CN102018611A - Rehabilitation training therapeutic instrument for hand of hemiplegic patient - Google Patents
Rehabilitation training therapeutic instrument for hand of hemiplegic patient Download PDFInfo
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- CN102018611A CN102018611A CN 201010620480 CN201010620480A CN102018611A CN 102018611 A CN102018611 A CN 102018611A CN 201010620480 CN201010620480 CN 201010620480 CN 201010620480 A CN201010620480 A CN 201010620480A CN 102018611 A CN102018611 A CN 102018611A
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Abstract
The invention relates to a rehabilitation training therapeutic instrument, which is mainly used for hand of patients with hemiplegia at early stage and which can realize the movement of joints of hand, automatic operation and personalized rehabilitation training. The rehabilitation training therapeutic instrument is provided with an arm bracket, a hand bracket, a palm support, a thumb support, a wrist joint driving device, a palm thumb joint driving device, a thumb joint driving device, a forefinger joint driving device, a middle finger joint driving device, a ring finger joint driving device, a little finger joint driving device and a steering engine control device. With the rehabilitation training therapeutic instrument, various movement parameters can be input and set from a human-computer interface and a training proposal can be mapped out and put into effect subsequent to confirmation, or one of the stored movement proposals can be directly selected and put into effect. A variety of steering engines can be controlled via the steering engine control device, and can perform, by means of respective transmission mechanisms, independent or combined corresponding rehabilitation movements on wrist joint, palm thumb joint and finger joints.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, especially relate to a kind of early stage hemiplegic patient's hand rehabilitation training for treatment instrument that is mainly used in.
Background technology
Apoplexy is very serious problem.Die ten thousand deaths in the whole world annual 5050 and to die in the population,, account for 9% because apoplexy death is 4,400,000.A large amount of existence patients makes that the ratio of patients with stroke increases day by day among the crowd, accounts for 1% (10,00/,100,000) of global total population at present, and has at least half to leave in various degree deformity among the patient of existence, so apoplexy also becomes most important serious disabling disease.
The post-stroke paralyzed limbs spasm will inevitably occur in the functional rehabilitation process, upper limb mostly is the musculus flexor spasm, and lower limb are the extensor spasm.Because the abnormal posture that limb spasm produces causes physical disabilities, usually influences patient's quality of life behind stable disease, cause can't take care of oneself, Shou Zhi flexion contracture particularly seriously hinders patient's daily life.Acute stroke patients begins to engender the muscular hypertonia of paralyzed limbs after 14 days in morbidity, once spastic hemiplegia occurred, treats just very difficultly as the patient again, and therefore the rehabilitation training of carrying out in early days in morbidity is very important.But generally all need be come the patient is done hand rehabilitation action by other people at present, but there is the expense height in artificial recovering aid, one time rehabilitation duration be limited, rehabilitation doctor specification requirement height, problems such as working strength is big.The report of correlation technique is also arranged, but exist simple structure, manually-operated trouble, function action dullness can not realize complicated hand motion, and the different motion training also need reinstall, and can not realize long-time unattended combination type rehabilitation training.Thereby cause rehabilitation efficacy limited, can't satisfy the requirement of modern passive exercise rehabilitation theory.
Notification number provides a kind of hemiplegic patient to carry out the hemiplegic patient hand rehabilitation device of auxiliary rehabilitation exercise voluntarily for the utility model of CN200963301, this rehabilitation device comprises profiling glove, finger backguy, clamps bandage, backguy holder, push-pull bar, described finger backguy one end is connected the finger tip position of profiling glove, the other end of finger backguy links to each other with push-pull bar by the backguy holder, clamps the hands neck position that bandage and backguy holder are arranged on the profiling glove.This utility model is carried out rehabilitation training with the hands of a healthy side to the hands of hemiplegia one side by patient oneself, the push-pull bar that holds of a healthy side makes the finger one of hemiplegia hands stretch one by position, backguy steel wire push-and-pull profiling finger of glove tip to bend, trained passively, thereby strengthen the tension force of hand muscle, blood circulation promoting.
