CN102579227B - Hand and wrist exoskeleton rehabilitation training device - Google Patents
Hand and wrist exoskeleton rehabilitation training device Download PDFInfo
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- CN102579227B CN102579227B CN201210047351.9A CN201210047351A CN102579227B CN 102579227 B CN102579227 B CN 102579227B CN 201210047351 A CN201210047351 A CN 201210047351A CN 102579227 B CN102579227 B CN 102579227B
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- 210000000707 Wrist Anatomy 0.000 title claims abstract description 100
- 210000003813 Thumb Anatomy 0.000 claims abstract description 187
- 210000003811 Fingers Anatomy 0.000 claims abstract description 48
- 210000003127 Knee Anatomy 0.000 claims description 91
- 210000000245 Forearm Anatomy 0.000 claims description 13
- 239000011148 porous material Substances 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 11
- 210000003797 Carpal Joints Anatomy 0.000 claims description 10
- 241000208125 Nicotiana Species 0.000 claims description 10
- 235000002637 Nicotiana tabacum Nutrition 0.000 claims description 10
- 230000000875 corresponding Effects 0.000 claims description 8
- 230000001225 therapeutic Effects 0.000 description 4
- 201000010099 disease Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 241000238557 Decapoda Species 0.000 description 1
- 241000371997 Eriocheir sinensis Species 0.000 description 1
- 210000003414 Extremities Anatomy 0.000 description 1
- 210000004247 Hand Anatomy 0.000 description 1
- 206010022114 Injury Diseases 0.000 description 1
- 210000002356 Skeleton Anatomy 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000000295 complement Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000749 insecticidal Effects 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 210000000056 organs Anatomy 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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Abstract
The invention discloses a hand and wrist exoskeleton rehabilitation training device, comprising a wrist, a thumb, a power source, an index finger, a middle finger and a ring finger, wherein the power source is fixed on the wrist, and the thumb, the index finger, the middle finger and the ring finger are respectively connected with the power source. A motor drives a feed screw nut, so that the rehabilitation training device obtains power; the rehabilitation training device is simple in structure and easy to implement; weight of hand exoskeleton is born by a support part, so that a patient has no burden; and the rehabilitation training device realizes movements with more degrees of freedom, and can complete more and more skillful rehabilitation training actions.
Description
Technical field
The present invention relates to a kind of human motion auxiliary device, relate in particular to a kind of hand and wrist exoskeleton rehabilitation training device.
Background technology
For hand Disease, comprise unexpected injury, apoplexy etc., the Rehabilitation Training in Treating of science has very important meaning for recovering to greatest extent dexterity.At present, mainly by specialist, carry out rehabilitation, such therapeutic modality too relies on doctor's experience, and for patient's individual difference problem, lacks accordingly for measure, and therapeutic effect is greatly limited.
Ectoskeleton is that a kind of can providing carried out configuration to biological soft inside organ, the hard external structure of building and protection.Be generally that shrimp, Eriocheir sinensis, the tough and tensile chitinous skeleton of insecticide constant pitch limb animal body surface are called to ectoskeleton, it has protection and supporting function.Mechanical exoskeleton is exactly from biological ectoskeleton, to obtain a kind of brand new technical of thinking, and it is just suggested as far back as last century as a kind of mode of function of human body being strengthened by machinery, is attempted applying to military field at first; Meanwhile, the complementary and strengthening property of mechanical exoskeleton also provides brand-new thinking to rehabilitation and disaster assistance.
Employing exoskeleton rehabilitation training method compared with the conventional method advantage is: one, patient relies on no longer merely doctor's empirical treatment, can quantize training; Two,, by setting up database, can, for different patients' individual difference, carry out differentiated quantification treatment; Three, can realize teletherapy by network connection data storehouse; Four, doctor can carry out quantitative analysis to disease according to data base, contributes to the rehabilitation training of the system of setting up theoretical.
Existing hand rehabilitation, mainly carries out rehabilitation training by specialist, and such therapeutic modality has three shortcomings: the experience that, too relies on doctor; Two, the doctor of grasp method seldom; Three, for patient's individual difference problem, lack accordingly for measure, therapeutic effect is greatly limited.In existing known technology, not yet there is ripe exoskeleton rehabilitation training device or method simultaneously.
