CN110974606B - Hand rehabilitation training device and control system - Google Patents
Hand rehabilitation training device and control system Download PDFInfo
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- CN110974606B CN110974606B CN201911242701.5A CN201911242701A CN110974606B CN 110974606 B CN110974606 B CN 110974606B CN 201911242701 A CN201911242701 A CN 201911242701A CN 110974606 B CN110974606 B CN 110974606B
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- 210000000707 wrist Anatomy 0.000 claims abstract description 18
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 22
- 239000010959 steel Substances 0.000 claims description 22
- 238000007906 compression Methods 0.000 claims description 13
- 230000006835 compression Effects 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 3
- 239000007779 soft material Substances 0.000 claims description 3
- 210000003811 finger Anatomy 0.000 description 44
- 238000009434 installation Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 210000004247 hand Anatomy 0.000 description 5
- 208000006011 Stroke Diseases 0.000 description 4
- 210000003813 thumb Anatomy 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 241000203475 Neopanax arboreus Species 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000001148 spastic effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a hand rehabilitation training device and a control system, wherein the device comprises a base and a hand rehabilitation training device; the base comprises a shell cover and a base; the surface of the shell cover is provided with two pulley mounting seats, a pulley frame mounting seat and an elbow bracket; the base is provided with a first motor and a gear; the hand rehabilitation trainer comprises a wrist moving component, wherein the wrist moving component comprises an angle adjusting ring and a palm bracket; the surface of the angle adjusting ring is provided with a first sliding rail and a tooth-shaped ring; the gear-shaped ring is meshed with the gear and is arranged above the gear; the palm support comprises a palm support bracket and a palm support, the palm support is fixed at one end of the palm support bracket, and the palm support is fixed at a height matched with the elbow bracket; the other end of the palm support bracket is fixedly arranged on one side surface of the angle adjusting ring; the first motor drives the gear to rotate, the angle adjusting ring is driven to rotate through the tooth-shaped ring, the palm bracket is further driven to rotate, the rehabilitation training action of the rotation of the wrist joint of the patient is achieved, and the wrist joint rehabilitation training device is simple in structure and convenient to use.
Description
Technical Field
The invention relates to the technical field of control, in particular to a hand rehabilitation training device and a control system.
Background
With the accelerated aging process of the population in China, the incidence of cerebral apoplexy is increased year by year, patients of the type are generally accompanied with limb functional disorders of different degrees, and the life quality of the patients can be greatly reduced due to the functional disorder of hands. The abnormal hand function of stroke patients often shows as over-tension of flexors, even spasm, and particularly shows that fingers and wrists are bent inwards and cannot be straightened.
In the aspect of research and product application of numerous hand rehabilitation devices, the focus is mostly on the grasping training of the hands, however, the training belongs to the training of strengthening the muscle strength of flexors, the muscle strength of the flexors is strengthened due to long-term grasping, extensors cannot be trained, the wrist joints and the joints of fingers are more difficult to straighten, the functional disorder and the pathological posture of the hands are aggravated, and the spastic state is aggravated.