Summary of the invention
The purpose of this invention is to provide a kind of routing motion that can realize between each joint motions of hand and each several part, long-time, full-automatic unmanned on duty, hemiplegic patient's hand rehabilitation training for treatment instrument of personalized rehabilitation training.
The present invention is provided with arm support, hand supports, palmrest, thumb post, carpal joint driving device, palm thumb joint driving device, thumb joint driving device, forefinger articulated driving equipment, middle finger articulated driving equipment, nameless articulated driving equipment, little finger of toe articulated driving equipment and steering engine control device;
Hand supports and arm support elasticity are rotationally connected;
Palmrest is located on the hand supports and with hand supports and is connected;
Thumb post is located at by the palmrest, and thumb post and palmrest elasticity are rotationally connected;
The carpal joint driving device is provided with first steering wheel and first drive mechanism, and first steering wheel is located on the arm support, and the power input link of first drive mechanism is connected with the power output shaft of first steering wheel, and the power output member and the hand supports of first drive mechanism are hinged;
Palm thumb joint driving device is provided with second steering wheel and second drive mechanism, second steering wheel is located on the hand supports, the power input link of second drive mechanism is connected with the power output shaft of second steering wheel, and the power output member and the thumb post of second drive mechanism are hinged;
The thumb joint driving device is provided with the 3rd steering wheel and the 3rd drive mechanism, the 3rd steering wheel is located on the thumb post, the 3rd drive mechanism is provided with rocking bar, connecting rod and spring leaf, rocking bar one end is connected with the 3rd steering wheel output shaft, the rocking bar other end and connecting rod one end are hinged, the connecting rod other end and spring leaf one end are hinged, and the spring leaf other end and thumb post are connected;
The forefinger articulated driving equipment is provided with the 4th steering wheel and the 4th drive mechanism, the 4th steering wheel is located on the hand supports, the 4th drive mechanism is provided with rocking bar, connecting rod and spring leaf, rocking bar one end is connected with the 4th steering wheel output shaft, the rocking bar other end and connecting rod one end are hinged, the connecting rod other end and spring leaf one end are hinged, and the spring leaf other end and palmrest are connected;
The middle finger articulated driving equipment is provided with the 5th steering wheel and the 5th drive mechanism, the 5th steering wheel is located on the hand supports and is positioned at by the 4th steering wheel, the 5th drive mechanism is provided with rocking bar, connecting rod and spring leaf, rocking bar one end is connected with the 5th steering wheel output shaft, the rocking bar other end and connecting rod one end are hinged, the connecting rod other end and spring leaf one end are hinged, and the spring leaf other end and palmrest are connected;
Nameless articulated driving equipment is provided with the 6th steering wheel and the 6th drive mechanism, the 6th steering wheel is located on the hand supports and is positioned at by the 5th steering wheel, the 6th drive mechanism is provided with rocking bar, connecting rod and spring leaf, rocking bar one end is connected with the 6th steering wheel output shaft, the rocking bar other end and connecting rod one end are hinged, the connecting rod other end and spring leaf one end are hinged, and the spring leaf other end and palmrest are connected;
The little finger of toe articulated driving equipment is provided with the 7th steering wheel and the 7th drive mechanism, the 7th steering wheel is located on the hand supports and is positioned at by the 6th steering wheel, the 7th drive mechanism is provided with rocking bar, connecting rod and spring leaf, rocking bar one end is connected with the 6th steering wheel output shaft, the rocking bar other end and connecting rod one end are hinged, the connecting rod other end and spring leaf one end are hinged, and the spring leaf other end and palmrest are connected;
Steering engine control device is provided with Programmable Logic Controller, steering engine controller, pick off, LCDs and input equipment, input equipment and LCDs constitute man machine interface, Programmable Logic Controller output termination steering engine controller input, steering engine controller output termination steering wheel, steering engine controller is provided with at least 7 tunnel outputs, and per 1 tunnel output connects 1 steering wheel.
Described hand supports is rotatably connected with arm support and is connected by spring leaf elasticity.
Described thumb post is connected by spring leaf elasticity with palmrest is rotatable.
