CN103417355B - Wearable exoskeleton hand function rehabilitation trainer - Google Patents
Wearable exoskeleton hand function rehabilitation trainer Download PDFInfo
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- CN103417355B CN103417355B CN201210509107.XA CN201210509107A CN103417355B CN 103417355 B CN103417355 B CN 103417355B CN 201210509107 A CN201210509107 A CN 201210509107A CN 103417355 B CN103417355 B CN 103417355B
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- Prior art keywords
- finger
- gear
- thumb
- back support
- support plate
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- 210000003811 finger Anatomy 0.000 claims abstract description 72
- 210000003813 thumb Anatomy 0.000 claims abstract description 48
- 230000033001 locomotion Effects 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 210000005224 forefinger Anatomy 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 10
- 210000004932 little finger Anatomy 0.000 claims description 4
- 239000011664 nicotinic acid Substances 0.000 claims description 3
- 230000008520 organization Effects 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 208000011092 Hand injury Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 208000027418 Wounds and injury 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
- 208000014674 injury Diseases 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
- 230000003068 static effect Effects 0.000 description 1
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- Rehabilitation Tools (AREA)
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 the Wearable exoskeleton hand faculty training device referring to motion.
Background technology
The hands of a pair of health occupies very important status in the middle of the life of people, however for some old peoples and health be subject to outer damage cause hand generation spasm and other injury time, just great difficulty is caused to the life of patient.The treatment difficulty of hand injury is very large simultaneously, and after treatment, rehabilitation training is subject to great limitation.It is all generally the rehabilitation training regularly being carried out opponent by patient to hospital by some relatively large hand trainers 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 extraction that analog designed nerve information of doing evil through another person carries out animal experiment, the integration of information and the design progress of control circuit smooth.But current shaped article is difficult to the requirement meeting patient completely.In upper limb healing equipment, range of application is only limitted to joint, local, and intelligence degree is not high, wearing property is poor.Abroad for the repetition training of hemiplegic upper limb, MIT design in 1991 completes First upper-limbs rehabilitation training robot system MIT-MANUS [8], different from general industry robot, although MIT-MANUS take into account the compliance of safety, stability and patient closely physical contact in mechanical aspects, 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 trainer, and its structure is simple, and volume is little, is convenient for carrying, enable patient at home and community can carry out rehabilitation training whenever and wherever possible, fill domestic defect.
A kind of Wearable exoskeleton hand function rehabilitation trainer provided by the invention, is characterized in that: comprising: back support plate, finger bracket, and four refer to driving mechanism, thumb drives mechanism;
The front portion of back support plate is fixedly connected with finger bracket, for the hands of fixed placement patient; Above back support plate and side is installed four and is referred to driving mechanisms, for the motion driving patient four to refer to; The opposite side of back support plate connects thumb back support plate.Thumb drives mechanism and back support plate are wanted to be connected the thumb movement driving patient, and what realization and four referred to moves to referring to.
Further, Wearable exoskeleton hand function rehabilitation trainer provided by the invention can also have such feature: wherein, and four refer to that driving mechanism has: motor, drive mechanism, gear-box and connecting rod,
Gear-box is fixed on back support plate,
Motor, is arranged on back support plate, by driving the motion of the built-up gear in back support plate upper gear box to carry out drive transmission device,
Drive mechanism has: helical gear 1, the rotation of helical gear 2 on driven gear case inside connecting rod, gear-box inside connecting rod, through the gear-box be fixed on 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 gear-box outer tie rod, and moving through of connecting rod drives belt thus the motion driving patient's forefinger and little finger of toe.
Further, Wearable exoskeleton hand function rehabilitation trainer 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 curve slide bar with far-end, refers to a connector, and four refer to drive link, power transmission shaft, four refer to driven rod, finger near-end connecting rod, finger tip connecting rod, finger tip connector, refers to a drive link; Four finger brackets get rear two joints of finger by pointing near-end and finger tip; Between finger connector be fixed on four finger near-ends by four finger near-ends couple together; Four refer to that drive link transmits the motion of turning cylinder; Power transmission shaft is fixed on the both sides of finger bracket, pinion rotation thus the motion of band moving axis, and four refer to moving through finger near-end connecting rod, finger tip connecting rod and finger tip connector thus driving finger bracket to carry out bionic movement motion of drive links.The finger of patient is dressed in the below of this device, carries out reconditioning by the drive of fingerboard.
Further, Wearable exoskeleton hand function rehabilitation trainer 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, push rod gangbar, thumb, thumb link, and motor drives the motion of push rod, and promote the motion of push rod gangbar thus the motion of driving thumb, thumb is connected with push rod gangbar by thumb link, is connected with the thumb of patient simultaneously.What the motion of thumb can only realize referring to four moves to referring to.
