CN103070758A - Wearable hand function rehabilitation training device - Google Patents
Wearable hand function rehabilitation training device Download PDFInfo
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- CN103070758A CN103070758A CN2013100202329A CN201310020232A CN103070758A CN 103070758 A CN103070758 A CN 103070758A CN 2013100202329 A CN2013100202329 A CN 2013100202329A CN 201310020232 A CN201310020232 A CN 201310020232A CN 103070758 A CN103070758 A CN 103070758A
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Abstract
The invention relates to a wearable hand function rehabilitation training device, which comprises a back supporting plate, a finger mechanism, a four-finger driving mechanism and a thumb driving mechanism. The wearable hand function rehabilitation training device is characterized in that the finger mechanism is fixedly connected with the front part of the back supporting plate and is used for fixing and placing the hand of a patient; the four-finger driving mechanism is installed above the back supporting plate and on one side of the back supporting plate and is used for driving four fingers of the patient to move; and the thumb driving mechanism is connected with one side of the back supporting plate through a thumb back supporting plate and is used for driving the thumb of the patient to move to realize the movement of the thumb relative to the four fingers. The wearable hand function rehabilitation training device can complete the movement of the thumb relative to a forefinger and the moving speed of a forefinger mechanism can be set according to the rehabilitation situation of the patient. Moreover, the wearing function of the device can be realized by connecting a wearable glove with the hand. The wearable hand function rehabilitation training device has the advantages that the structure is simple, the weight is light, and the device is convenient to carry and can be used by the patient for training the hand anytime at home or in a community.
Description
Technical field
The present invention relates to a kind of human finger that imitates to referring to the Wearable exoskeleton hand faculty training device of motion, especially a kind of for patients with cerebral apoplexy hands dysfunction in early days and convalescent recovery training appliance for recovery.
Background technology
The hands of a pair of health has occupied very important status in the middle of people's life, yet when being subject to outer damage and causing hand generation spasm and other injuries for some old peoples and health, just patient's life has been caused great difficulty.The treatment difficulty of simultaneously hand damage is very large, and rehabilitation training is subject to great limitation after the treatment.Generally all be regularly to carry out adversary's rehabilitation training to hospital by some relatively large hand trainers by the patient for traditional hand rehabilitation.
The research of domestic extremity rehabilitation equipment is started late, and that launches research in this field mainly contains Tsing-Hua University, Shanghai Communications University, Fudan University, Harbin Institute of Technology etc.At present, the seven freedom analog of doing evil through another person has designed the extraction of finishing nerve information and is carrying out animal experiment, and the integration of information and the design progress of control circuit are smooth.But present shaped article is difficult to satisfy fully patient's requirement.Range of application only limits to local joint in the upper limb healing equipment, and intelligent degree is not high, wearing property is relatively poor.External repetition training for hemiplegic upper limb, it is MIT-MANUS[8 that the First upper-limbs rehabilitation training robot has been finished in MIT design in 1991], robot is different from general industry, although MIT-MANUS has considered the closely compliance of physical contact of safety, stability and patient in mechanical aspects, do not have wearing.
Summary of the invention
The present invention will provide the training aids of a kind of Wearable healing hand function, and this training aids is simple in structure, and volume is little, is convenient for carrying, and the patient can be stayed at home and community can carry out rehabilitation training whenever and wherever possible.
For achieving the above object, technical scheme of the present invention is:
The training aids of a kind of Wearable healing hand function comprises the back support plate, finger mechanism, and four finger driving mechanisms, thumb drives mechanism is characterized in: the front portion of back support plate is fixedly connected with finger mechanism, is used for fixed placement patient's hands; A top and side of back support plate is installed four finger driving mechanisms, is used for driving the motion of patient's four fingers; One side of back support plate is passed through to connect thumb back support plate and is connected thumb drives mechanism, and for the thumb movement that drives the patient, realization is moved to referring to four fingers.
Four finger driving mechanisms comprise motor, the first helical gear, the second helical gear, the gear-box inside connecting rod, pinion, half gear with curved teeth, the gear-box outer tie rod, driven wheel, wherein, motor is installed on the back support plate, and be connected with a joggle by the second helical gear on the first helical gear and the gear-box inside connecting rod in the back support plate upper gear box, pinion and half gear with curved teeth on the gear-box inside connecting rod other end are connected with a joggle, and half gear with curved teeth is connected with the gear-box outer tie rod, gear-box outer tie rod two ends are fixedly connected with respectively driven wheel, and driven wheel is in transmission connection by the travelling gear on conveyer belt and the finger mechanism.