Described first drive mechanism can be provided with rocking bar and connecting rod, and rocking bar one end is connected with the first steering wheel output shaft, and the rocking bar other end and connecting rod one end are hinged, and the connecting rod other end and hand supports are hinged.
Described second drive mechanism can be provided with rocking bar and connecting rod, and rocking bar one end is connected with the second steering wheel output shaft, and the rocking bar other end and connecting rod one end are hinged, and the connecting rod other end and thumb post are hinged.
Described Programmable Logic Controller is preferably single-chip microcomputer.Described input equipment can be input keyboard or hand-held button pushing device.
Each steering wheel in described second steering wheel to the, seven steering wheels preferably is equipped with movable retaining mechanism, described movable retaining mechanism is provided with the support plate and the securing member of band guide groove, each steering wheel is installed on the support plate of 1 band guide groove and can moves along the guide groove of the support plate of band guide groove, and by securing member locking, the support plate of described band guide groove is located on palmrest and the hand supports.
Described steering engine control device can be external or be located on the arm support.
When the present invention used, on ordinary glove on patient's the arm band, arm placed on the arm support, and palm places on the palmrest, and thumb places on the thumb post, 5 finger plasters was leaned against on the spring leaf of drive mechanism separately and with spring leaf to be pasted together.Compared with the prior art, the present invention has following outstanding advantage and remarkable technique effect:
1) can formulate personalized rehabilitation scheme according to the doctor to the practical situation of patient's wrist, the palm and each finger in advance, rehabilitation scheme can be programmed and import Programmable Logic Controller, can be to start-stop position, the resting guard definition of each joint motions, can each kinematic parameter be set by the man machine interface input, and carry out the establishment of training program, confirm the back operation.Also can from the motion scheme of having stored, directly select operation.Can control each steering wheel by steering engine control device, steering wheel can be realized carpal joint, palm thumb joint and each articulations digitorum manus are carried out corresponding rehabilitation action by drive mechanism separately again.
2) drive mechanism of each articulated driving equipment is designed to compliant mechanism, utilize the submissive distortion of spring leaf to realize wrist, the support, bending and the stretching that respectively refer to, realize each joint motions, the Cross section Design of spring leaf designs by adopting FInite Element, just can obtain the required cross sectional shape of differently curved track.
3) each joint motions realizes position and speed controlling by steering wheel, and steering wheel self can be realized the servo of angle, and need not the special driving device, can make hardware cost low, and control device is simplified.
4) can carry out the position adjustment to the drive mechanism of each articulations digitorum manus driving device according to different patients' hands shape and size, can realize by movable retaining mechanism.
5) each articulated driving equipment can independence or aggregate motion, the combined rehabilitation function of realizing ideal.
This shows, the present invention can realize the full-automatic operation of hand rehabilitation medical, independence that only needs hand to install just can to carry out long-time various joint motions or the automatic rehabilitation training of combination type (and training program and data can store and export), also the more intelligentized treatment for host computer provides the basis.Satisfied the demand of passive exercise rehabilitation medical theory,, and further developed this medical treatment theoretical research experimental basis is provided for it provides implementation tool.
Description of drawings
Fig. 1 is that the axis of no-feathering of the embodiment of the invention is surveyed sketch map (solid).
Fig. 2 is the plan structure sketch map of Fig. 1.
Fig. 3 is the side-looking structural representation of Fig. 1.In Fig. 3, for avoiding numerous and diverse, in each articulations digitorum manus driving device, the nameless articulated driving equipment that only draws, the structure of the articulated driving equipment of other finger all structure with the middle finger articulated driving equipment is identical.
Fig. 4 is the crooked principle schematic that stretches of finger-joint.In Fig. 4, be the example explanation with the middle finger, each finger is in like manner.
Fig. 5 is an angle regulating principle sketch map between palmrest among Fig. 1 and the thumb post.
The specific embodiment
Referring to Fig. 1～3, the embodiment of the invention is provided with arm support 1, hand supports 2, palmrest 21, thumb post 22, carpal joint driving device, palm thumb joint driving device, thumb joint driving device, forefinger articulated driving equipment, middle finger articulated driving equipment, nameless articulated driving equipment, little finger of toe articulated driving equipment and steering engine control device.
