CN104921907B - Finger movement mechanism used for hemiplegic patient rehabilitation training and rehabilitation training device - Google Patents
Finger movement mechanism used for hemiplegic patient rehabilitation training and rehabilitation training device Download PDFInfo
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- CN104921907B CN104921907B CN201510420418.2A CN201510420418A CN104921907B CN 104921907 B CN104921907 B CN 104921907B CN 201510420418 A CN201510420418 A CN 201510420418A CN 104921907 B CN104921907 B CN 104921907B
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- connecting rod
- fingerstall
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- drive rod
- end fingerstall
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Abstract
The invention discloses a finger movement mechanism used for hemiplegic patient rehabilitation training and a rehabilitation training device. The finger movement mechanism comprises a drive rod, a drive rod connecting rod, a front end finger stall connecting rod, a rear end finger stall connecting rod, a front end finger stall and a rear end finger stall. One end of the drive rod is connected with the output end of a force feedback driver through an articulated mechanism. The other end of the drive rod is hinged to the middle of the drive rod connecting rod. One end of the front end finger stall connecting rod and one end of the rear end finger stall connecting rod are connected with the two ends of the drive rod connecting rod respectively. A guide groove is formed in the other end of the front end finger stall connecting rod. The middle of the rear end finger stall connecting rod is arranged in the guide groove in a sliding mode. The front end finger stall is arranged in the front of the guide groove in the front end finger stall connecting rod. The rear end finger stall is arranged at the end of the rear end finger stall connecting rod. The movement mechanism adapts to changes of finger joints automatically, secondary injuries to the joints are avoided, and the finger movement mechanism is suitable for all stages of finger movement and enables the finger movement to be smoother.
Description
Technical field
The present invention relates to a kind of multiple degrees of freedom thumb movement function rehabilitation training device for hemiplegic patient.
Background technology
Hands is one of the most distinctive organ on human body.Scientist thinks, hands is one of three big vitals enabling a person to have height wisdom, is the important tool of the human knowledge world, reforming world, is the position relied on most in people's daily life, is also to be easiest to one of position of damaging.In five fingers of people, thumb is particularly important, and it with other four finger synergy movements, thus can complete actions such as taking, pinch.Various neuro-muscular disorders such as apoplexy etc. cause hand hemiplegia afunction to be the most common, and the flexion and extension of hand is the most impaired motor-driven function, and this has had a strong impact on the individual self-care ability of patient, cause bigger burden to society and family.Research shows, in addition to necessary medicine is got involved, suitable training has the biggest assosting effect to the recovery of limbs of patient function.
At present, mostly the finger motion function rehabilitation training carried out for hemiplegic patient is to complete under the instructing one to one and assist of doctor, doctor formulates rehabilitation training plans according to the practical situation of patient, helps patient's finger to carry out the effect that various motion reaches to resume training.This Therapeutic Method is not only wasted time and energy, and therapeutic effect is inconspicuous.
Along with the progress of science and technology, robotics the most gradually applies to rehabilitation training field.The finger rehabilitation exercise training equipment that presently, there are, may be used for the actively or passively rehabilitation training of finger, but due to thumb be people five fingers in the finest, dexterous one, its degree of freedom is high, range of activity is little, and it being easily subject to secondary injury, the design to rehabilitation training system requires the highest.
Currently for the rehabilitation training mechanism that the finger rehabilitation device employing many to thumb of hemiplegic patient is identical with other fingers, and thumb is different from other fingers structure, and motion is more flexible, this suitability being greatly lowered finger rehabilitation exercise system and training effect.The additionally active drive mode such as driving means many uses motor, compressed air, electromagnetism, it is easy to patient's finger is produced secondary injury, and stability, safety can not be guaranteed.Therefore, in order to meet hemiplegic patient's demand to thumb movement functional rehabilitation, developing main passive combination drive mode, multivariant thumb device for healing and training is significant.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, a kind of finger motion mechanism that can train for hemiplegia patient flexibly according to the articulations digitorum manus activity of arthrogryposis adaptively changing distance and the device for healing and training of multifreedom motion are proposed, make the thumb movement mode that hemiplegic patient's acquistion in training is correct, contribute to the recovery of patient's thumb proper motion function.