Applicant has applied for that in 2011 a denomination of invention is the patent application that < < fixed exoskeleton rehabilitation training manipulator > >, application number are 201110121085.5, in this patent application, mechanical hand only has three fingers, freedom of movement is few, and wrist portion is divided into heavy fixed wrist.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, a kind of hand and wrist exoskeleton rehabilitation training device are provided, volume of the present invention is little, dexterous, intelligent, good operation performance.
The object of the invention is to be achieved through the following technical solutions: a kind of hand and wrist exoskeleton rehabilitation training device, it comprises wrist, thumb, power source, forefinger, middle finger and the third finger etc.; Power source is fixed in wrist, and thumb, forefinger, middle finger and the third finger are connected with power source respectively.
Further, described power source comprise on lower drive motors, upper drive motors, lower motor cabinet, upper motor cabinet, the second bearing connection, nut guide plate, upper driving nut, upper driving screw mandrel, underdrive screw mandrel, clutch shaft bearing connector, top chock, step, underdrive nut, optocoupler fixture, the second optocoupler, optocoupler fixture, the first optocoupler and forefinger fixing head etc., described forefinger, middle finger and the third finger include far-end dactylus ectoskeleton, the first pressure transducer, DIP joint knee, middle-end dactylus ectoskeleton, distal joint three hinge-rods, the second pressure transducer, near-end joint three hinge-rods, left knee ectoskeleton, PIP joint knee, tobacco pipe hinge, MP joint knee and the 3rd pressure transducer etc., described thumb comprises thumb the first motor, the first thumb connector, the first motor bearings bearing, the first thumb gear, the second thumb gear, middle finger connector, thumb drives motor, thumb motor bearings bearing, thumb drive lead screw, thumb transmission nut, thumb MP joint knee, thumb frame, thumb bearing block, thumb three hole connecting rods, thumb left knee, thumb DIP joint knee, the second pressure transducer, thumb far-end dactylus, the first pressure transducer and the second thumb connector etc., described wrist comprises on worm gear case, carpal joint bearing block, wrist motor flange, wrist plate, wrist motor, the first wrist connecting rod, on front arm support, accelerometer, wrist right connecting rod, the second wrist connecting rod, forearm frame and the left connecting rod of wrist etc.
Further, described power source is fixed in parts wrist by forefinger fixing head; Forefinger is fixed on forefinger fixing head by tobacco pipe hinge frame, and forefinger MP joint knee is hinged with corresponding underdrive nut, and PIP joint knee is hinged with corresponding upper driving nut; Nameless identical with forefinger with other parts connected mode with parts middle finger, thumb is fixed on forefinger fixing head by the first thumb connector.
Further, in described power source, top chock supports upper driving screw mandrel by deep groove ball bearing, on upper driving screw mandrel, cover has upper driving nut, nut guide plate and upper driving nut are joined and are merged into its guiding, upper motor cabinet supports upper driving screw mandrel by deep groove ball bearing, and upper driving screw mandrel connects by upper motor cabinet and upper drive motors; Step supports underdrive screw mandrel by deep groove ball bearing, on underdrive screw mandrel, cover has underdrive nut, nut guide plate and underdrive nut join merge into its guiding, lower motor cabinet supports underdrive screw mandrel by deep groove ball bearing, underdrive screw mandrel connects by lower motor cabinet and lower drive motors; Clutch shaft bearing connector while and top chock and step are threaded, and the second bearing connection while and upper motor cabinet and lower motor cabinet are threaded; Step and lower motor cabinet are fixed on forefinger fixing head; Upper optocoupler fixture and forefinger fixing head are threaded, and optocoupler fixture upper top is fixed the first optocoupler, and light Rhizoma Nelumbinis fixture and forefinger fixing head are threaded, and the second smooth Rhizoma Nelumbinis is fixed at light Rhizoma Nelumbinis fixture top.