Palmrest 21 is used for palmar hand to be placed, and palmrest 21 is located on the hand supports 2 and with hand supports 2 and is connected.
The carpal joint driving device is provided with first steering wheel 31 and first drive mechanism, first steering wheel 31 is located on the arm support 1, first drive mechanism is provided with rocking bar 32 and connecting rod 33, rocking bar 32 1 ends are connected with the power output shaft of first steering wheel 31, rocking bar 32 other ends and connecting rod 33 1 ends are hinged, and connecting rod 33 other ends and hand supports 2 are hinged.During work, first steering wheel 31 drives rocking bar 32 and rotates, rocking bar 32 drives hand supports 2 through connecting rod 33 and makes the pendular motion of commentaries on classics up and down with respect to arm support 1 (owing to be provided with spring leaf 12, therefore this to change pendular motion up and down be to control by the submissive distortion of spring leaf 12), the carpal joint acquisition can move up and down like this.The movement locus of hand supports 2 and speed are to determine that by the control sequence that is organized in the steering engine control device carpal joint can obtain the science athletic rehabilitation.
Palm thumb joint driving device is provided with second steering wheel 101 and second drive mechanism, second steering wheel 101 is located on the movable retaining mechanism 102 of hand supports 2, movable retaining mechanism 102 is made of the support plate and the securing member of band guide groove, second steering wheel 101 is installed on the support plate of being with guide groove (can adjust the position along guide groove), and locks by securing member.Second drive mechanism is provided with rocking bar 103 and connecting rod 104, and rocking bar 103 1 ends are connected with the power output shaft of steering wheel 101, and rocking bar 103 other ends and connecting rod 104 are hinged, connecting rod 104 other ends and thumb post 22 bottom-hinged.During work, second steering wheel 101 drives rocking bar 103 and rotates, and rocking bar 103 drives the pendular motion of commentaries on classics up and down that thumb post 22 is done with respect to palmrest 21 right sides through connecting rod 104.Further referring to Fig. 5, palmrest 21 is fixed on the hand supports, and thumb post 22 is connected with palmrest 21 by spring leaf 20.Second steering wheel drives rocking bar 103 and rotates, rocking bar 103 drives thumb post 22 through connecting rod 104 changes pendulum (shown in four-headed arrow) up and down, can make the angle between thumb and the palm obtain adjusting like this, can make the hand tiger locate to be opened and close up exercise, owing to be provided with spring leaf 20, therefore this changes pendular motion up and down and can control by the submissive distortion of spring leaf 20, and the movement locus of thumb post 22 and speed are by the control sequence decision that is organized in the helm gear.
The thumb joint driving device is provided with the 3rd steering wheel 41 and the 3rd drive mechanism, the 3rd steering wheel 41 is located on the movable retaining mechanism 42 of thumb post 22, movable retaining mechanism 42 is made of the support plate and the securing member of band guide groove, the 3rd steering wheel 41 is installed on the support plate of being with guide groove (can adjust the position along guide groove), and locks by securing member.The 3rd drive mechanism is provided with rocking bar 43, connecting rod 44 and spring leaf 45, rocking bar 43 1 ends are connected with the 32 steering wheel 41 output shafts, rocking bar 43 other ends and connecting rod 44 1 ends are hinged, and connecting rod 44 other ends and spring leaf 45 1 ends are hinged, and spring leaf 45 other ends and thumb post 22 are connected.During work, the 3rd steering wheel 41 drives rocking bars 43 and rotates, and rocking bar 43 drives spring leafs 45 through connecting rod 44 and makes bending and stretching, makes corresponding crooked and stretching (can referring to Fig. 4) thereby also drive each joint of thumb.The movement locus of spring leaf 45 and speed are to be determined by the control sequence that is organized in the steering engine control device.