Finger mechanism comprises four fingers, and four finger terminal connectors refer to a connector, four finger drive links, power transmission shaft, four finger driven rods, finger near-end connecting rod, the first finger tip connecting rod, second finger far-end connector, connecting rod, drive link between finger, finger bracket, wherein, four fingers are connected by the curve slide bar with four finger terminal connectors, and four finger terminal connectors are fixed together by connector between referring to; Four finger drive links are connected with finger bracket with second finger far-end connector by finger near-end connecting rod, the first finger tip connecting rod; Four finger terminals are connected with power transmission shaft by four finger driven rods; Power transmission shaft is fixed on the both sides of finger bracket, and is connected with four finger drive links by connecting rod, and four finger drive links are connected with travelling gear.
Thumb drives mechanism comprises linear electric motors, thumb fixing plate, and the linear electric motors fixed mount, linkage, linear electric motors are fixed on the thumb fixing plate by two linear electric motors fixed mounts, and are connected with drive link mechanism by a clutch; Linkage comprises push rod, the push rod gangbar, and thumb, the thumb link, the push rod gangbar is connected with thumb by the thumb link.
The invention has the beneficial effects as follows:
The front portion of back support plate of the present invention is fixedly connected with finger mechanism, is used for fixed placement patient's hands; A top and side of back support plate is installed four finger driving mechanisms, is used for driving the motion of patient's four fingers; One side of back support plate is passed through to connect thumb back support plate and is connected thumb drives mechanism, and for the thumb movement that drives the patient, realization is moved to referring to four fingers.Therefore, the present invention can finish moving to referring to of thumb and forefinger, and the movement velocity of forefinger mechanism can be set according to patient's self rehabilitation situation.The wearable function of this mechanism can be by dressing the glove realization that is connected with hand simultaneously.The present invention is simple in structure, and quality is light, and is easy to carry, can carry out at any time the training of hand for the patient community that stays at home.
Description of drawings
Fig. 1 is structural upright schematic diagram of the present invention;
Fig. 2 is back support board mount structural representation;
Fig. 3 is four finger driving mechanism schematic perspective views;
Fig. 4 is the finger mechanism schematic perspective view;
Fig. 5 is the thumb mechanism schematic perspective view.
The specific embodiment
Introduce in detail particular content of the present invention below in conjunction with accompanying drawing and embodiment.
To shown in Figure 5, Wearable healing hand function of the present invention training aids comprises back support plate 22, finger mechanism B, four finger driving mechanism C, the D of thumb drives mechanism etc. such as Fig. 1.
The front portion of back support plate 22 is fixedly connected with finger mechanism B, is used for fixed placement patient's hands; A top and side of back support plate 22 is installed four finger driving mechanism C, is used for driving the motion of patient's four fingers; One side of back support plate 22 is passed through to connect thumb back support plate 23 and is connected the thumb drives D of mechanism, and for the thumb movement that drives the patient, realization is moved to referring to four fingers.
Back support plate (Fig. 2), back support plate 22 rears are that a collar is fixed on the back support board mount on hand, and a gear-box is fixed in back support plate 22 tops, are used for connecting Electric Machine Control.
As shown in Figure 3, four finger driving mechanism C comprise motor 32, the first helical gears 34, the second helical gears 38, gear-box inside connecting rod 35, pinion 37, half gears with curved teeth 36, gear-box outer tie rod 33, driven wheel 39 etc.
Motor 32 is installed on the back support plate 22, and be connected with a joggle by the first helical gear 34 in the back support plate upper gear box and the second helical gear 38 on the gear-box inside connecting rod 35, pinion 37 on gear-box inside connecting rod 35 other ends and half gear with curved teeth 36 are connected with a joggle, half gear with curved teeth 36 is connected with gear-box outer tie rod 33, gear-box outer tie rod 33 is fixed on the back support plate 22 by two back support board mounts 31, gear-box outer tie rod 33 two ends are fixedly connected with respectively driven wheel 39, and driven wheel 39 is in transmission connection by the travelling gear 21 on conveyer belt and the finger mechanism B.
As shown in Figure 4, finger mechanism B comprises four fingers (forefinger 2, middle finger 4, the third finger 8, little finger of toe 7), four finger terminal connectors (forefinger terminal connector 1, middle finger terminal connector 3, nameless terminal connector 5, little finger of toe terminal connectors 6, connector 16 between finger, four finger drive links 18, power transmission shaft 19, four finger driven rods 17, finger near-end connecting rod 10, the first finger tip connecting rod 11, second finger far-end connector 12, connecting rod 13, drive link 15 between finger, finger bracket 9 etc.