Further, in described forefinger, middle finger and the third finger, knee one end, MP joint and underdrive nut are hinged, and the MP joint knee other end and left knee ectoskeleton are hinged, and left knee ectoskeleton is connected with forefinger fixing head by tobacco pipe hinge; Knee one end, PIP joint and upper driving nut are hinged, the other end and near-end joint three hinge-rods are hinged, top and distal joint three hinge-rods of near-end joint three hinge-rods are hinged, bottom and left knee ectoskeleton are hinged, left knee ectoskeleton is hinged with middle-end dactylus ectoskeleton, the ectoskeletal top of middle-end dactylus and distal joint three hinge-rods are hinged, bottom and far-end dactylus ectoskeleton are hinged, far-end dactylus ectoskeleton is hinged with DIP joint knee, and the DIP joint knee other end and far-end dactylus three hinge-rods are hinged; The first pressure transducer and the second pressure transducer and the 3rd pressure transducer are placed in respectively far-end dactylus ectoskeleton and middle-end dactylus ectoskeleton and the ectoskeletal below of left knee.
Further, described the first pressure transducer and the second pressure transducer are placed in respectively the below of thumb far-end dactylus and thumb left knee, thumb far-end dactylus and thumb left knee are hinged, simultaneously also hinged with thumb DIP joint knee, the other end and the thumb three pore chain bars of thumb DIP joint knee are hinged, the top of thumb left knee and thumb three pore chains connect hinged, the bottom of thumb left knee and thumb frame are hinged, thumb MP joint knee and thumb three pore chain bars are hinged, the other end and thumb transmission nut are hinged, thumb transmission nut is enclosed within on thumb drive lead screw, thumb drive lead screw one end is supported by deep groove ball bearing by thumb bearing block, the other end is supported by deep groove ball bearing by thumb motor bearings bearing, thumb drive lead screw connects by thumb motor bearings bearing and thumb drives motor, thumb frame is threaded with middle finger connector, middle finger connector and the second thumb connector are hinged, the second gear is cemented on middle finger connector by screw, the first thumb connector is fixed on forefinger fixing head by screw thread, the first motor bearings bearing is threaded with the first thumb connector, the first gear crosses the first motor bearings bearing by beam warp and thumb the first motor connects.
Further, described parts wrist has motor to be connected by screw and to connect with wrist motor flange, drives worm gear case; Carpal joint bearing block and wrist plate are hinged, and wrist plate is threaded with forefinger fixing head, and carpal joint bearing block is threaded with wrist right connecting rod, and wrist right connecting rod one end is threaded with front arm support, and the other end is threaded with forearm frame; Front arm support top is threaded with wrist connecting rod on wrist connecting rod and second on first, be fixed with accelerometer, the front arm support other end is threaded with the left connecting rod of wrist, forearm upper rack is threaded with wrist connecting rod on wrist connecting rod and second on first, and the forearm frame other end is threaded with the left connecting rod of wrist.
Compared with prior art, the present invention has obtained following technique effect:
1, by motor, drive feed screw nut to obtain power, simple in structure, and be easy to realize.
2, hand ectoskeleton is born weight by support section, can not form burden to patient.
3, the motion of more freedom is provided, can have completed more dexterousr rehabilitation exercise motions.