The forefinger articulated driving equipment is provided with the 4th steering wheel 51 and the 4th drive mechanism, the 4th steering wheel 51 is located on the movable retaining mechanism 52 of hand supports 2, movable retaining mechanism 52 is made of the support plate and the securing member of band guide groove, the 4th steering wheel 51 is installed on the support plate of being with guide groove (can adjust the position along guide groove), and locks by securing member.It is other that the 4th steering wheel 51 is positioned at the 3rd steering wheel 41, the 4th drive mechanism is provided with rocking bar 53, connecting rod 54 and spring leaf 55, rocking bar 53 1 ends are connected with the 4th steering wheel 51 output shafts, rocking bar 53 other ends and connecting rod 54 1 ends are hinged, connecting rod 54 other ends and spring leaf 55 1 ends are hinged, and spring leaf 55 other ends and thumb post 22 are connected.During work, the 4th steering wheel 51 drives rocking bars 53 and rotates, and rocking bar 53 drives spring leafs 55 through connecting rod 54 and makes bending and stretching, makes corresponding crooked and stretching (can referring to Fig. 4) thereby also drive each joint of forefinger.The movement locus of spring leaf 45 and speed are to be determined by the control sequence that is organized in the steering engine control device.
The middle finger articulated driving equipment is provided with the 5th steering wheel 61 and the 5th drive mechanism, the 5th steering wheel 61 is located on the movable retaining mechanism 62 of hand supports 2, movable retaining mechanism 62 is made of the support plate and the securing member of band guide groove, the 5th steering wheel 61 is installed on the support plate of being with guide groove (can adjust the position along guide groove), and locks by securing member.It is other that the 5th steering wheel 61 is positioned at the 4th steering wheel 51, the 5th drive mechanism is provided with rocking bar 63, connecting rod 64 and spring leaf 65, rocking bar 63 1 ends are connected with the 5th steering wheel 61 output shafts, rocking bar 63 other ends and connecting rod 64 1 ends are hinged, connecting rod 64 other ends and spring leaf 65 1 ends are hinged, and spring leaf 65 other ends and thumb post 22 are connected.During work, the 5th steering wheel 61 drives rocking bar 63, and rocking bar 63 drives spring leaf 65 through connecting rod 64 and makes bending and stretching, makes corresponding crooked and stretching (referring to Fig. 4) thereby also drive each joint of middle finger.The movement locus of spring leaf 65 and speed are to be determined by the control sequence that is organized in the steering engine control device.Further referring to Fig. 4, middle finger P can realize bending and stretching under the drive of spring leaf 65, thereby each joint of middle finger P can obtain rehabilitation.Among Fig. 4, label 63,64 and 65 is represented rocking bar, connecting rod and spring leaf respectively, and label 63 ', 64 ' and 65 ' is represented a certain kinestate of rocking bar 63, connecting rod 64 and spring leaf 65 respectively.
Nameless articulated driving equipment is provided with the 6th steering wheel 71 and the 4th drive mechanism, the 6th steering wheel 71 is located on the movable retaining mechanism 72 of hand supports 2, movable retaining mechanism 72 is made of the support plate and the securing member of band guide groove, the 6th steering wheel 71 is installed on the support plate of being with guide groove (can adjust the position along guide groove), and locks by securing member.It is other that the 6th steering wheel 71 is positioned at the 5th steering wheel 61, the 6th drive mechanism is provided with rocking bar 73, connecting rod 74 and spring leaf 75, rocking bar 73 1 ends are connected with the 6th steering wheel 71 output shafts, rocking bar 73 other ends and connecting rod 74 1 ends are hinged, connecting rod 74 other ends and spring leaf 75 1 ends are hinged, and spring leaf 75 other ends and thumb post 22 are connected.During work, the 6th steering wheel 71 drives rocking bars 73, and rocking bar 73 drives spring leafs 75 through connecting rod 74 and makes bending and stretching, makes corresponding crooked and stretching (can referring to Fig. 4) thereby also drive nameless each joint.The movement locus of spring leaf 75 and speed are to be determined by the control sequence that is organized in the steering engine control device.