Of course, there are some rehabilitation devices aiming at the above problems, such as the finger rehabilitation training device disclosed in chinese patent CN106730645A and the finger rehabilitation training device disclosed in chinese patent CN106726349A, which provide the finger rehabilitation training device to play a certain role in the rehabilitation training process of the patient, but still have the following disadvantages: along with the progress of rehabilitation training, the patient can feel fatigue; lack of passive traction training in the early stage of rehabilitation for patients with weak muscle strength, and the like. For another example, the exoskeleton-type five-finger arc displacement finger rehabilitation training system disclosed in chinese patent CN106994086B can solve the problems of the two cited patents, but the universality and safety of the system are not well solved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a hand rehabilitation training device and a control system, which are used for realizing the rehabilitation training actions of bending and stretching fingers, rotating wrists and the like of a patient, and have simple structure and convenient use.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a hand rehabilitation training device comprises a base and a hand rehabilitation training device;
the base comprises a shell cover and a base;
the pulley frame mounting seats and the elbow brackets are arranged on the central axes of the two pulley mounting seats, the pulley frames are mounted on the pulley frame mounting seats, the pulleys are mounted on the two pulley mounting seats and the pulley frames respectively, and the rotation center lines of the pulleys are located on the same horizontal plane;
the base is provided with a first motor and a gear, wherein the first motor is fixedly arranged on the base, the axis of the output shaft of the first motor is parallel to the rotation center line of the pulley, and the gear is fixedly arranged on the output shaft of the first motor;
the hand rehabilitation trainer comprises a wrist moving assembly, wherein the wrist moving assembly comprises an angle adjusting ring and a palm bracket;
the surface of the angle adjusting ring is provided with a first sliding rail and a tooth-shaped ring, the first sliding rail is arranged on the pulleys on the two pulley mounting seats in a matching manner and the pulleys on the pulley frame, the pulleys on the pulley mounting seats are arranged on the outer side surface of the first sliding rail, and the pulleys on the pulley frame are arranged on the inner side surface of the first sliding rail; the tooth-shaped ring is meshed with the gear and is arranged above the gear; the elbow support direction of the elbow bracket is perpendicular to the rotation direction of the first slide rail and the tooth-shaped ring in the angle adjusting ring, and the elbow bracket extends into the angle adjusting ring;
the palm support comprises a palm support bracket and a palm support, the palm support is fixed at one end of the palm support bracket, and the palm support is fixed at a height matched with the elbow bracket; the other end of the palm support bracket is fixedly arranged on one side surface of the angle adjusting ring;
the first motor drives the gear to rotate, the angle adjusting ring is driven to rotate through the tooth-shaped ring, and then the palm bracket is driven to rotate, so that the rehabilitation training action of the rotation of the wrist joint of the patient is realized.
Further preferably, the bottom of the palm support is provided with a preset number of threaded holes, and the relative position of the palm support on the palm support bracket is adjusted by screwing a nut with a hand.
Preferably, the wrist moving assembly comprises an angle adjusting ring, a palm support, a slip sheet support and a slip sheet, wherein one end of the slip sheet support is fixedly arranged on the other side surface of the angle adjusting ring; the gleitbretter includes perpendicular to elbow rest direction level set up first gleitbretter and be the arch and with first gleitbretter sets up in coplanar second gleitbretter, the both ends of second gleitbretter with the both ends fixed connection of first gleitbretter, just the central point of first gleitbretter put with the other end fixed connection of gleitbretter support, the gleitbretter support is fixed in the take the altitude of angle modulation ring surface top with the gleitbretter.
Further preferably, the hand rehabilitation trainer further comprises a finger moving component; the finger activity assembly includes:
five fixing sleeves which correspond to the five fingers of the patient one by one are respectively and fixedly arranged on the second slide sheet;
the second motor is fixedly arranged at the joint of the slip sheet bracket and the angle adjusting ring;
the belt wheel is arranged above the second motor;
the five second slide rails are arranged in one-to-one matching mode with the five fixing sleeves, top through holes of the second slide rails are hinged with bottom through holes of the corresponding fixing sleeves, a track fixed with the bottom end of each slide rail is arranged inside each second slide rail, a compression spring is arranged on each track in a penetrating mode, a slide block is arranged on each track in a penetrating mode, and the slide block is arranged close to the bottom end of each slide rail; a first pulley and a second pulley are further arranged in the second sliding rail and above the compression spring, an elastic pull rope is arranged between the lower end of the sliding block and the limiting block, the upper end of the sliding block is connected with a steel wire, and the steel wire sequentially winds around the first pulley and the second pulley upwards and then winds onto the belt wheel and is fixed; and
the five finger sleeves are fixedly arranged on the sliding block through buckles at two sides of the sliding block.
Further preferably, the top through hole of the second slide rail is hinged to the bottom through hole of the corresponding fixing sleeve, a limiting block is arranged at the bottom of the second slide rail, a compression spring is arranged on the rail in a penetrating mode, a sliding block is arranged on the rail in a penetrating mode, and the sliding block is arranged close to the limiting block.
Preferably, the top through hole of the second slide rail is hinged with the bottom through hole of the corresponding fixing sleeve, and elastic pads are fixedly arranged on two sides of the top through hole; the elastic cushion is made of soft materials or elastic materials.