In order to solve above-mentioned technical problem, the present invention adopts the following technical scheme that
nullA kind of finger motion mechanism for hemiplegia patient training，It is characterized in that: include drive rod、Drive rod connecting rod、Front end fingerstall connecting rod、Rear end fingerstall connecting rod、Front end fingerstall and rear end fingerstall，One end of described drive rod is connected by linkage with the outfan of described force feedback driver，The other end of described drive rod is hinged on the middle part of described drive rod connecting rod，One end of described front end fingerstall connecting rod and one end of rear end fingerstall connecting rod are connected to the two ends of described drive rod connecting rod，The other end in described front end fingerstall connecting rod is provided with a guide groove，It is interior for regulating the relative position of front end fingerstall and rear end fingerstall that what slided in the middle part of described rear end fingerstall connecting rod is arranged on described guide groove，Described front end fingerstall is arranged on the front portion of described front end fingerstall connecting rod upper rail，Described rear end fingerstall is arranged on the end of described rear end fingerstall connecting rod.
Described linkage includes a bearing fixed block, clutch shaft bearing, the second bearing and capping, described bearing fixed block is arranged in described capping, described bearing fixed block is fixed on the outfan of described force feedback driver, described clutch shaft bearing is arranged in described capping, described second bearing is arranged in described drive rod, the inner ring of two bearings is fixed on described bearing fixed block, and described capping is fixing with described drive rod to be connected.
Being provided with a roller in described guide groove, this roller is connected with described front end fingerstall connecting rod.
Described front end fingerstall and rear end fingerstall are semiclosed fingerstall, are provided with two-sided VELCRO in described semiclosed fingerstall.
nullA kind of multiple degree of freedom finger device for healing and training for hemiplegic patient，Including force feedback driver and finger training mechanism，Wherein force feedback driver includes frame and the motor being arranged in frame、Magnetic rheological liquid damper and torque sensor，It is characterized in that: described finger motion mechanism includes drive rod、Drive rod connecting rod、Front end fingerstall connecting rod、Rear end fingerstall connecting rod、Front end fingerstall and rear end fingerstall，One end of described drive rod is connected by linkage with the outfan of described force feedback driver，The other end of described drive rod is hinged on the middle part of described drive rod connecting rod，One end of described front end fingerstall connecting rod and one end of rear end fingerstall connecting rod are connected to the two ends of described drive rod connecting rod，The other end in described front end fingerstall connecting rod is provided with a guide groove，It is interior for regulating the relative position of front end fingerstall and rear end fingerstall that what slided in the middle part of described rear end fingerstall connecting rod is arranged on described guide groove，Described front end fingerstall is arranged on the front portion of described front end fingerstall connecting rod upper rail，Described rear end fingerstall is arranged on the end of described rear end fingerstall connecting rod.
Being provided with a roller in described guide groove, this roller is connected with described front end fingerstall connecting rod.
Described linkage includes a bearing fixed block, clutch shaft bearing, the second bearing and capping, described bearing fixed block is arranged in described capping, described bearing fixed block is fixed on the outfan of described force feedback driver, described clutch shaft bearing is arranged in described capping, described second bearing is arranged in described drive rod, the inner ring of two bearings is fixed on described bearing fixed block, and described capping is fixing with described drive rod to be connected.
Described bearing is that two-sided ferrum seals lid bearing.
Described front end fingerstall and rear end fingerstall are semiclosed fingerstall, are provided with two-sided VELCRO in described semiclosed fingerstall.
When hemiplegic patient carries out active training, sensor is for measuring speed and the stressing conditions of patient's finger, controller controls motor and exports corresponding feedback force with magnetic rheological liquid damper, feedback force is applied on patient's finger be formed the control of a closed loop, the power provided includes power-assisted or resistance so that the finger of different rehabilitation patients in period can obtain effective active training.
Compared with prior art, present invention have the advantage that
1, finger motion mechanism uses drive rod connecting rod, front end fingerstall connecting rod and rear end fingerstall connecting rod, front end fingerstall is hinged in the fingerstall connecting rod of front end, rear end fingerstall is hinged in the fingerstall connecting rod of rear end, in the fingerstall connecting rod of front end, equipped with a roller, in the fingerstall connecting rod of rear end, it is provided with a guide groove.After finger is fixed on front end fingerstall and rear end fingerstall, during finger-joint bending, angle between front end fingerstall and rear end fingerstall is closed distance and is changed the most simultaneously, the change of self adaptation finger-joint, will not secondary damage joint, it is applicable to each stage of finger motion so that finger motion is more smooth.Using duralumin, hard alumin ium alloy materials processing, weight is little, and intensity is high, good reliability.Fingerstall is semiclosed fingerstall, is fixed with finger by two-sided VELCRO so that finger is more comfortable in motor process.