Invention effect and effect
In sum, Wearable exoskeleton hand function rehabilitation trainer provided by the invention, has: four refer to driving mechanism, thumb drives mechanism, back support plate and finger mechanism.Hand back support plate is fixedly connected with four finger driving mechanisms, and the motion that motor is driven through gear connects forefinger, drives the motion of forefinger, and four refer to that the connector referred on near-end by four connects, the motion driving other to point by the motion of forefinger.The side of back support plate connects thumb drives mechanism, this Wearable exoskeleton hand function rehabilitation trainer can complete thumb and forefinger to finger motion, the movement velocity of forefinger mechanism can set according to the rehabilitation situation of patient self.The wearable function of this mechanism to be connected with hand by wearing gloves and to realize simultaneously.Structure of the present invention is simple, light, easy to operate, independently can carry out rehabilitation training in community and family for patient.
Accompanying drawing explanation
Fig. 1 is the Wearable exoskeleton hand function rehabilitation trainer structural representation in an embodiment that the present invention relates to;
Fig. 2 is the back support board mount structural representation in an embodiment that the present invention relates to;
Fig. 3 is the motor mechanism structural representation in an embodiment that the present invention relates to;
Fig. 4 is the four finger controlling organizations structural representation in an embodiment that the present invention relates to;
Fig. 5 is the thumb controlling organization structural representation in an embodiment that the present invention relates to.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.It should be understood that these embodiments are only not used in for illustration of the present invention to limit the scope of the invention.
Embodiment
As shown in Fig. 1,2,3,4,5, wearable exoskeleton rehabilitation hands training aids in the present embodiment, comprise back support plate (Fig. 2), back support plate (22) rear is that back support board mount is fixed on hand by a collar, Fixed Design gear-box above back support plate, 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 (16) between finger, finger near-end connecting rod (10), finger tip connecting rod (11), finger tip connector (12), drive link (15) between finger, four refer to drive link (18), power transmission shaft (19), four refer to driven rod (17), thumb (27), 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 refer to Training Control:
See Fig. 3, Fig. 4, by the control of muscle signal or sound, control motor (32) to drive, motor on back support plate connects helical gear 1(34), motor (32) drives helical gear 1(34) rotation, helical gear 1(34) rotation can the upper helical gear 2(29 of driven gear case inside connecting rod (35)) rotation, gear-box inside connecting rod (34) is through the gear-box be fixed on 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 fixed by two back support board mounts (31), .The power transmission shaft 1,2 that fifth wheel on back support plate is referred to four by conveyer belt is connected, and four refer to driven rod (17) and power transmission shaft 1,2(19) be connected, refer to drive link (18) through four.Between finger, four finger near-ends couple together by connector (16), the motion four of motor-driven gear and power transmission shaft refers to the motion of drive link, by finger near-end connecting rod (10), refers to a drive link (15), finger tip connecting rod (11) and finger tip connector (12) thus drives finger bracket to carry out bionic movement motion.Thus drive the motion of four fingers.
2, thumb Training Control
See Fig. 5, by the control of 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), therefore the motion of thumb is moved with the motion of gangbar.Thumb (27) is connected by thumb fixed mount (28) with thumb fixing plate (23) and fixes.
The effect of embodiment and effect
The present invention relates to a kind of Wearable exoskeleton hand function rehabilitation trainer, belong to rehabilitative engineering technology field.It comprises: four refer to driving mechanism, thumb drives mechanism, back support plate and finger mechanism.Hand back support plate is fixedly connected with four finger driving mechanisms, and the motion that motor is driven through gear connects forefinger, drives the motion of forefinger, and four refer to that the connector referred on near-end by four connects, the motion driving other to point by the motion of forefinger.The side of back support plate connects thumb drives mechanism, this Wearable exoskeleton hand function rehabilitation trainer can complete thumb and forefinger to finger motion, the movement velocity of forefinger mechanism can set according to the rehabilitation situation of patient self.The wearable function of this mechanism to be connected with hand by wearing gloves and to realize simultaneously.Structure of the present invention is simple, light, easy to operate, independently can carry out rehabilitation training in community and family for patient.
In addition, the control system of mechanism may adopt myoelectricity to control, Sound control etc.