Further preferably, the finger moving assembly further comprises a tensioning adjusting mechanism matched with the second sliding rail and arranged on the steel wire between the second pulley and the belt wheel;
the tensioning adjusting mechanism is a threaded tensioning mechanism and comprises a fixed end, a bolt and a movable end, wherein one end of the fixed end is connected with the steel wire on one side, and the other end of the fixed end is provided with a threaded hole matched with the bolt; the head of the bolt is hinged with one end of the movable end, and the other end of the movable end is connected with the steel wire on the other side; the tensioning adjusting mechanism rotates to the required length in the threaded hole of the fixed end through the bolt.
The invention also discloses a hand rehabilitation training control system, which comprises the hand rehabilitation training device, a microcontroller, a first driver and a second driver, wherein the first driver is respectively connected with the microcontroller and a first motor; the microcontroller controls the second motor to act through the second driver, and further drives the finger moving assembly to act.
Further preferably, the first motor and the second motor are stepping motors with encoders, and the two encoders are electrically connected with the microcontroller respectively to control the first motor and/or the second motor to return to an absolute zero point, so that mechanical reset of the motors is realized.
The hand rehabilitation training device and the control system provided by the invention can at least bring the following beneficial effects:
1) the human-computer traction part is only connected with the tail end of the finger through the finger sleeve, so that the human-computer can be quickly separated under emergency, and the safety of the hand rehabilitation training device is greatly improved; in addition, palm bracket and elbow bracket provide certain support for patient's elbow and palm, and then have promoted the travelling comfort that hand rehabilitation training device used greatly.
2) The rehabilitation requirements of switching left and right hands and finger-separating training can be met by adjusting the positions of the fixed sleeves corresponding to the fingers; different palms and sizes and finger lengths that different patients correspond are adapted to through adjusting palm support position, the swing range of second slide rail, promote equipment universality.
Drawings
A more complete understanding of the present invention, and the attendant advantages and features thereof, will be more readily understood by reference to the following detailed description when considered in conjunction with the accompanying drawings wherein:
FIG. 1 is a schematic view of the overall structure of the hand rehabilitation training device of the present invention;
FIG. 2 is a schematic view of a base structure according to the present invention;
FIG. 3A is a schematic view of a partial structure of the base and the angle adjustment ring of the present invention;
FIG. 3B is a partial view of the mounting engagement between the base and the angle adjustment ring of FIG. 3A with the housing cover removed;
FIG. 4 is a schematic diagram of the hand rehabilitation training assembly of the present invention with only the index finger training portion remaining;
FIGS. 5A to 5D are schematic views of different working states of the wrist in the invention, wherein FIG. 5A is a schematic view of the palm facing downward, FIG. 5B is a schematic view of the palm facing rightward, FIG. 5C is a schematic view of the palm facing leftward, and FIG. 5D is a schematic view of the palm facing upward;
FIG. 6A is a schematic diagram of an adjusted right-hand rehabilitation training state of the present invention;
FIG. 6B is a schematic view of an adjusted left-hand rehabilitation training state of the present invention;
fig. 7 is a schematic view of the structure of the tension adjusting mechanism of the present invention.
Reference numerals:
1-a base; 2-a hand rehabilitation trainer; 1-1-a shell cover; 1-2-a base; 3-a pulley mounting seat; 4-a pulley yoke mounting seat; 5-a pulley; 6-a pulley yoke; 7-elbow rest; 8-a first motor; 9-gear; 10-an angle adjustment ring; 10-1-a first slide rail; 10-2-tooth ring; 11-palm rest; 11-1-palm rest; 11-2-palm rest; 12-a slide holder; 13-a slide sheet; 14-a fixation sleeve; 15-screwing the nut by hand; 16-a second slide rail; 18-a slide block; 19-finger stall; 20-compression spring; 21-an elastic pull rope; 22-a limiting block; 23-a first pulley; 24-a second pulley; 25-a pulley; 26-a second motor; 27-steel wire; 28-an elastic pad; 29-a tension adjustment mechanism; 29-1-fixed end; 29-2-bolt; 29-3-active end; 30-scram button.
Detailed Description
In order to make the contents of the present invention more comprehensible, the present invention is further described below with reference to the accompanying drawings. The invention is of course not limited to this particular embodiment, and general alternatives known to those skilled in the art are also covered by the scope of the invention.