Four fingers are connected by the curve slide bar with four finger terminal connectors, and four finger terminal connectors are fixed together by connector 16 between referring to; Four finger drive links 18 are connected with second finger far-end connector by finger near-end connecting rod 10, the first finger tip connecting rod 11 and are connected with finger bracket 9; Four finger terminals are connected with power transmission shaft 19 by four finger driven rods 17; Power transmission shaft 19 is fixed on the both sides of finger bracket 9, and is connected with four finger drive links 18 by connecting rod 13, and four finger drive links 18 are connected with travelling gear 21.
As shown in Figure 5, the D of thumb drives mechanism comprises linear electric motors 24, thumb fixing plate 23, linear electric motors fixed mount 25, linkage, linear electric motors 24 are fixed on the thumb fixing plate 23 by two linear electric motors fixed mounts 25, and are connected with drive link mechanism by a clutch; Linkage comprises push rod 29, push rod gangbar 30, and thumb 27, thumb link 28, push rod gangbar 30 is connected with thumb 27 by thumb link (28).
Functional description of the present invention is as follows:
(1) four finger Training Control:
Referring to Fig. 3, Fig. 4, control by muscle signal or sound, control motor 32 drives, motor on the back support plate connects the first helical gear 34, motor 32 drives the rotation of the second helical gear 38, the rotation of the second helical gear 38 on the rotation meeting driven gear case inside connecting rod 35 of the first helical gear 34, gear-box inside connecting rod 35 passes the gear-box that is fixed on the back support plate, the other end of gear-box inside connecting rod has a pinion 37 simultaneously, and pinion 37 matches with half gear with curved teeth 36, and half gear with curved teeth 36 matches with gear-box outer tie rod 33, outer tie rod 33 is fixing by two back support board mounts 31.Travelling gear 21 on the back support plate 22 is connected with power transmission shaft 19 on four fingers by conveyer belt, and four finger driven rods 17 are connected with power transmission shaft 19, pass four finger drive links 18.Connector 16 couples together four finger near-ends between finger, the motion of the motion four finger drive links of motor-driven gear and power transmission shaft, thereby by finger near-end connecting rod 10, refer to that a drive link 15, the first finger tip connecting rod 11 and second finger far-end connector 12 drive finger brackets and carry out the bionic movement motion.Thereby drive the motion of four fingers.
(2) thumb Training Control
Referring to Fig. 5, control by electromyographic signal or sound, linear electric motors 24 on the control thumb fixing plate 23, because linear electric motors 24 are fixed on the thumb fixing plate 23 by linear electric motors fixed mount 25, therefore linear electric motors 24 maintain static, linear electric motors 24 drive push rod 29 and travel forward, the motion of push rod 29 drives push rod gangbar 30 and moves downward forward, because push rod gangbar 30 is connected with thumb 27 by thumb link 28, so the motion of thumb 27 is with the motion campaign of push rod gangbar 30.
Claims (4)
1. Wearable healing hand function training aids, comprise back support plate (22), finger mechanism (B), four finger driving mechanisms (C), thumb drives mechanism (D), it is characterized in that: the front portion of described back support plate (22) is fixedly connected with finger mechanism (B), is used for fixed placement patient's hands; A top and side of back support plate (22) is installed four finger driving mechanisms (C), is used for driving the motion of patient's four fingers; One side of back support plate (22) is passed through to connect thumb back support plate (23) and is connected thumb drives mechanism (D), and for the thumb movement that drives the patient, realization is moved to referring to four fingers.
2. Wearable healing hand function according to claim 1 training aids, it is characterized in that: described four finger driving mechanisms (C) comprise motor (32), the first helical gear (34), the second helical gear (38), gear-box inside connecting rod (35), pinion 3(7,) half gear with curved teeth (36), gear-box outer tie rod (33), driven wheel (39), wherein, motor (32) is installed on the back support plate (22), and be connected with a joggle by the first helical gear (34) in the back support plate upper gear box and the second helical gear (38) on the gear-box inside connecting rod (35), pinion (37) on gear-box inside connecting rod (35) other end is connected with a joggle with half gear with curved teeth (36), half gear with curved teeth (36) is connected with gear-box outer tie rod (33), and gear-box outer tie rod (33) two ends are fixedly connected with respectively driven wheel (39), and driven wheel (39) is in transmission connection by the travelling gear (21) on conveyer belt and the finger mechanism (B).
