CN103417355A - Wearable exoskeleton hand function rehabilitation trainer - Google Patents
Wearable exoskeleton hand function rehabilitation trainer Download PDFInfo
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- CN103417355A CN103417355A CN201210509107XA CN201210509107A CN103417355A CN 103417355 A CN103417355 A CN 103417355A CN 201210509107X A CN201210509107X A CN 201210509107XA CN 201210509107 A CN201210509107 A CN 201210509107A CN 103417355 A CN103417355 A CN 103417355A
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- finger
- thumb
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- motion
- connecting rod
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- 210000003811 finger Anatomy 0.000 claims abstract description 99
- 230000033001 locomotion Effects 0.000 claims abstract description 48
- 210000003813 thumb Anatomy 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 238000012549 training Methods 0.000 claims abstract description 27
- 210000005224 forefinger Anatomy 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 11
- 210000004932 little finger Anatomy 0.000 claims description 4
- 239000011664 nicotinic acid Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 208000005392 Spasm Diseases 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The invention relates to a wearable exoskeleton hand function rehabilitation trainer and belongs to the technical field of rehabilitation engineering. The wearable exoskeleton hand function rehabilitation trainer comprises a four-finger drive mechanism, a thumb drive mechanism, a back supporting plate and finger mechanisms. The hand back supporting plate is fixedly connected with the four-finger drive mechanism, a motor is connected with the index finger through gear movement and drives the index finger to move, four fingers are connected through connecting parts at the near ends of the four fingers, and movements of other fingers are driven by the movement of the index finger. One side of the back supporting plate is connected with the thumb drive mechanism. The wearable exoskeleton hand function rehabilitation trainer can finish opposite movement of the thumb and the index finger, the movement speed of an index finger mechanism can be set according to the rehabilitation situation of a patient. In addition, a wearable function of the trainer can be achieved through connection of worn gloves and the hand. The wearable exoskeleton hand function rehabilitation trainer is simple in structure, light and convenient to operate and can be used for rehabilitation training of the patient in a community and at home by himself/herself.
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.
Background technology
The hands of a pair of health has occupied very important status in the middle of people's life, yet, when for some old peoples and health, being subject to outer damage and causing hand generation spasm and other injuries, just patient's life has been caused to great difficulty.The treatment difficulty of hand damage simultaneously is very large, and after treatment, rehabilitation training is subject to great limitation.For traditional hand rehabilitation, be all generally that regularly to hospital, the hand trainer relatively large by some carries out opponent's rehabilitation training by the patient.
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, animal experiment is being carried out in the seven freedom extraction that analog designed nerve information of doing evil through another person, and the integration of information and the design progress of control circuit are smooth.But current shaped article is difficult to meet fully patient's requirement.In upper limb healing equipment, range of application only limits to local joint, and intelligent degree is not high, wearing property is poor.The external repetition training for hemiplegic upper limb, it is MIT-MANUS[8 that MIT in 1991 has designed the First upper-limbs rehabilitation training robot], from general industry, robot is different, although MIT-MANUS has considered the closely compliance of physical contact of safety, stability and patient in mechanical aspects, do not there is wearing.
Summary of the invention
For many defects of prior art, the present invention proposes a kind of Wearable exoskeleton hand function rehabilitation training device, and it 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, fills domestic defect.
A kind of Wearable exoskeleton hand function rehabilitation training device provided by the invention is characterized in that: comprising: back support plate, finger bracket, four finger driving mechanisms, thumb drives mechanism;
The front portion of back support plate is fixedly connected with finger bracket, for fixed placement patient's hands; A top and side of back support plate is installed four finger driving mechanisms, for driving the motion of patient's four fingers; The opposite side of back support plate connects thumb back support plate.Thumb drives mechanism wants to be connected with the back support plate thumb movement that drives the patient, and realization is moved to referring to four fingers.
Further, Wearable exoskeleton hand function rehabilitation training device provided by the invention can also have such feature: wherein, four finger driving mechanisms have: motor, and drive mechanism, gear-box and connecting rod,
Gear-box is fixed on the back support plate,
Motor, be arranged on the back support plate, by the motion that drives the built-up gear in back support plate upper gear box, carrys out drive transmission device,
Drive mechanism has: helical gear 1, the rotation of helical gear 2 on driven gear case inside connecting rod, the gear-box inside connecting rod, through being fixed on the gear-box on the back support plate, the other end of gear-box inside connecting rod has a pinion, connecting rod simultaneously, helical gear rotation can make pinion rotate, pinion matches with half gear with curved teeth, and half gear with curved teeth matches with the gear-box outer tie rod, thereby moving through of connecting rod drives the motion that belt drives patient's forefinger and little finger of toe.