Aiming at the technical problems of the existing rehabilitation instruments, the invention provides a brand-new hand rehabilitation training device by combining with figures 1-7, and the hand rehabilitation training device is shown in figure 1 and comprises a base 1 and a hand rehabilitation training device 2.
Specifically, as shown in fig. 2, the base 1 includes a card cover 1-1 and a base 1-2. The surface of the clamping cover 1-1 is provided with two pulley installation seats 3, a pulley frame installation seat 4 and an elbow bracket 7 (arranged at an elbow support installation position on the surface of the clamping cover 1-1), wherein the two pulley installation seats 3 are arranged on the surface of the clamping cover 1-1 in a bilateral symmetry manner, the pulley frame installation seat 4 and the elbow bracket 7 are arranged on a central axis of the two pulley installation seats 3, a pulley frame 6 is arranged on the pulley frame installation seat 4, the two pulley installation seats 3 and the pulley frame are respectively provided with pulleys 5 with the same specification in a hinged manner, and the rotation center lines of the pulleys 5 are positioned on the same horizontal plane. The base 1-2 is provided with a first motor 8 and a gear 9, wherein the first motor 8 is fixedly arranged on the base 1-2, the axis of the output shaft of the first motor 8 is parallel to the rotation center line of the pulley 5, and the gear 9 is fixedly arranged on the output shaft of the first motor 8. In the hand rehabilitation training control system, necessary devices of the system are also arranged in the base 1-2.
In one embodiment, the hand rehabilitation trainer 2 comprises a wrist movement element. The wrist movable assembly comprises an angle adjusting ring 10 and a palm bracket 11, wherein the surface of the angle adjusting ring 10 is provided with a first slide rail 10-1 and a tooth-shaped ring 10-2, the first slide rail 10-1 is arranged on the pulleys 5 on the two pulley mounting seats 3 and the pulleys on the pulley holder in a matching manner, the pulleys 5 on the pulley mounting seats 3 are arranged on the outer side surface of the first slide rail 10-1, and the pulleys on the pulley holder are arranged on the inner side surface of the first slide rail 10-1, namely the pulleys 5 on the two pulley mounting seats 3 and the pulleys on the pulley holder are matched with the first slide rail 10-1 on the surface of the angle adjusting ring 10, so that the angle adjusting ring 10 cannot move back and forth and up and down (relative to the base 1) and can only rotate around the axis of the geometric rotation center of the tooth-shaped ring 10-2. The toothed ring 10-2 is in corresponding and normal engagement with the gear 9, and the toothed ring 10-2 is disposed above the gear 9 (see fig. 3, in which fig. 3A is a schematic view of an installation and matching structure of the base 1 and the angle adjusting ring 10 in the present invention, and fig. 3B is a schematic view of an installation and matching of the base 1 and the angle adjusting ring 10 after the clamping cover 1-1 is removed in fig. 3A). As shown in fig. 1, the direction of the elbow rest of the elbow bracket 7 is perpendicular to the rotation direction of the first slide rail 10-1 and the toothed ring 10-2 in the angle adjustment ring 10, and the elbow bracket 7 is inserted into the angle adjustment ring 10 for the convenience of the patient.
Fig. 4 is a schematic diagram of the hand rehabilitation training assembly of the present invention, which only retains the index finger training part, and as shown in the figure, the palm rest 11 includes a palm rest support 11-1, a palm rest 11-2 and a hand nut 15, wherein the palm rest 11-2 is fixed at one end of the palm rest support 11-1 by the hand nut 15, and the palm rest 11-2 is fixed at a height matching the elbow rest 7; the other end of the palm rest support 11-1 is fixedly arranged on one side surface of the angle adjusting ring 10 (fixed through a mounting hole on the surface of the angle adjusting ring 10). Further, the bottom of the palm support 11-2 is provided with a preset number (e.g. 2, 4, 6 or more, set according to actual conditions) of threaded holes, and then the relative position of the palm support 11-2 on the palm support bracket 11-1 is adjusted by screwing the nut 15 with a hand. It should be noted that the shape of the palm rest support 11-1 can be set according to actual conditions, and is not limited herein as long as the palm rest 11-2 can be supported to a required height, and the height of the palm rest 11-2 is set corresponding to the height of the elbow rest 7, so as to facilitate the elbow and palm placement of the patient. In order to provide a better experience for the patient, the palm rest 11 and the elbow rest 7 are provided with soft pads on the parts that are in contact with the patient.