2, connected by a linkage between drive rod and drive shaft, for the special tectonic of finger so that finger can be freely movable in space, it is achieved that the multifreedom motion rehabilitation training of finger.
3, driving means in finger training mechanism uses active direct current torque motor to combine with passive magnetic rheological liquid damper, magnetic rheological liquid damper is passive executor, active force actively can not be applied to operator, i.e. operator is the active force that cannot experience device when not having action, the counteracting force from it only just can be experienced when carrying out action, and motor has overshoot, driving means can be made after the regulation of magnetic rheological liquid damper to run more smoothly, therefore motor is safer with the combination drive mode of magnetic rheological liquid damper, stable.
4, when carrying out passive exercise, magnetic rheological liquid damper can brake with stand-by motor, and can quickly provide damping force to pin motor when finger exceedes safety movement scope detecting, prevents finger by secondary injury；
5, when carrying out active training, the hybrid drive of motor and magnetic rheological liquid damper composition can cooperate, and provides corresponding active and passive power in conjunction with control strategy, helps patient to complete active training；
6, combine motor, the hybrid drive of magnetic rheological liquid damper composition achieves multiple training mode, the power-assisted or resistance not waited wherein is provided by the situation of patient's finger during active training, helping patient to carry out the rehabilitation training of finger, different training modes is applicable to the rehabilitation demands of different rehabilitation patient in period.
Accompanying drawing explanation
Fig. 1 is finger motion mechanism structure schematic diagram of the present invention.
Fig. 2 is device for healing and training structural representation of the present invention.
Fig. 3 is magnetic rheological liquid damper structural representation of the present invention.
Wherein: 1, base, 2, sealing ring, 3, bearing, 4, axle, 5, O-ring seals, 6, magnet ring absolutely, 7, upper cover, 8, fixed disk, 9, rotating disk, 10, pad, 11, big pad, 12, bearing, 13, drive rod, 14, drive rod connecting rod, 15, front end fingerstall connecting rod, 16, front end fingerstall, 17, rear end fingerstall, 18, rear end fingerstall connecting rod, 19, bearing fixed block, 20, drive rod covers, 21, photoelectric encoder, 22, direct current torque motor, 23, shaft coupling, 24, magnetic rheological liquid damper, 25, torque sensor, 26, frame.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the present invention is elaborated:
Finger motion mechanism of the present invention is as it is shown in figure 1, illustrate in the present embodiment as a example by mechanism is tied in thumb training.nullBy drive rod 13、Bearing 12、Drive rod capping 20、Bearing fixed block 19、Drive rod connecting rod 14、Front end fingerstall connecting rod 15、Front end fingerstall 16、Rear end fingerstall 17 and rear end fingerstall connecting rod 18 form，Its middle (center) bearing fixed block 19 is fixing on the driving shaft，Drive rod 13 one end is connected with bearing fixed block，The other end is connected with drive rod connecting rod 14，Connection front end, drive rod connecting rod two ends fingerstall connecting rod 15 and rear end fingerstall connecting rod 18，Front end fingerstall 16 is connected with front end fingerstall connecting rod，Rear end fingerstall 17 is connected with rear end fingerstall connecting rod，Front end fingerstall and rear end fingerstall are fixed with two-sided VELCRO，Thumb is fixed together with fingerstall by VELCRO，Additionally drive rod 13 and drive rod connecting rod 14、Drive rod connecting rod 14 and front end fingerstall connecting rod 15 and rear end fingerstall connecting rod 18、Front end fingerstall connecting rod 15 and front end fingerstall 16、Connected by pin between rear end fingerstall connecting rod 18 and rear end fingerstall 17.
A kind of multiple degree of freedom finger device for healing and training for hemiplegic patient, as shown in Figure 2.It is made up of force feedback driver and finger training mechanism.Direct current torque motor 22, shaft coupling 23, magnetic rheological liquid damper 24 and torque sensor 25 that wherein force feedback driver by frame 26 and is arranged in frame form.
Magnetic rheological liquid damper 24 structural representation is as shown in Figure 3, it is by base 1, sealing ring 2, bearing 3, axle 4, O-ring seals 5, magnet ring 6 absolutely, upper cover 7, fixed disk 8, rotating disk 9, pad 10, big pad 11 forms, fixed disk 8, it is full of magnetic flow liquid between rotating disk 9 and absolutely magnet ring 6, rotating disk 9 is fixed with axle 4, fixed disk 8 is fixed on exhausted magnet ring 6, magnet ring 6 and base 1 absolutely, sealing ring 2, upper cover 7 is fixed together, it is wound with coil absolutely on magnet ring 6, MR damper is operationally, electric current produces magnetic field by coil, magnetic flow liquid produces rheological effect, axle 4 is rotated dish 9 and rotates thus export damping force.