Further, Wearable exoskeleton hand function rehabilitation training device provided by the invention can also have such feature: wherein, the structure of finger mechanism is: the near-end of four fingers is connected by the curve slide bar with far-end, refers to a connector, four finger drive links, power transmission shaft, four finger driven rods, finger near-end connecting rod, finger tip connecting rod, the finger tip connector, refer to a drive link; Four finger brackets are got rear two joints of finger by finger near-end and finger tip; The near-end that between finger, connector is fixed on four fingers couples together four finger near-ends; Four finger drive links transmit the motion of turning cylinder; Power transmission shaft is fixed on the both sides of finger bracket, thereby gear rotates the motion of band moving axis, thereby move through finger near-end connecting rod, finger tip connecting rod and the finger tip connector of four finger drive links drive finger bracket to carry out the bionic movement motion.Patient's finger is dressed below this device, by the drive of fingerboard, carries out reconditioning.
Further, Wearable exoskeleton hand function rehabilitation training device provided by the invention can also have such feature: wherein, linear electric motors are arranged on thumb fixing plate, are fixed by two linear electric motors fixed mounts, and come drive link mechanism by a clutch; Linkage comprises push rod, the push rod gangbar, and thumb, the thumb link, motor drives the motion of push rod, thereby promotes the motion of the motion driving thumb of push rod gangbar, and thumb is connected with the push rod gangbar by the thumb link, with patient's thumb, is connected simultaneously.The motion of thumb can only realize with four fingers to referring to motion.
Invention effect and effect
In sum, Wearable exoskeleton hand function rehabilitation training device provided by the invention has: four finger driving mechanisms, thumb drives mechanism, back support plate and finger mechanism.Hand back support plate is fixedly connected with four finger driving mechanisms, and motor drives the motion by gear to connect forefinger, drives the motion of forefinger, and four fingers connect by the connector on four finger near-ends, are driven the motion of other fingers by the motion of forefinger.One side of back support plate connects thumb drives mechanism, and this Wearable exoskeleton hand function rehabilitation training device can complete 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, light, easy to operate, can for the patient independently in community and family carry out rehabilitation training.
The accompanying drawing explanation
Fig. 1 is the Wearable exoskeleton hand function rehabilitation training device structural representation in an embodiment the present invention relates to;
Fig. 2 is the back support board mount structural representation in an embodiment the present invention relates to;
Fig. 3 is the motor mechanism structural representation in an embodiment the present invention relates to;
Fig. 4 is the four charge mechanism processed structural representations in an embodiment that the present invention relates to;
Fig. 5 is the thumb controlling organization structural representation in an embodiment the present invention relates to.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.It should be understood that these embodiment only are not used in and limit the scope of the invention for the present invention is described.
Embodiment
As shown in Fig. 1,2,3,4,5, wearable exoskeleton rehabilitation hands training aids in the present embodiment, comprise that back support plate (Fig. 2), back support plate (22) rear are that a collar is fixed on the back support board mount on hand, gear-box of back support plate top Fixed Design, for connecting Electric Machine Control.Linear electric motors (32), linear electric motors fixed mount (25), thumb fixed frame (23), forefinger, middle finger, nameless, little finger of toe, forefinger terminal connector, driven rod, connector between finger (16), finger near-end connecting rod (10), finger tip connecting rod (11), finger tip connector (12), drive link between finger (15), four finger drive links (18), power transmission shaft (19), four finger driven rods (17), thumb (27), the thumb connecting rod, push rod (29), push rod gangbar (30), back bracket (22), motor (32), gear-box outer tie rod (33), helical gear (34), bar (35) in gear-box, half gear with curved teeth (36), pinion (37), gear box cover (38).