In another embodiment, as shown in fig. 4, the wrist moving assembly includes an angle adjusting ring 10, a palm rest 11, a sliding piece holder 12 and a sliding piece 13, wherein one end of the sliding piece holder 12 is fixedly disposed on the other side surface of the angle adjusting ring 10; the gleitbretter 13 includes perpendicular to elbow rest direction level setting first gleitbretter and be the arch and set up in the second gleitbretter of coplanar (the opening sets up towards base 1 side) with first gleitbretter, the both ends of second gleitbretter and the both ends fixed connection of first gleitbretter, and the central point of first gleitbretter puts and the other end fixed connection of gleitbretter support 12 (fixed through the mounting hole on gleitbretter support 12 surface), and gleitbretter support 12 is fixed in the take the altitude of angle adjustment ring 10 surface top with gleitbretter 13.
In another embodiment, as shown in FIG. 4, the hand rehabilitation trainer 2 includes a finger movement element in addition to a wrist movement element. Specifically, this finger activity subassembly includes: five fixing sleeves 14 corresponding to the five fingers of the patient one by one, wherein each fixing sleeve 14 penetrates through the second sliding sheet and is fixed by screwing a nut by hand. And the second motor 26 is fixedly arranged at the joint of the slide holder 12 and the angle adjusting ring 10. And a pulley 25 provided above the second motor 26. Five second slide rails 16 which are matched with the five fixing sleeves 14 one by one, wherein the top through hole of each second slide rail 16 is hinged with the bottom through hole of the corresponding fixing sleeve 14, the bottom of each second slide rail 16 is provided with a limiting block 22 (used for preventing the compression spring 20 and the slide block 18 from being separated from the track of the second slide rail 16), the two sides of each top through hole are fixedly provided with elastic pads 28, the inside of each second slide rail is provided with a track fixed with the bottom end of the corresponding slide rail, the track is provided with a compression spring 20 in a penetrating manner and a slide block 18 in a penetrating manner, the slide block 18 is arranged close to the bottom end of the corresponding slide rail, one end of the compression spring 20 is arranged against the slide block 18, and the other end of the compression spring is fixed in the second slide rail 16; a first pulley 23 and a second pulley 24 are further arranged in the second slide rail 16 and above the compression spring 20, and are hinged with the second slide rail 16 through two mounting holes at the upper end of the second slide rail; an elastic pull rope 21 is arranged between the lower end of the sliding block 18 and the limiting block 22, the upper end of the sliding block 18 is connected with a steel wire 27, and the steel wire 27 sequentially winds the first pulley 23 and the second pulley 24 upwards and then winds the pulleys 25 and is fixed; and five finger sleeves 19 which are fixedly arranged on the sliding block 18 through the buckles at the two sides of the sliding block 18. It should be noted that, the second slide rail 16 is required to better correspond to the five fingers of the patient, and different sizes are required to be set according to actual conditions, for example, the sizes of the second slide rail 16 corresponding to the thumb and the little thumb are smaller, and the sizes of the middle three thumbs are larger. The elastic pad 28 is made of soft material such as rubber or elastic material such as spring leaf. The provision of the resilient pad 28 allows the second slide track 16 to be swung a little to accommodate different finger lengths. In addition, in order to ensure that the fingers will not be separated when the finger moving assembly pulls the patient, an elastic anti-slip material is arranged in the finger stall 19. Fig. 5A to 5D are schematic views of different working states of the wrist in the present invention, wherein fig. 5A is a schematic view of a palm downward direction, fig. 5B is a schematic view of a palm rightward direction, fig. 5C is a schematic view of a palm leftward direction, and fig. 5D is a schematic view of a palm upward direction, where the palm rotates inward, a single rotation does not exceed 90 °, and an upper limit of a unidirectional rotation angle is 180 °. FIG. 6A is a schematic diagram of an adjusted right-hand rehabilitation training state of the present invention; fig. 6B is a schematic diagram of the left-hand rehabilitation training state after adjustment, that is, the left-hand rehabilitation training device can adapt to different hands by adjusting the position of the fixing sleeve 14 on the second sliding piece.