4, compare with the patent application before applicant, there is larger improvement: the many dactylus of thumb and and forefinger between have a side-sway degree of freedom, can better effectively to patient's thumb, treat; Compare the former and have more a third finger, can to patient's hand, treat better; More reasonable, compact, stable in the structural design of forefinger; In wrist part, by the former is heavy, fixedly change into light and handy portablely, and have more one degree of freedom at wrist place.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the structural representation in medium power of the present invention source;
Fig. 3 is forefinger of the present invention or middle finger or nameless structural representation;
Fig. 4 is the structural representation of thumb of the present invention;
Fig. 5 is the structural representation of view under thumb of the present invention;
Fig. 6 is the structural representation of wrist of the present invention;
In figure, wrist 1, thumb 2, power source 3, forefinger 4, middle finger 5, nameless 6, worm gear case 7, carpal joint bearing block 8, wrist motor flange 9, wrist plate 10, wrist motor 11, on the first wrist connecting rod 12, front arm support 13, accelerometer 14, wrist right connecting rod 15, on the second wrist connecting rod 16, forearm frame 17, the left connecting rod 18 of wrist, underdrive screw mandrel 19, thumb the first motor 20, the first thumb connector 21, the first motor bearings bearing 22, the first thumb gear 23, the second thumb gear 24, middle finger connector 25, thumb drives motor 26, thumb motor bearings bearing 27, thumb drive lead screw 28, thumb transmission nut 29, thumb MP joint knee 30, thumb frame 31, thumb bearing block 32, thumb three pore chain bars 33, thumb left knee 34, thumb DIP joint knee 35, thumb the second pressure transducer 36, thumb far-end dactylus 37, thumb the first pressure transducer 38, the second thumb connector 39, clutch shaft bearing connector 40, far-end dactylus ectoskeleton 41, the first pressure transducer 42, DIP joint knee 43, middle-end dactylus ectoskeleton 44, distal joint three hinge-rods 45, the second pressure transducer 46, near-end joint three hinge-rods 47, left knee ectoskeleton 48, PIP joint knee 49, tobacco pipe hinge 50, MP joint knee 51, the 3rd pressure transducer 52, top chock 53, step 54, underdrive nut 55, optocoupler fixture 56, the second optocoupler 57, on optocoupler fixture 58, the first optocoupler 59, forefinger fixing head 60, lower drive motors 61, upper drive motors 62, lower motor cabinet 63, upper motor cabinet 64, the second bearing connection 65, nut guide plate 66, upper driving nut 67, upper driving screw mandrel 68.
The specific embodiment
Below in conjunction with accompanying drawing, further illustrate embodiments of the invention.
As shown in Figure 1, hand of the present invention and wrist exoskeleton rehabilitation training device comprise wrist 1, thumb 2, power source 3, forefinger 4, middle finger 5 and nameless 6.Power source 3 is fixed in wrist 1, and thumb 2, forefinger 4, middle finger 5 are connected with power source 3 respectively with nameless 6.
As shown in Figure 2, power source 3 comprises the 58, first optocoupler 59, forefinger fixing head 60 on lower drive motors 61, upper drive motors 62, lower motor cabinet 63, upper motor cabinet 64, the second bearing connection 65, nut guide plate 66, upper driving nut 67, upper driving screw mandrel 68, underdrive screw mandrel 19, clutch shaft bearing connector 40, top chock 53, step 54, underdrive nut 55, optocoupler fixture 56, the second optocoupler 57, optocoupler fixture.
As shown in Figure 3, forefinger 4, middle finger 5 and nameless 6 include far-end dactylus ectoskeleton 41, the first pressure transducer 42, DIP joint knee 43, middle-end dactylus ectoskeleton 44, distal joint three hinge-rods 45, the second pressure transducer 46, near-end joint three hinge-rods 47, left knee ectoskeleton 48, PIP joint knee 49, tobacco pipe hinge 50, MP joint knee 51, the 3rd pressure transducer 52.
As shown in Figure 4 and Figure 5, thumb 2 comprises thumb the first motor 20, the first thumb connector 21, the first motor bearings bearing 22, the first thumb gear 23, the second thumb gear 24, middle finger connector 25, thumb drives motor 26, thumb motor bearings bearing 27, thumb drive lead screw 28, thumb transmission nut 29, thumb MP joint knee 30, thumb frame 31, thumb bearing block 32, thumb three pore chain bars 33, thumb left knee 34, thumb DIP joint knee 35, thumb the second pressure transducer 36, thumb far-end dactylus 37, thumb the first pressure transducer 38, the second thumb connector 39.
As shown in Figure 6, wrist 1 comprise on worm gear case 7, carpal joint bearing block 8, wrist motor flange 9, wrist plate 10, wrist motor 11, the first wrist connecting rod 12, on front arm support 13, accelerometer 14, wrist right connecting rod 15, the second wrist connecting rod 16, forearm frame 17, the left connecting rod 18 of wrist.