The little finger of toe articulated driving equipment is provided with the 7th steering wheel 81 and the 7th drive mechanism, the 7th steering wheel 81 is located on the movable retaining mechanism 82 of hand supports 2, movable retaining mechanism 82 is made of the support plate and the securing member of band guide groove, the 7th steering wheel 81 is installed on the support plate of being with guide groove (can adjust the position along guide groove), and locks by securing member.It is other that the 7th steering wheel 81 is positioned at the 6th steering wheel 71, the 7th drive mechanism is provided with rocking bar 83, connecting rod 84 and spring leaf 85, rocking bar 83 1 ends are connected with the 7th steering wheel 81 output shafts, rocking bar 83 other ends and connecting rod 84 1 ends are hinged, connecting rod 84 other ends and spring leaf 85 1 ends are hinged, and spring leaf 85 other ends and thumb post 22 are connected.During work, the 7th steering wheel 81 drives rocking bars 83, and rocking bar 83 drives spring leafs 85 through connecting rod 84 and makes bending and stretching, makes corresponding crooked and stretching (can referring to Fig. 4) thereby also drive each joint of little finger of toe.The movement locus of spring leaf 85 and speed are to be determined by the control sequence that is organized in the steering engine control device.
Steering engine control device (not drawing in Fig. 1～5) external (also can be located on the arm support 1), steering engine control device are provided with single-chip microcomputer (Programmable Logic Controller), steering engine controller (7 tunnel output), LCDs and input keyboard.Input keyboard and LCDs are as man machine interface, and Programmable Logic Controller is exported termination steering engine controller input, steering engine controller output termination steering wheel, and 7 tunnel outputs connect 1 steering wheel respectively.Single-chip microcomputer reaches the output angle of control steering wheel by the control steering engine controller.Can formulate personalized rehabilitation scheme according to the doctor to the practical situation of patient's wrist, the palm and each finger in advance, rehabilitation scheme can be programmed and imports in single-chip microcomputer, can be to start-stop position, the resting guard definition of each joint motions, can each kinematic parameter be set by the man machine interface input, and carry out the establishment of training program, confirm the back operation.Also can from the motion scheme of having stored, directly select operation.
Through test, the present invention can realize: stretch carpal joint: the back of the body is stretched 90 ° of amplitude peaks, and chi is bent (inclined to one side 5 ° of chi, 80 ° of flexing amplitude peaks), and oar is bent (inclined to one side 5 ° of oar, 80 ° of flexing amplitude peaks).Palm thumb joint and finger articulations digitorum manus stretch and curvature movement: maximum 90 ° of palm thumb joint flexing amplitude, and the back of the body is stretched 10 °; 100 ° of articulations digitorum manus flexings, the back of the body is stretched 10 °; 90 ° of the abduction amplitude peaks of thumb.Also has palmar opposition of thumb and to referring to function.
Claims (8)
1. hemiplegic patient's hand rehabilitation training for treatment instrument is characterized in that being provided with arm support, hand supports, palmrest, thumb post, carpal joint driving device, palm thumb joint driving device, thumb joint driving device, forefinger articulated driving equipment, middle finger articulated driving equipment, nameless articulated driving equipment, little finger of toe articulated driving equipment and steering engine control device;
Hand supports and arm support elasticity are rotationally connected;
Palmrest is located on the hand supports and with hand supports and is connected;
Thumb post is located at by the palmrest, and thumb post and palmrest elasticity are rotationally connected;
The carpal joint driving device is provided with first steering wheel and first drive mechanism, and first steering wheel is located on the arm support, and the power input link of first drive mechanism is connected with the power output shaft of first steering wheel, and the power output member and the hand supports of first drive mechanism are hinged;
Palm thumb joint driving device is provided with second steering wheel and second drive mechanism, second steering wheel is located on the hand supports, the power input link of second drive mechanism is connected with the power output shaft of second steering wheel, and the power output member and the thumb post of second drive mechanism are hinged;
The thumb joint driving device is provided with the 3rd steering wheel and the 3rd drive mechanism, the 3rd steering wheel is located on the thumb post, the 3rd drive mechanism is provided with rocking bar, connecting rod and spring leaf, rocking bar one end is connected with the 3rd steering wheel output shaft, the rocking bar other end and connecting rod one end are hinged, the connecting rod other end and spring leaf one end are hinged, and the spring leaf other end and thumb post are connected;