In another embodiment, the finger-moving assembly further comprises a tension adjusting mechanism 29 disposed to match the second slide rail 16, and disposed on the steel wire 27 between the second pulley 23 and the pulley 25 (the tension adjusting mechanism is disposed in the steel wire 27). As shown in fig. 7, the tension adjusting mechanism 29 is a threaded tension mechanism, and includes a fixed end 29-1, a bolt 29-2 and a movable end 29-3, wherein one end of the fixed end 29-1 is connected to the steel wire 27 on one side, and the other end has a threaded hole matching with the bolt 29-2; the head of the bolt 29-2 is hinged with one end of the movable end 29-3, and the other end of the movable end 29-3 is connected with the steel wire 27 on the other side; the tension adjustment mechanism is rotated to a desired length in the threaded hole of the fixed end 29-1 by the bolt 29-2. In operation, after the bolt 29-2 is rotated to a desired length, the bolt 29-2 is mechanically locked with the fixed end 29-1 under the tension of the steel wires 27 at both ends.
The invention also discloses a hand rehabilitation training control system, which comprises the hand rehabilitation training device, a microcontroller, a first driver and a second driver, wherein the first driver is respectively connected with the microcontroller and a first motor; the microcontroller controls the second motor to act through the second driver, and further drives the finger moving assembly to act. In addition, still include control panel and emergency stop button 30 among the hand rehabilitation training control system, control panel includes that LCD screen and button are a plurality of, and each component all is connected with microcontroller electricity in emergency stop button 30 and the control panel, and emergency stop button 30 and the equal installation of control panel are fixed and are covered the upper surface in the base. Furthermore, the first motor and the second motor are stepping motors with encoders, the two encoders are respectively and electrically connected with corresponding encoder interface pins of the microcontroller, and the types of the encoders are generally absolute encoders or hybrid encoders; and controlling the first motor and/or the second motor to return to an absolute zero point, realizing mechanical reset of the motors, and controlling the rotation angle of the angle adjusting ring and the sliding distance of the sliding block by controlling the rotation angle of the stepping motor.
The working process of the hand rehabilitation training device is described by combining the hand rehabilitation training device and the control system provided above:
the wrist joint rotation training function is realized through the angle adjusting ring 10: the patient stably places the elbow of the upper limb on the elbow bracket 7, adjusts the palm support 11-2 to a proper position, and fits the palm support 11-2 with the palm center as much as possible. The first motor 8 works to drive the gear 9 fixed on the output shaft to rotate, and the gear 9 drives the angle adjusting ring 10 to rotate because the gear 9 is correctly meshed with the tooth ring 10-2 of the angle adjusting ring 10. Since the elbow bracket 7 is fixed on the base 1 and the palm bracket 11 is fixed on the angle adjusting ring 10 and rotates with it, the wrist rotates with the movement of the palm bracket 11-2, thereby realizing the rehabilitation training action of wrist joint rotation. The substantial angle of rotation of the angle adjustment ring 10 is achieved by controlling the rotational angle of the first motor 8. The first motor 8 is a stepping motor, a microcontroller sends a certain number of pulses to control the rotation angle of an output shaft of the first motor through a first driver, the output shaft is locked by electrifying torque after the pulses are stopped, and the angle adjusting ring 10 is locked at the moment.