Between each several part, annexation is as follows:
Power source 3 is fixed in parts wrist 1 by forefinger fixing head 60; Forefinger 4 is fixed on forefinger fixing head 60 by tobacco pipe hinge 50, and MP joint knee 51 is hinged with corresponding underdrive nut 55, and PIP joint knee 49 is hinged with corresponding upper driving nut 67; The third finger 6 is identical with forefinger 4 with other parts connected mode with parts middle finger 5, and thumb 2 is fixed on forefinger fixing head 60 by the first thumb connector 21.
Referring to Fig. 2, in described power source 3, top chock 53 supports upper driving screw mandrel 68 by deep groove ball bearing, on upper driving screw mandrel 68, cover has upper driving nut 67, nut guide plate 66 is joined and is merged into its guiding with upper driving nut 67, upper motor cabinet 64 supports upper driving screw mandrel 68 by deep groove ball bearing, and upper driving screw mandrel 68 connects by upper motor cabinet 64 and upper drive motors 62; Step 54 supports underdrive screw mandrel 19 by deep groove ball bearing, on underdrive screw mandrel 19, cover has underdrive nut 55, nut guide plate 66 is joined and is merged into its guiding with underdrive nut 55, lower motor cabinet 63 supports underdrive screw mandrel 19 by deep groove ball bearing, and underdrive screw mandrel 19 connects by lower motor cabinet 63 and lower drive motors 61; 40 whiles of clutch shaft bearing connector and top chock 53 and step 54 are threaded, and the second 65 whiles of bearing connection and upper motor cabinet 64 and lower motor cabinet 63 are threaded; Step 54 and lower motor cabinet 63 are fixed on forefinger fixing head 60; On optocoupler fixture 58 and forefinger fixing head 60 be threaded, on optocoupler fixture, the first optocoupler 59 is fixed at 58 tops, light Rhizoma Nelumbinis fixture 56 and forefinger fixing head 60 are threaded, the second smooth Rhizoma Nelumbinis is fixed at light Rhizoma Nelumbinis fixture 56 tops.A power source partly comprises two above-mentioned parts, corresponds respectively to forefinger ectoskeleton and middle finger ectoskeleton and nameless ectoskeleton.
Referring to Fig. 3, in described forefinger 4, middle finger 5 and nameless 6, knee 51 one end, MP joint and underdrive nut 55 are hinged, and MP joint knee 51 other ends and left knee ectoskeleton 48 are hinged, and left knee ectoskeleton 48 is connected with forefinger fixing head 60 by tobacco pipe hinge 50; Knee 49 one end, PIP joint and upper driving nut 67 are hinged, the other end and near-end joint three hinge-rods 47 are hinged, the top of near-end joint three hinge-rods 47 and distal joint three hinge-rods 45 are hinged, bottom and left knee ectoskeleton 48 are hinged, left knee ectoskeleton 48 is hinged with middle-end dactylus ectoskeleton 44, the top of middle-end dactylus ectoskeleton 44 and distal joint three hinge-rods 45 are hinged, bottom and far-end dactylus ectoskeleton 41 are hinged, far-end dactylus ectoskeleton 41 is hinged with DIP joint knee 43, and DIP joint knee 43 other ends and far-end dactylus three hinge-rods 45 are hinged; The first pressure transducer 42 and the second pressure transducer 46 and the 3rd pressure transducer 52 are placed in respectively the below of far-end dactylus ectoskeleton 41 and middle-end dactylus ectoskeleton 44 and left knee ectoskeleton 48.