The design of thumb movement mechanism
Owing to the structure of human thumb is different with other fingers, motion is flexibly and degree of freedom is high, needs the rehabilitation exercise training designing multivariant mechanism for realizing thumb.The present invention designs a kind of linkage for meeting the multifreedom motion of thumb, and linkage two ends connect drive rod and drive shaft, can meet the motility of thumb movement.
A kind of operation principle for the multiple degrees of freedom thumb device for healing and training of hemiplegic patient designed by the present invention is as follows:
1, the realization of passive exercise pattern
When patient be in hemiparalysis recovery in early days time, finger muscular strength is more weak cannot be carried out active exercise, at this moment uses the passive exercise pattern of apparatus of the present invention to carry out rehabilitation training.First patient makees a complete thumb flexing and stretching with the help of doctor or household, the maximum magnitude that thumb can move recorded by photoelectric encoder, the hybrid drive of motor and magnetic rheological liquid damper composition works in coordination with the drive rod motion driving thumb movement mechanism, so that finger motion mechanism drives patient's finger to do flexing and stretching in the range of largest motion.In motor process, photoelectric encoder and torque sensor are monitored the moving situation of thumb and force-bearing situation in real time and transfer data to controller, controller controls the hybrid drive of motor and magnetic rheological liquid damper composition and exports corresponding moment so that patient's thumb held stationary in motor process.Owing to employing magnetic rheological liquid damper, substantially reduce the fluctuation in Speed Process of DC Motor, patient's thumb is played a very good protection.
2, the realization of active training pattern
When patient is after rehabilitation training after a while, and thumb muscular strength is improved, the motion of thumb of having had the ability, at this moment patient uses the active training pattern of apparatus of the present invention to carry out rehabilitation training.When patient's thumb moves, torque sensor monitors moment information and feeds back to controller, and controller sends control signal according to moment size, and the hybrid drive controlling motor and MR damper composition exports corresponding moment.If patient's thumb has also been not enough to large-scale flexing and stretching, hybrid drive output active force helps patient's thumb to complete motion；If patient's thumb can complete large-scale flexing stretching, hybrid drive can export corresponding damping force according to the situation of the power of patient's thumb, to temper the muscular strength of patient's thumb, helps it to recover the motor function of thumb further.
Claims (9)
- null1. the finger motion mechanism for hemiplegia patient training，It is characterized in that: include drive rod、Drive rod connecting rod、Front end fingerstall connecting rod、Rear end fingerstall connecting rod、Front end fingerstall and rear end fingerstall，One end of described drive rod is connected by linkage with the outfan of a force feedback driver，The other end of described drive rod is hinged on the middle part of described drive rod connecting rod，One end of described front end fingerstall connecting rod and one end of rear end fingerstall connecting rod are connected to the two ends of described drive rod connecting rod，The other end in described front end fingerstall connecting rod is provided with a guide groove，It is interior for regulating the relative position of front end fingerstall and rear end fingerstall that what slided in the middle part of described rear end fingerstall connecting rod is arranged on described guide groove，Described front end fingerstall is arranged on the front portion of described front end fingerstall connecting rod upper rail，Described rear end fingerstall is arranged on the end of described rear end fingerstall connecting rod.
- Finger motion mechanism the most according to claim 1, it is characterized in that: described linkage includes a bearing fixed block, clutch shaft bearing, the second bearing and capping, described bearing fixed block is arranged in described capping, described bearing fixed block is fixed on the outfan of described force feedback driver, described clutch shaft bearing is arranged in described capping, described second bearing is arranged in described drive rod, the inner ring of two bearings is fixed on described bearing fixed block, and described capping is fixing with described drive rod to be connected.
- Finger motion mechanism the most according to claim 1 and 2, it is characterised in that: being provided with a roller in described guide groove, this roller is connected with described front end fingerstall connecting rod.
- Finger motion mechanism the most according to claim 3, it is characterised in that: described front end fingerstall and rear end fingerstall are semiclosed fingerstall, are provided with two-sided VELCRO in described semiclosed fingerstall.