The finger bending and stretching training function is realized through the traction of the finger sleeve 19: the elbow of the upper limb of the patient is stably placed on the elbow bracket 7, the palm support 11-2 and each fixing sleeve 14 are adjusted to the proper position, the palm center is attached to the palm support 11-2 as much as possible, and each finger is inserted into the finger sleeve 19. The right index finger training is taken as an example for explanation, and the training principle of the other fingers is the same. The second motor 26 works to drive the belt wheel 25 fixed on the output shaft of the second motor to rotate, the belt wheel 25 pulls the steel wire 27 fixed on the belt wheel 25, the steel wire 27 is continuously wound in the groove of the belt wheel 25, the sliding block 18 is pulled to move along the second sliding rail 16 in a track mode, the finger sleeve 19 fixed on the sliding block 18 pulls the forefinger to move upwards, and in the moving process, the compression spring 20 is compressed, and the elastic pull rope 21 is stretched. The winding length of the wire 27 and thus the sliding distance of the slide block 18 are controlled by controlling the rotation angle of the second motor 26, and the control principle of the second motor 26 is not described with reference to the first motor 8. The horizontal plane of the terminal point of the upward movement is higher than the plane of the contact point of the palm support 11-2 and the palm center, so that the index finger can be completely extended. And in the return stroke after the end point is reached, the second motor 26 rotates forwards in the reverse direction by the angle, the compression spring 20 in the compressed state and the elastic pull rope 21 in the stretched state enable the steel wire 27 to be in a tight state all the time and ensure the return stroke and the reset of the slide block 18, and the finger sleeve 19 fixed on the slide block 18 pulls the index finger to move downwards. The horizontal plane of the terminal point of the downward movement is lower than the contact point of the palm support 11-2 and the palm center by about the straightening length of the thumb of the patient, so that the index finger can bend to a certain extent to complete the bending and stretching rehabilitation training action of the index finger.
When the hand rehabilitation training device provided by the invention is used, if an emergency stop button is pressed to stop the equipment in case of emergency, the fingers can be quickly separated from the finger sleeves by the slight acting force of the upper limbs of a patient, so that secondary injury is avoided.
On the basis of the hand rehabilitation training device provided by each embodiment, certain changes can be made according to the use occasion and purpose. For example, finger training is performed by adjusting the relative positions of five fixing sleeves; by controlling the first motor 8 and the second motor 26, the movable parts in the hand rehabilitation training device 2 are held at a certain position, and rehabilitation movements such as extension holding or flexion holding of fingers and/or rotation holding of wrist joints are performed. It is obvious that the above embodiments are only a part of all embodiments of the present invention, and those skilled in the art can obtain the embodiments without inventive efforts, and all embodiments are within the scope of the present invention.
Claims (6)
1. A hand rehabilitation training device is characterized by comprising a base and a hand rehabilitation training device;
the base comprises a shell cover and a base;
the pulley frame mounting seats and the elbow brackets are arranged on the central axes of the two pulley mounting seats, the pulley frames are mounted on the pulley frame mounting seats, the pulleys are mounted on the two pulley mounting seats and the pulley frames respectively, and the rotation center lines of the pulleys are located on the same horizontal plane;
the base is provided with a first motor and a gear, wherein the first motor is fixedly arranged on the base, the axis of the output shaft of the first motor is parallel to the rotation center line of the pulley, and the gear is fixedly arranged on the output shaft of the first motor;
the hand rehabilitation trainer comprises a wrist moving assembly, wherein the wrist moving assembly comprises an angle adjusting ring and a palm bracket;
the surface of the angle adjusting ring is provided with a first sliding rail and a tooth-shaped ring, the first sliding rail is arranged on the pulleys on the two pulley mounting seats in a matching manner and the pulleys on the pulley frame, the pulleys on the pulley mounting seats are arranged on the outer side surface of the first sliding rail, and the pulleys on the pulley frame are arranged on the inner side surface of the first sliding rail; the tooth-shaped ring is meshed with the gear and is arranged above the gear; the elbow support direction of the elbow bracket is perpendicular to the rotating plane of the first slide rail and the tooth-shaped ring in the angle adjusting ring, and the elbow bracket extends into the angle adjusting ring;
the palm support comprises a palm support bracket and a palm support, the palm support is fixed at one end of the palm support bracket, and the palm support is fixed at a height matched with the elbow bracket; the other end of the palm support bracket is fixedly arranged on one side surface of the angle adjusting ring;