3. Wearable healing hand function according to claim 1 training aids, it is characterized in that: described finger mechanism (B) comprises four fingers, four finger terminal connectors, connector between finger (16), four finger drive links (18), power transmission shaft (19), four finger driven rods (17), finger near-end connecting rod (10), the first finger tip connecting rod (11), second finger far-end connector (12), connecting rod (13) refers to a drive link (15), and finger bracket (9) wherein, four fingers are connected by the curve slide bar with four finger terminal connectors, and four finger terminal connectors are fixed together by connector (16) between referring to; Four finger drive links (18) are connected 12 by finger near-end connecting rod (10), the first finger tip connecting rod (11) with second finger far-end connector) be connected with finger bracket (9); Four finger terminals are connected with power transmission shaft (19) by four finger driven rods (17); Power transmission shaft (19) is fixed on the both sides of finger bracket (9), and is connected with four finger drive links (18) by connecting rod (13), and four finger drive links (18) are connected with travelling gear 21.
4. Wearable healing hand function according to claim 1 training aids, it is characterized in that: described thumb drives mechanism (D) comprises linear electric motors (24), thumb fixing plate (23), linear electric motors fixed mount (25), linkage, linear electric motors (24) are fixed on the thumb fixing plate (23) by two linear electric motors fixed mounts (25), and are connected with drive link mechanism by a clutch; Linkage comprises push rod (29), push rod gangbar (30), and thumb (27), thumb link (28), push rod gangbar (30) is connected with thumb (27) by thumb link (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100202329A CN103070758A (en) | 2013-01-21 | 2013-01-21 | Wearable hand function rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100202329A CN103070758A (en) | 2013-01-21 | 2013-01-21 | Wearable hand function rehabilitation training device |
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| CN103070758A true CN103070758A (en) | 2013-05-01 |
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| CN2013100202329A Pending CN103070758A (en) | 2013-01-21 | 2013-01-21 | Wearable hand function rehabilitation training device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104257487A (en) * | 2014-09-30 | 2015-01-07 | 安阳工学院 | Bundle type finger rehabilitative training device |
| WO2019033305A1 (en) * | 2017-08-16 | 2019-02-21 | 深圳市八指科技有限公司 | Portable puzzle-assisted anti-dementia rehabilitation device |
| CN112754519A (en) * | 2021-01-26 | 2021-05-07 | 秦毅 | Supplementary palm board of using of ultrasonic examination |
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| US7862522B1 (en) * | 2005-08-08 | 2011-01-04 | David Barclay | Sensor glove |
| CN102274107A (en) * | 2011-05-11 | 2011-12-14 | 浙江大学 | Fixed exoskeleton rehabilitation training manipulator |
| KR101126637B1 (en) * | 2009-09-10 | 2012-03-26 | 학교법인 동의학원 | Upper-limb rehabilitation robot and parallel link mechanism therefor |
| CN102579227A (en) * | 2012-02-28 | 2012-07-18 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| CN203139036U (en) * | 2013-01-21 | 2013-08-21 | 上海理工大学 | Wearable finger function trainer |
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2013
- 2013-01-21 CN CN2013100202329A patent/CN103070758A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7862522B1 (en) * | 2005-08-08 | 2011-01-04 | David Barclay | Sensor glove |
| KR101126637B1 (en) * | 2009-09-10 | 2012-03-26 | 학교법인 동의학원 | Upper-limb rehabilitation robot and parallel link mechanism therefor |
| CN102274107A (en) * | 2011-05-11 | 2011-12-14 | 浙江大学 | Fixed exoskeleton rehabilitation training manipulator |
| CN102579227A (en) * | 2012-02-28 | 2012-07-18 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| CN203139036U (en) * | 2013-01-21 | 2013-08-21 | 上海理工大学 | Wearable finger function trainer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104257487A (en) * | 2014-09-30 | 2015-01-07 | 安阳工学院 | Bundle type finger rehabilitative training device |
| WO2019033305A1 (en) * | 2017-08-16 | 2019-02-21 | 深圳市八指科技有限公司 | Portable puzzle-assisted anti-dementia rehabilitation device |
| CN112754519A (en) * | 2021-01-26 | 2021-05-07 | 秦毅 | Supplementary palm board of using of ultrasonic examination |
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Application publication date: 20130501 |