Participate in Fig. 4 and Fig. 5, thumb the first pressure transducer 38 and thumb the second pressure transducer 36 are placed in respectively the below of thumb far-end dactylus 37 and thumb left knee 34, thumb far-end dactylus 37 is hinged with thumb left knee 34, simultaneously also hinged with thumb DIP joint knee 35, the other end and the thumb three pore chain bars 33 of thumb DIP joint knee 35 are hinged, the top of thumb left knee 34 and thumb three pore chain bars 33 are hinged, the bottom of thumb left knee 34 and thumb frame 31 are hinged, thumb MP joint knee 30 is hinged with thumb three pore chain bars 33, the other end and thumb transmission nut 29 are hinged, thumb transmission nut 29 is enclosed within on thumb drive lead screw 28, thumb drive lead screw 28 one end are supported by deep groove ball bearing by thumb bearing block 32, the other end is supported by deep groove ball bearing by thumb motor bearings bearing 27, thumb drive lead screw 28 connects by thumb motor bearings bearing 27 and thumb drives motor 26, thumb frame 31 is threaded with middle finger connector 25, middle finger connector 25 and the second thumb connector 39 are hinged, the second thumb gear 24 is cemented on middle finger connector 25 by screw, the first thumb connector 21 is fixed on forefinger fixing head 60 by screw thread, the first motor bearings bearing 22 is threaded with the first thumb connector 21, the first thumb gear 23 is crossed the first motor bearings bearing 22 by beam warp and is connect with thumb the first motor 20.
Referring to Fig. 6, described parts wrist 1 has wrist motor 11 to be connected by screw and to connect with wrist motor flange 9, drives worm gear case 7; Carpal joint bearing block 8 is hinged with wrist plate 10, wrist plate 10 is threaded with forefinger fixing head 60, carpal joint bearing block 8 is threaded with wrist right connecting rod 15, and wrist right connecting rod 15 one end are threaded with front arm support 13, and the other end is threaded with forearm frame 17; Front arm support 13 tops 16 are threaded with on the 12 and second wrist connecting rod on the first wrist connecting rod, be fixed with accelerometer 14, front arm support 13 other ends are threaded with the left connecting rod 18 of wrist, forearm frame 17 tops 16 are threaded with on the 12 and second wrist connecting rod on the first wrist connecting rod, and forearm frame 17 other ends are threaded with the left connecting rod 18 of wrist.
Work process of the present invention is as follows:
Patient's hands has been dressed hand ectoskeleton.When exoskeleton manipulator is done grasp motion, upper drive motors 62 and lower drive motors 61 rotate, and drive respectively upper driving screw mandrel 68 and underdrive screw mandrel 19 to rotate, and make upper driving nut 67 and underdrive nut 55 do rectilinear motion.Take forefinger as example, and underdrive nut 55 moves forward, and promotes 51 motions of MP joint knee, indirectly promotes left knee ectoskeleton 48 and rotates, and drives patient's left knee flexing.Upper driving nut 67 moves forward, promote 49 motions of PIP joint knee, near-end joint three hinge-rods 47 are rotated, promote distal joint three hinge-rods 45 simultaneously and rotate, also make middle-end dactylus ectoskeleton 44 rotate around left knee ectoskeleton 48, drive patient's middle-end dactylus flexing; Distal joint three hinge-rods 45 also make DIP joint knee 43 travel forward when rotating, thereby promote far-end dactylus ectoskeleton 41, rotate, and drive patient's far-end dactylus flexing.Motor rotates backward, and realizes the stretching of each finger.Patient's thumb can also be realized side-sway motion, and thumb the first motor 20 rotates, and drives the first thumb gear 23 to rotate, and makes the second thumb gear 24 along with rotation, thereby makes thumb 2 around forefinger 4 side-swaies.
Patient's wrist is rotated, and by wrist motor 11, is rotated, and drives and drives worm gear case 7, makes wrist certain angle swing Shang Xia 1, thereby drive patient's wrist portion to divide, carries out rehabilitation.
Different motor speeds, corresponding different dactylus velocities of rotation, different motor torques, the corresponding different power of bending and stretching.
Protection scope of the present invention is not limited to above-described embodiment, and obviously, those skilled in the art can carry out various changes and distortion and not depart from the scope of the present invention and spirit the present invention.If these changes and distortion belong in the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and is out of shape interior.
In the present invention, power is provided by the motor on the back of the hand and thumb back and wrist side, by worm gear case and screw nut driven, the rotation of motor is converted into the rotation of wrist and the rectilinear motion of nut, changed into the ectoskeletal flexing stretching of each dactylus via many link motions transmission system, finally realize rehabilitation training.