the first motor drives the gear to rotate, the angle adjusting ring is driven to rotate through the tooth-shaped ring, and then the palm bracket is driven to rotate, so that the rehabilitation training action of the rotation of the wrist joint of the patient is realized;
the wrist moving assembly comprises an angle adjusting ring, a palm support, a slip sheet support and a slip sheet, wherein one end of the slip sheet support is fixedly arranged on the surface of the other side of the angle adjusting ring; the slip sheet comprises a first slip sheet which is horizontally arranged in a direction perpendicular to the elbow support and a second slip sheet which is arched and is arranged on the same plane with the first slip sheet, two ends of the second slip sheet are fixedly connected with two ends of the first slip sheet, the center position of the first slip sheet is fixedly connected with the other end of a slip sheet support, and the slip sheet is fixed at a certain height above the surface of the angle adjusting ring by the slip sheet support;
the hand rehabilitation trainer also comprises a finger moving component; the finger activity assembly includes:
five fixing sleeves which correspond to the five fingers of the patient one by one are respectively and fixedly arranged on the second slide sheet;
the second motor is fixedly arranged at the joint of the slip sheet bracket and the angle adjusting ring;
the belt wheel is arranged above the second motor;
the five second slide rails are matched with the five fixing sleeves one by one, top through holes of the second slide rails are hinged with bottom through holes of the corresponding fixing sleeves, a track fixed with the bottom end of the second slide rails is arranged inside the second slide rails, a compression spring is arranged on the track in a penetrating mode, a slide block is arranged on the track in a penetrating mode, and the slide block is arranged close to the bottom end of the track; a first pulley and a second pulley are further arranged in the second sliding rail and above the compression spring, an elastic pull rope is arranged between the lower end of the sliding block and a limiting block positioned at the bottom end of the second sliding rail, the upper end of the sliding block is connected with a steel wire, and the steel wire sequentially winds the first pulley and the second pulley upwards and then winds the steel wire onto a belt wheel and is fixed; and
five finger sleeves are fixedly arranged on the slide block through buckles on two sides of the slide block respectively.
2. The hand rehabilitation training device of claim 1, wherein a predetermined number of threaded holes are formed in the bottom of the palm rest, and the relative position of the palm rest on the palm rest support is adjusted by screwing a nut with a hand.
3. The hand rehabilitation training device of claim 1, wherein the top through hole of the second sliding rail is hinged to the bottom through hole of the corresponding fixing sleeve, and elastic pads are fixedly arranged on two sides of the top through hole; the elastic cushion is made of soft materials or elastic materials.
4. The hand rehabilitation training device of claim 1 or 3, wherein the finger moving assembly further comprises a tension adjusting mechanism matched with the second sliding rail, and the tension adjusting mechanism is arranged on the steel wire between the second pulley and the belt wheel;
the tensioning adjusting mechanism is a threaded tensioning mechanism and comprises a fixed end, a bolt and a movable end, wherein one end of the fixed end is connected with the steel wire on one side, and the other end of the fixed end is provided with a threaded hole matched with the bolt; the head of the bolt is hinged with one end of the movable end, and the other end of the movable end is connected with the steel wire on the other side; the tensioning adjusting mechanism rotates to the required length in the threaded hole of the fixed end through the bolt.
5. A hand rehabilitation training control system is characterized by comprising the hand rehabilitation training device as claimed in any one of claims 1 to 4, and further comprising a microcontroller, a first driver and a second driver, wherein the first driver is respectively connected with the microcontroller and the first motor, the second driver is respectively connected with the microcontroller and the second motor, and the microcontroller controls the first motor to act through the first driver so as to drive the wrist moving assembly to act; the microcontroller controls the second motor to act through the second driver, and further drives the finger moving assembly to act.
6. The hand rehabilitation training control system of claim 5, wherein the first motor and the second motor are stepping motors with encoders, and the two encoders are electrically connected with the microcontroller respectively to control the first motor and/or the second motor to return to an absolute zero point, so as to realize mechanical resetting of the motors.
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| CN201911242701.5A CN110974606B (en) | 2019-12-06 | 2019-12-06 | Hand rehabilitation training device and control system |
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| CN113057854A (en) * | 2021-03-23 | 2021-07-02 | 常州机电职业技术学院 | Device for assisting upper limb rehabilitation training |
| CN113304016A (en) * | 2021-07-09 | 2021-08-27 | 哈尔滨理工大学 | Elbow exoskeleton structure based on 3-PRR plane parallel mechanism |
| CN113440379B (en) * | 2021-07-25 | 2023-12-15 | 上海市第三康复医院 | Hand rehabilitation training system and training method |
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