The forefinger articulated driving equipment is provided with the 4th steering wheel and the 4th drive mechanism, the 4th steering wheel is located on the hand supports, the 4th drive mechanism is provided with rocking bar, connecting rod and spring leaf, rocking bar one end is connected with the 4th steering wheel output shaft, the rocking bar other end and connecting rod one end are hinged, the connecting rod other end and spring leaf one end are hinged, and the spring leaf other end and palmrest are connected;
The middle finger articulated driving equipment is provided with the 5th steering wheel and the 5th drive mechanism, the 5th steering wheel is located on the hand supports and is positioned at by the 4th steering wheel, the 5th drive mechanism is provided with rocking bar, connecting rod and spring leaf, rocking bar one end is connected with the 5th steering wheel output shaft, the rocking bar other end and connecting rod one end are hinged, the connecting rod other end and spring leaf one end are hinged, and the spring leaf other end and palmrest are connected;
Nameless articulated driving equipment is provided with the 6th steering wheel and the 6th drive mechanism, the 6th steering wheel is located on the hand supports and is positioned at by the 5th steering wheel, the 6th drive mechanism is provided with rocking bar, connecting rod and spring leaf, rocking bar one end is connected with the 6th steering wheel output shaft, the rocking bar other end and connecting rod one end are hinged, the connecting rod other end and spring leaf one end are hinged, and the spring leaf other end and palmrest are connected;
The little finger of toe articulated driving equipment is provided with the 7th steering wheel and the 7th drive mechanism, the 7th steering wheel is located on the hand supports and is positioned at by the 6th steering wheel, the 7th drive mechanism is provided with rocking bar, connecting rod and spring leaf, rocking bar one end is connected with the 6th steering wheel output shaft, the rocking bar other end and connecting rod one end are hinged, the connecting rod other end and spring leaf one end are hinged, and the spring leaf other end and palmrest are connected;
Steering engine control device is provided with Programmable Logic Controller, steering engine controller, LCDs and input equipment, input equipment and LCDs constitute man machine interface, Programmable Logic Controller output termination steering engine controller input, steering engine controller output termination steering wheel, steering engine controller is provided with at least 7 tunnel outputs, and per 1 tunnel output connects 1 steering wheel.
2. hemiplegic patient's hand rehabilitation training for treatment instrument as claimed in claim 1, it is characterized in that described first drive mechanism is provided with rocking bar and connecting rod, rocking bar one end is connected with the first steering wheel output shaft, and the rocking bar other end and connecting rod one end are hinged, and the connecting rod other end and hand supports are hinged.
3. hemiplegic patient's hand rehabilitation training for treatment instrument as claimed in claim 1, it is characterized in that described second drive mechanism is provided with rocking bar and connecting rod, rocking bar one end is connected with the second steering wheel output shaft, and the rocking bar other end and connecting rod one end are hinged, and the connecting rod other end and thumb post are hinged.
4. hemiplegic patient's hand rehabilitation training for treatment instrument as claimed in claim 1 is characterized in that described Programmable Logic Controller is a single-chip microcomputer, and described input equipment is input keyboard or hand-held button pushing device.
5. hemiplegic patient's hand rehabilitation training for treatment instrument as claimed in claim 1, it is characterized in that each steering wheel in described second steering wheel to the, seven steering wheels is equipped with movable retaining mechanism, described movable retaining mechanism is provided with the support plate and the securing member of band guide groove, each steering wheel is installed on the support plate of 1 band guide groove and by securing member locking, the support plate of described band guide groove is located on the hand supports.
6. hemiplegic patient's hand rehabilitation training for treatment instrument as claimed in claim 1 is characterized in that described steering engine control device is external or is located on the hand supports.
7. hemiplegic patient's hand rehabilitation training for treatment instrument as claimed in claim 1 is characterized in that it is that hand supports is connected by spring leaf elasticity with arm support that described hand supports and arm support elasticity are rotationally connected.
