 8 is made of a resistant tubular material that is inserted into the tubular channels of finger piece 3 and thumb piece 6. They are also inserted into the channels of the bottom part 2. The tensioners are coupled to the actuators located in the control box. control 8 that are in charge of winding on these when the motor mechanism is put into operation.
    [0086] Armband 9 is a flat, adjustable and flexible structure that is responsible for supporting the control box 10 and is located on the user's arm.
    [0087] Control box 10 is a structure that houses all the electronics and mechanics that are responsible for transmitting the necessary force so that the user can reproduce basic movements. The actuators, located in the control box, perform the traction of the fingers that are placed on the front part of the arm, so that the tension is in favor of the closing movement and the traction force allows the fingers to close starting from the distal phalanx to the proximal phalanx.
    权利要求:
    Claims (3)
    [1]
    1. Socially responsible portable flexible robotic hand exoskeleton comprising:
    • Upper part located on the dorsal part of the hand, it is connected with the fingers by mechanical union through a segment of the finger piece, so that this segment is placed on the upper part. It is also connected across the width of the lower part that sits on the palm of the hand.
    • Lower part located on the palm of the hand. This part is attached to the top piece. The lower part comprises discontinuous tubular channels, at least two for each finger. Each channel comprises a tensioner.
    • Part of the finger that sits on top of each finger, excluding the thumb. It is a generic flat structure for all fingers with an irregular outline and a variable length. Three parts are distinguished that coincide with the proximal, medial and distal part of the human finger, where at the ends of these parts there are projections and at the edge tubular channels that house tensors.
    • Cover piece that is placed on top of the proximal part of the finger piece and the medial part. It matches in shape and size with the proximal part of the finger piece.
    • Ring piece. It is a cylindrical piece of rigid material in the shape of a ring that is inserted into the space that the piece covers when it joins the proximal or medial part of the finger piece.
    • Thumb piece. Flat-shaped structure with a finger shape at one end and elongated at the other, the end that follows the shape of the finger is placed on the user's thumb and the elongated part is rolled up the front of the wrist to the top of this, fitting in the lower part of the thumb.
    • Tensioner piece. The tensioner passes all the way around the fingers through the tubular channels at the edges of the fingers.
    • Bracelet. Flat, adjustable and flexible structure that is responsible for supporting the control box and is located on the user's arm.
    • Control box. Structure that houses all the electronics and mechanics that are responsible for transmitting the necessary force so that the user can reproduce basic movements.
    [2]
    2. Socially responsible portable flexible robotic hand exoskeleton according to the claim 1 made of flexible, breathable and liquid resistant material.
    [3]
    3. A socially responsible portable flexible robotic hand exoskeleton according to claim 1 that enables 3D printing manufacturing.
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    同族专利:
    公开号 | 公开日
    ES2835345B2|2021-10-26|
    WO2021123472A1|2021-06-24|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2008027002A1|2006-09-01|2008-03-06|Bioservo Technologies Ab|Strengthening glove|
    US20160229635A1|2014-12-12|2016-08-11|Harris Corporation|Passive locking hand exoskeleton|
    US20180345481A1|2015-11-13|2018-12-06|National Rehabilitation Center|Wearable hand robot|
    GB2552358A|2016-07-21|2018-01-24|Omar Ward Ross|Rehabilitation device|
    WO2018138537A1|2017-01-25|2018-08-02|Gelanyi Laszlo|Active hand orthosis|
    法律状态:
    2021-06-22| BA2A| Patent application published|Ref document number: 2835345 Country of ref document: ES Kind code of ref document: A1 Effective date: 20210622 |
    2021-10-26| FG2A| Definitive protection|Ref document number: 2835345 Country of ref document: ES Kind code of ref document: B2 Effective date: 20211026 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201931145A|ES2835345B2|2019-12-20|2019-12-20|SOCIALLY RESPONSIBLE PORTABLE ROBOTIC EXOSKELETON|ES201931145A| ES2835345B2|2019-12-20|2019-12-20|SOCIALLY RESPONSIBLE PORTABLE ROBOTIC EXOSKELETON|
    PCT/ES2020/070758| WO2021123472A1|2019-12-20|2020-12-02|Portable, flexible, robotic exoskeleton for a hand|
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