Functional description is as follows:
1, four finger Training Controls:
Referring to Fig. 3, Fig. 4, control by muscle signal or sound, controlling motor (32) drives, motor on the back support plate connects helical gear 1(34), motor (32) driving helical gear 1(34) rotation, helical gear 1(34) the rotation upper helical gear 2(29 of rotation meeting driven gear case inside connecting rod (35)), gear-box inside connecting rod (34) is through being fixed on the gear-box on the back support plate, the other end of gear-box inside connecting rod has a pinion (37) simultaneously, connecting rod, helical gear rotation can make pinion rotate, pinion (37) matches with half gear with curved teeth (36), half gear with curved teeth (36) matches with gear-box outer tie rod (33), outer tie rod is fixing by two back support board mounts (31), .Fifth wheel on the back support plate is connected with the power transmission shaft 1,2 on four fingers by conveyer belt, four finger driven rods (17) and power transmission shaft 1,2(19) be connected, through four finger drive links (18).Connector between finger (16) couples together four finger near-ends, the motion of the motion four finger drive links of motor-driven gear and power transmission shaft, by the finger near-end connecting rod (10), refer to a drive link (15), finger tip connecting rod (11) and finger tip connector (12) thus the driving finger bracket 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, control the upper linear electric motors (24) of thumb fixing plate (23), because linear electric motors (24) are fixed on thumb fixing plate (23) by linear electric motors fixed mount (25), therefore linear electric motors maintain static, linear electric motors (24) drive push rod (29) to travel forward, the motion of push rod (29) drives push rod gangbar (30) to move downward forward, because push rod gangbar (30) is connected with thumb (27) by thumb link (28), so the motion of thumb is with the motion campaign of gangbar.Thumb (27) is connected and fixes with thumb fixing plate (23) by thumb fixed mount (28).
The effect of embodiment and effect
The present invention relates to a kind of Wearable exoskeleton hand function rehabilitation training device, belong to the rehabilitative engineering technology field.It comprises: four finger driving mechanisms, thumb drives mechanism, back support plate and finger mechanism.Hand back support plate is fixedly connected with four finger driving mechanisms, and motor drives the motion by gear to connect forefinger, drives the motion of forefinger, and four fingers connect by the connector on four finger near-ends, are driven the motion of other fingers by the motion of forefinger.One side of back support plate connects thumb drives mechanism, and this Wearable exoskeleton hand function rehabilitation training device can complete 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, light, easy to operate, can for the patient independently in community and family carry out rehabilitation training.
In addition, the control system of this mechanism may adopt myoelectricity to control, Sound control etc.
Claims (4)
1. a Wearable exoskeleton hand function rehabilitation training device, is characterized in that, comprising: the back support plate, and finger mechanism, four finger driving mechanisms and thumb drives mechanism,
The front end of described back support plate is fixedly connected with described finger mechanism, for fixed placement patient's palm,
One side of described back support plate is installed described four finger driving mechanisms, for forefinger and the little finger of toe motion that drives described patient, thereby drives the motion that other two roots are pointed,
The opposite side of described back support plate connects described thumb drives mechanism, for driving the motion of described patient's thumb.
2. Wearable exoskeleton hand function rehabilitation training device according to claim 1 is characterized in that:
Wherein, described four finger driving mechanisms have: motor, and drive mechanism, gear-box and connecting rod,
Gear-box is fixed on described back support plate,
Described motor, be arranged on described back support plate, by the motion that drives the built-up gear in described the above gear-box of back support plate, carrys out drive transmission device,
Described drive mechanism has: helical gear 1, the rotation of helical gear 2 on driven gear case inside connecting rod, the gear-box inside connecting rod, through being fixed on the described gear-box on the back support plate, the other end of described gear-box inside connecting rod has a pinion, connecting rod simultaneously, helical gear rotation can make described pinion rotate, described pinion matches with half gear with curved teeth, and described half gear with curved teeth matches with described gear-box outer tie rod
Thereby moving through of described connecting rod drives the motion that belt drives the described forefinger of described patient and described little finger of toe.
3. Wearable exoskeleton hand function rehabilitation training device according to claim 1 is characterized in that:
Described finger mechanism, make described four finger near-ends be connected with four finger tips, has: refer to a connector, and four finger drive links, power transmission shaft, four finger driven rods, finger near-end connecting rod, the finger tip connecting rod, the finger tip connector, refer to a drive link;
Described finger bracket is positioned at rear two joints that described finger near-end and described finger tip are got finger,
The near-end that between described finger, connector is fixed on described four fingers couples together described four finger near-ends,
The motion that described four finger drive links transmit described turning cylinder,
Described power transmission shaft is fixed on the both sides of described finger bracket, thereby rotates and drive described power transmission shaft motion by described gear,
Thereby move through described finger near-end connecting rod, described finger tip connecting rod and the described finger tip connector of described four finger drive links drive described finger bracket to carry out bionic movement.