- null5. the multiple degree of freedom finger device for healing and training for hemiplegic patient，Including force feedback driver and finger motion mechanism，Wherein force feedback driver includes frame and the motor being arranged in frame、Magnetic rheological liquid damper and torque sensor，It is characterized in that: described finger motion mechanism includes drive rod、Drive rod connecting rod、Front end fingerstall connecting rod、Rear end fingerstall connecting rod、Front end fingerstall and rear end fingerstall，One end of described drive rod is connected by linkage with the outfan of described force feedback driver，The other end of described drive rod is hinged on the middle part of described drive rod connecting rod，One end of described front end fingerstall connecting rod and one end of rear end fingerstall connecting rod are connected to the two ends of described drive rod connecting rod，The other end in described front end fingerstall connecting rod is provided with a guide groove，It is interior for regulating the relative position of front end fingerstall and rear end fingerstall that what slided in the middle part of described rear end fingerstall connecting rod is arranged on described guide groove，Described front end fingerstall is arranged on the front portion of described front end fingerstall connecting rod upper rail，Described rear end fingerstall is arranged on the end of described rear end fingerstall connecting rod.
- Multiple degree of freedom finger device for healing and training the most according to claim 5, it is characterised in that: being provided with a roller in described guide groove, this roller is connected with described front end fingerstall connecting rod.
- 7. according to the multiple degree of freedom finger device for healing and training described in claim 5 or 6, it is characterized in that: described linkage includes a bearing fixed block, clutch shaft bearing, the second bearing and capping, described bearing fixed block is arranged in described capping, described bearing fixed block is fixed on the outfan of described force feedback driver, described clutch shaft bearing is arranged in described capping, described second bearing is arranged in described drive rod, the inner ring of two bearings is fixed on described bearing fixed block, and described capping is fixing with described drive rod to be connected.
- Multiple degree of freedom finger device for healing and training the most according to claim 7, it is characterised in that: described bearing is that two-sided ferrum seals lid bearing.
- Multiple degree of freedom finger device for healing and training the most according to claim 5, it is characterised in that: described front end fingerstall and rear end fingerstall are semiclosed fingerstall, are provided with two-sided VELCRO in described semiclosed fingerstall.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510420418.2A CN104921907B (en) | 2015-07-17 | 2015-07-17 | Finger movement mechanism used for hemiplegic patient rehabilitation training and rehabilitation training device |
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| CN201510420418.2A CN104921907B (en) | 2015-07-17 | 2015-07-17 | Finger movement mechanism used for hemiplegic patient rehabilitation training and rehabilitation training device |
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| CN104921907A CN104921907A (en) | 2015-09-23 |
| CN104921907B true CN104921907B (en) | 2017-01-11 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105496725B (en) * | 2015-12-09 | 2017-06-16 | 东南大学 | A kind of Three Degree Of Freedom thumb rehabilitation training mechanism |
| CN106236505B (en) * | 2016-08-26 | 2018-05-25 | 合肥工业大学 | Finger rehabilitation training device and method based on pneumatic muscles and MR damper |
| CN107233190B (en) * | 2017-06-26 | 2019-04-30 | 东南大学 | A kind of multiple degrees of freedom thumb device for healing and training for hemiplegic patient |
| CN109498373B (en) * | 2019-01-17 | 2020-04-03 | 中山大学 | Wearable hand rehabilitation robot |
| CN109893831A (en) * | 2019-04-20 | 2019-06-18 | 南通大学 | Finger rehabilitation training device based on three four-bar mechanisms |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4811868B2 (en) * | 2006-09-13 | 2011-11-09 | 国立大学法人岐阜大学 | Upper limb finger function recovery training device |
| CN202537871U (en) * | 2012-02-28 | 2012-11-21 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| WO2014068509A2 (en) * | 2012-11-01 | 2014-05-08 | University Of Cape Town | Hand exoskeleton |
| CN202875744U (en) * | 2012-11-09 | 2013-04-17 | 上海理工大学 | Exoskeleton type biological feedback hand functional training device |
| CN203280688U (en) * | 2013-05-22 | 2013-11-13 | 东南大学 | Exoskeleton type finger rehabilitation training device by combination driving of active/passive drivers |
| CN103315880B (en) * | 2013-06-03 | 2014-12-10 | 上海交通大学 | Hand external skeleton rehabilitation system based on memory alloy driving |
| CN103750980B (en) * | 2014-01-22 | 2015-06-03 | 东南大学 | Auxiliary rehabilitation training device for hemiplegic finger of patient |
| CN204147236U (en) * | 2014-10-15 | 2015-02-11 | 上海理工大学 | Wearable exoskeleton hand function rehabilitation trainer |
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