Claims (1)
1. hand and a wrist exoskeleton rehabilitation training device, is characterized in that, it comprises wrist (1), thumb (2), power source (3), forefinger (4), middle finger (5) and the third finger (6), it is upper that power source (3) is fixed on wrist (1), and thumb (2), forefinger (4), middle finger (5) are connected with power source (3) respectively with nameless (6), described power source (3) comprises lower drive motors (61), upper drive motors (62), lower motor cabinet (63), upper motor cabinet (64), the second bearing connection (65), nut guide plate (66), upper driving nut (67), upper driving screw mandrel (68), underdrive screw mandrel (19), clutch shaft bearing connector (40), top chock (53), step (54), underdrive nut (55), optocoupler fixture (56), the second optocoupler (57), on optocoupler fixture (58), the first optocoupler (59) and forefinger fixing head (60), described forefinger (4), middle finger (5) and the third finger (6) include far-end dactylus ectoskeleton (41), the first pressure transducer (42), DIP joint knee (43), middle-end dactylus ectoskeleton (44), distal joint three hinge-rods (45), the second pressure transducer (46), near-end joint three hinge-rods (47), left knee ectoskeleton (48), PIP joint knee (49), tobacco pipe hinge (50), MP joint knee (51) and the 3rd pressure transducer (52), described thumb (2) comprises thumb the first motor (20), the first thumb connector (21), the first motor bearings bearing (22), the first thumb gear (23), the second thumb gear (24), middle finger connector (25), thumb drives motor (26), thumb motor bearings bearing (27), thumb drive lead screw (28), thumb transmission nut (29), thumb MP joint knee (30), thumb frame (31), thumb bearing block (32), thumb three pore chain bars (33), thumb left knee (34), thumb DIP joint knee (35), thumb the second pressure transducer (36), thumb far-end dactylus (37), thumb the first pressure transducer (38) and the second thumb connector (39), described wrist (1) comprises on worm gear case (7), carpal joint bearing block (8), wrist motor flange (9), wrist plate (10), wrist motor (11), the first wrist connecting rod (16), forearm frame (17) and the left connecting rod of wrist (18) on (12), front arm support (13), accelerometer (14), wrist right connecting rod (15), the second wrist connecting rod, described power source (3) is fixed in parts wrist (1) by forefinger fixing head (60), it is upper that forefinger (4) is fixed on forefinger fixing head (60) by tobacco pipe hinge (50), and MP joint knee (51) is hinged with corresponding underdrive nut (55), and PIP joint knee (49) is hinged with corresponding upper driving nut (67), nameless (6) are identical with forefinger (4) with other parts connected mode with parts middle finger (5), and thumb (2) is fixed on forefinger fixing head (60) by the first thumb connector (21), in described power source (3), top chock (53) supports upper driving screw mandrel (68) by deep groove ball bearing, the upper cover of upper driving screw mandrel (68) has upper driving nut (67), nut guide plate (66) is joined and is merged into its guiding with upper driving nut (67), upper motor cabinet (64) supports upper driving screw mandrel (68) by deep groove ball bearing, and upper driving screw mandrel (68) connects by upper motor cabinet (64) and upper drive motors (62), step (54) supports underdrive screw mandrel (19) by deep groove ball bearing, the upper cover of underdrive screw mandrel (19) has underdrive nut (55), nut guide plate (66) is joined and is merged into its guiding with underdrive nut (55), lower motor cabinet (63) supports underdrive screw mandrel (19) by deep groove ball bearing, and underdrive screw mandrel (19) connects by lower motor cabinet (63) and lower drive motors (61), clutch shaft bearing connector (40) while and top chock (53) and step (54) are threaded, and the second bearing connection (65) while and upper motor cabinet (64) and lower motor cabinet (63) are threaded, step (54) and lower motor cabinet (63) are fixed on forefinger fixing head (60), on optocoupler fixture, (58) and forefinger fixing head (60) are threaded, on optocoupler fixture, the first optocoupler (59) is fixed at (58) top, light Rhizoma Nelumbinis fixture (56) and forefinger fixing head (60) are threaded, and the second smooth Rhizoma Nelumbinis is fixed at light Rhizoma Nelumbinis fixture (56) top, in described forefinger (4), middle finger (5) and the third finger (6), knee (51) one end, MP joint and underdrive nut (55) are hinged, MP joint knee (51) other end and left knee ectoskeleton (48) are hinged, and left knee ectoskeleton (48) is connected with forefinger fixing head (60) by tobacco pipe hinge (50), knee (49) one end, PIP joint and upper driving nut (67) are hinged, the other end and near-end joint three hinge-rods (47) are hinged, the top of near-end joint three hinge-rods (47) and distal joint three hinge-rods (45) are hinged, bottom and left knee ectoskeleton (48) are hinged, left knee ectoskeleton (48) is hinged with middle-end dactylus ectoskeleton (44), the top of middle-end dactylus ectoskeleton (44) and distal joint three hinge-rods (45) are hinged, bottom and far-end dactylus ectoskeleton (41) are hinged, far-end dactylus ectoskeleton (41) is hinged with DIP joint knee (43), DIP joint knee (43) other end and far-end dactylus three hinge-rods (45) are hinged, the first pressure transducer (42) and the second pressure transducer (46) and the 3rd pressure transducer (52) are placed in respectively the below of far-end dactylus ectoskeleton (41) and middle-end dactylus ectoskeleton (44) and left knee ectoskeleton (48), described thumb the first pressure transducer (38) and thumb the second pressure transducer (36) are placed in respectively the below of thumb far-end dactylus (37) and thumb left knee (34), thumb far-end dactylus (37) is hinged with thumb left knee (34), simultaneously also hinged with thumb DIP joint knee (35), the other end of thumb DIP joint knee (35) and thumb three pore chain bars (33) are hinged, the top of thumb left knee (3) 4 and thumb three pore chain bars (33) are hinged, the bottom of thumb left knee (34) and thumb frame (31) are hinged, thumb MP joint knee (30) is hinged with thumb three pore chain bars (33), the other end and thumb transmission nut (29) are hinged, thumb transmission nut (29) is enclosed within on thumb drive lead screw (28), thumb drive lead screw (28) one end is supported by deep groove ball bearing by thumb bearing block (32), the other end is supported by deep groove ball bearing by thumb motor bearings bearing (27), thumb drive lead screw (28) connects by thumb motor bearings bearing (27) and thumb drives motor (26), thumb frame (31) is threaded with middle finger connector (25), middle finger connector (25) is hinged with the second thumb connector (39), the second thumb gear (24) is cemented on middle finger connector (25) by screw, the first thumb connector (21) is fixed on forefinger fixing head (60) by screw thread, the first motor bearings bearing (22) is threaded with the first thumb connector (21), the first thumb gear (23) is crossed the first motor bearings bearing (22) by beam warp and is connect with thumb the first motor (20), the wrist motor (11) of described wrist (1) is connected with wrist motor flange (9), by screw, connects, and drives worm gear case (7), carpal joint bearing block (8) is hinged with wrist plate (10), wrist plate (10) is threaded with forefinger fixing head (60), carpal joint bearing block (8) is threaded with wrist right connecting rod (15), wrist right connecting rod (15) one end is threaded with front arm support (13), and the other end is threaded with forearm frame (17), front arm support (13) top is threaded with (16) on (12) on the first wrist connecting rod and the second wrist connecting rod, be fixed with accelerometer (14), front arm support (13) other end is threaded with the left connecting rod of wrist (18), forearm frame (17) top is threaded with (16) on (12) on the first wrist connecting rod and the second wrist connecting rod, and forearm frame (17) other end is threaded with the left connecting rod of wrist (18).
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| CN201210047351.9A CN102579227B (en) | 2012-02-28 | 2012-02-28 | Hand and wrist exoskeleton rehabilitation training device |
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| US9931235B2 (en) | 2014-12-12 | 2018-04-03 | Harris Corporation | Passive locking hand exoskeleton |
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