4. Wearable exoskeleton hand function rehabilitation training device according to claim 1 is characterized in that:
Wherein, described thumb drives mechanism comprises: linear electric motors, and thumb fixing plate, the linear electric motors fixed mount, clutch and linkage,
Described linear electric motors are arranged on thumb fixing plate, and fixed by two described linear electric motors fixed mounts, and come drive link mechanism by a described clutch,
Described linkage comprises push rod, the push rod gangbar, and thumb, the thumb link,
Described motor drives the motion of described push rod, thereby the motion that promotes described push rod gangbar drives the motion of described thumb, and described thumb is connected with described push rod gangbar by described thumb link, with patient's described thumb, is connected simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210509107.XA CN103417355B (en) | 2012-12-02 | 2012-12-02 | Wearable exoskeleton hand function rehabilitation trainer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210509107.XA CN103417355B (en) | 2012-12-02 | 2012-12-02 | Wearable exoskeleton hand function rehabilitation trainer |
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| Publication Number | Publication Date |
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| CN103417355A true CN103417355A (en) | 2013-12-04 |
| CN103417355B CN103417355B (en) | 2015-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210509107.XA Expired - Fee Related CN103417355B (en) | 2012-12-02 | 2012-12-02 | Wearable exoskeleton hand function rehabilitation trainer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104257488A (en) * | 2014-09-30 | 2015-01-07 | 安阳工学院 | Three-knuckle traction type finger rehabilitative training device |
| WO2015177701A1 (en) * | 2014-05-19 | 2015-11-26 | Universidad Militar Nueva Granada | Exoskeleton rehabilitation device for the fingers |
| CN107233188A (en) * | 2017-04-19 | 2017-10-10 | 上海理工大学 | A kind of flexible hand function rehabilitation training device |
| CN112618261A (en) * | 2020-12-17 | 2021-04-09 | 西南交通大学 | Exoskeleton auxiliary manipulator |
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| US20100152628A1 (en) * | 2008-12-17 | 2010-06-17 | Lantz Medical Inc. | Method and Apparatus for Providing a Dynamically Loaded Force and/or a Static Progressive Force to a Joint of a Patient |
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2012
- 2012-12-02 CN CN201210509107.XA patent/CN103417355B/en not_active Expired - Fee Related
Patent Citations (7)
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| CN1406560A (en) * | 2001-09-06 | 2003-04-02 | 上海天竹康复科技发展有限公司 | Simulated electronic artificial hand |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2015177701A1 (en) * | 2014-05-19 | 2015-11-26 | Universidad Militar Nueva Granada | Exoskeleton rehabilitation device for the fingers |
| CN104257488A (en) * | 2014-09-30 | 2015-01-07 | 安阳工学院 | Three-knuckle traction type finger rehabilitative training device |
| CN104257488B (en) * | 2014-09-30 | 2016-03-30 | 安阳工学院 | The towed finger recovering training device of a kind of three dactylus |
| CN107233188A (en) * | 2017-04-19 | 2017-10-10 | 上海理工大学 | A kind of flexible hand function rehabilitation training device |
| CN112618261A (en) * | 2020-12-17 | 2021-04-09 | 西南交通大学 | Exoskeleton auxiliary manipulator |
| CN112618261B (en) * | 2020-12-17 | 2021-11-02 | 西南交通大学 | Exoskeleton auxiliary manipulator |
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| Publication number | Publication date |
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| CN103417355B (en) | 2015-03-11 |
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Effective date of registration: 20161125 Address after: 212300 Danyang City, Jiangsu Province Lu Dan Fu Lu No. 100 Patentee after: Danyang Artificial Limb Factory Co., Ltd. Address before: 200093 Shanghai military road, Yangpu District, No. 516 Patentee before: University of Shanghai for Science and Technology |
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Effective date of registration: 20200410 Address after: Room 301, No.48, Haihui new village, Danyang City, Zhenjiang City, Jiangsu Province Patentee after: Lin Qibiao Address before: 212300 Danyang City, Jiangsu Province Lu Dan Fu Lu No. 100 Patentee before: DANYANG PROSTHESES FACTORY Ltd. |
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Effective date of registration: 20200512 Address after: 212300 Zhenjiang city of Jiangsu province Danyang City Lu Dan Fu Lu No. 100 Patentee after: DANYANG PROSTHESES FACTORY Ltd. Address before: Room 301, No.48, Haihui new village, Danyang City, Zhenjiang City, Jiangsu Province Patentee before: Lin Qibiao |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20150311 Termination date: 20201202 |