8. hemiplegic patient's hand rehabilitation training for treatment instrument as claimed in claim 1 is characterized in that it is that thumb post is connected by spring leaf elasticity with palmrest that described thumb post and palmrest elasticity are rotationally connected.
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| CN201010620480A CN102018611B (en) | 2010-12-31 | 2010-12-31 | Rehabilitation training therapeutic instrument for hand of hemiplegic patient |
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| CN201010620480A CN102018611B (en) | 2010-12-31 | 2010-12-31 | Rehabilitation training therapeutic instrument for hand of hemiplegic patient |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103519972A (en) * | 2013-10-22 | 2014-01-22 | 四川旭康医疗电器有限公司 | Joint traction device and control method thereof |
| CN103735389B (en) * | 2014-01-22 | 2015-04-29 | 东南大学 | Finger coordination training and rehabilitation device |
| CN105816299A (en) * | 2016-06-14 | 2016-08-03 | 广州骏威电子科技有限公司 | Auxiliary rehabilitation instrument based on three-dimensional printing |
| CN107536696A (en) * | 2017-08-21 | 2018-01-05 | 上海理工大学 | Wearable upper limbs exoskeleton rehabilitation training aids |
| CN108524184A (en) * | 2017-03-03 | 2018-09-14 | 新加坡国立大学 | A kind of hand exoskeleton device based on the driving of prebuckling elasticity fiber tube |
| CN109172278A (en) * | 2018-09-26 | 2019-01-11 | 哈尔滨理工大学 | A kind of various dimensions hand recovery exercising robot |
| CN109833185A (en) * | 2017-11-29 | 2019-06-04 | 湖南能手科技有限公司 | A kind of stroke rehabilitation gloves |
| CN110974606A (en) * | 2019-12-06 | 2020-04-10 | 江苏理工学院 | Hand rehabilitation training device and control system |
| CN112494273A (en) * | 2020-11-27 | 2021-03-16 | 山东海天智能工程有限公司 | Control device, method and system for brain-controlled wrist training |
| CN113274245A (en) * | 2021-05-14 | 2021-08-20 | 山东大学 | Self-adaptive hand rehabilitation training device |
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| CN103519972A (en) * | 2013-10-22 | 2014-01-22 | 四川旭康医疗电器有限公司 | Joint traction device and control method thereof |
| CN103519972B (en) * | 2013-10-22 | 2015-03-11 | 四川旭康医疗电器有限公司 | Joint traction device and control method thereof |
| CN103735389B (en) * | 2014-01-22 | 2015-04-29 | 东南大学 | Finger coordination training and rehabilitation device |
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| CN105816299B (en) * | 2016-06-14 | 2017-11-14 | 广州骏威电子科技有限公司 | A kind of recovering aid instrument based on 3D printing |
| CN108524184A (en) * | 2017-03-03 | 2018-09-14 | 新加坡国立大学 | A kind of hand exoskeleton device based on the driving of prebuckling elasticity fiber tube |
| CN107536696A (en) * | 2017-08-21 | 2018-01-05 | 上海理工大学 | Wearable upper limbs exoskeleton rehabilitation training aids |
| CN109833185A (en) * | 2017-11-29 | 2019-06-04 | 湖南能手科技有限公司 | A kind of stroke rehabilitation gloves |
| CN109172278A (en) * | 2018-09-26 | 2019-01-11 | 哈尔滨理工大学 | A kind of various dimensions hand recovery exercising robot |
| CN110974606A (en) * | 2019-12-06 | 2020-04-10 | 江苏理工学院 | Hand rehabilitation training device and control system |
| CN112494273A (en) * | 2020-11-27 | 2021-03-16 | 山东海天智能工程有限公司 | Control device, method and system for brain-controlled wrist training |
| CN113274245A (en) * | 2021-05-14 | 2021-08-20 | 山东大学 | Self-adaptive hand rehabilitation training device |
| CN113274245B (en) * | 2021-05-14 | 2022-03-15 | 山东大学 | Self-adaptive hand rehabilitation training device |
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