[0031]
Claims (3)
1. a Wearable exoskeleton hand function rehabilitation trainer, for carrying out rehabilitation to the thumb of patient and other four fingers, is characterized in that, comprise: back support plate, finger mechanism, and four refer to driving mechanisms, controlling organization and thumb drives mechanism,
The front end of described back support plate is fixedly connected with described finger mechanism, for the palm of patient described in fixed placement,
The side of described back support plate is installed described four and is referred to driving mechanism, for driving the forefinger in described four fingers of described patient and little finger of toe to move, thus drives other two motions pointed,
The opposite side of described back support plate connects described thumb drives mechanism, for driving the motion of described thumb,
Described controlling organization controls described four according to any one in the electromyographic signal of described patient or acoustical signal and refers to driving mechanism and described thumb drives mechanism,
Wherein, described four refer to that driving mechanism has: motor, drive mechanism, gear-box, and gear-box outer tie rod,
Described gear-box is fixed on described back support plate,
Described motor, is arranged on described back support plate, by driving the motion of the built-up gear on described back support plate in described gear-box to drive described drive mechanism,
Described drive mechanism has:
Gear-box inside connecting rod, through the described gear-box be fixed on back support plate;
Helical gear 1, drives the helical gear 2 on described gear-box inside connecting rod to rotate, and the other end of described gear-box inside connecting rod has a pinion simultaneously;
Half gear with curved teeth, is located on described gear-box outer tie rod,
The rotation of described helical gear 2 can make described pinion rotate, and described pinion matches with described half gear with curved teeth, and described half gear with curved teeth is wanted to coordinate with described gear-box outer tie rod,
Moving through of described gear-box outer tie rod drives belt thus drives the described forefinger of described patient and described little finger of toe to move.
2. Wearable exoskeleton hand function rehabilitation trainer according to claim 1, is characterized in that:
Described finger mechanism, be used in four of joint, close described palm place of supporting in described four fingers point near-ends with for support described four point in away from joint, described palm place four finger tips be connected, have: refer to a connector, four refer to drive link, power transmission shaft, and four refer to driven rod, finger near-end connecting rod, finger tip connecting rod, finger tip connector, refers to a drive link and finger bracket;
Described finger bracket is positioned at the near-end of described finger and the far-end of described finger, gets the two joint of the close described palm of described four fingers,
Between described finger connector be fixed on described four finger near-ends by described four finger near-ends couple together,
Described four refer to that drive link transmits the motion of described gear-box outer tie rod,
Described power transmission shaft is fixed on the both sides of described finger bracket, drives described power transmission shaft to move by described pinion rotation,
Described four refer to moving through described finger near-end connecting rod, described finger tip connecting rod and described finger tip connector thus driving described finger bracket to carry out bionic movement of drive link.
3. Wearable exoskeleton hand function rehabilitation trainer according to claim 1, is characterized in that:
Wherein, described thumb drives mechanism, comprising: linear electric motors, thumb fixing plate, linear electric motors fixed mount, clutch and linkage,
Described linear electric motors are arranged on thumb fixing plate, fixed, and come drive link mechanism by a described clutch by two described linear electric motors fixed mounts,
Described linkage comprises push rod, push rod gangbar, thumb, thumb link,
Described motor drives the motion of described push rod, and promote the motion of described push rod gangbar thus drive the motion of described thumb, described thumb is connected with described push rod gangbar by described thumb link, is connected with the described thumb of patient 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 |
|---|---|
| CN103417355A CN103417355A (en) | 2013-12-04 |
| CN103417355B true 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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CO6960102A1 (en) * | 2014-05-19 | 2014-05-30 | Univ Militar Nueva Granada | Exoskeletal rehabilitation device for the fingers |
| 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 |
| CN107233188B (en) * | 2017-04-19 | 2019-07-16 | 上海理工大学 | A kind of flexible hand function rehabilitation training device |
| CN112618261B (en) * | 2020-12-17 | 2021-11-02 | 西南交通大学 | Exoskeleton auxiliary manipulator |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201572217U (en) * | 2009-12-03 | 2010-09-08 | 上海纳米技术及应用国家工程研究中心有限公司 | Human-simulated artificial hand used for rehabilitation |
| CN203089779U (en) * | 2012-12-02 | 2013-07-31 | 上海理工大学 | Wearable exoskeleton hand functional rehabilitation training device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1201706C (en) * | 2001-09-06 | 2005-05-18 | 上海天竹康复科技发展有限公司 | Simulated electronic artificial hand |
| CN2642290Y (en) * | 2003-08-01 | 2004-09-22 | 刘国臣 | Exercising apparatus for recovering finger function |
| CN2933378Y (en) * | 2006-07-21 | 2007-08-15 | 哈尔滨工程大学 | Automatic finger recovering training device |
| JP4811868B2 (en) * | 2006-09-13 | 2011-11-09 | 国立大学法人岐阜大学 | Upper limb finger function recovery training device |
| US8257283B2 (en) * | 2008-12-17 | 2012-09-04 | 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
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201572217U (en) * | 2009-12-03 | 2010-09-08 | 上海纳米技术及应用国家工程研究中心有限公司 | Human-simulated artificial hand used for rehabilitation |
| CN203089779U (en) * | 2012-12-02 | 2013-07-31 | 上海理工大学 | Wearable exoskeleton hand functional rehabilitation training device |
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| Publication number | Publication date |
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| CN103417355A (en) | 2013-12-04 |
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| TR01 | Transfer of patent right |
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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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
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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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150311 Termination date: 20201202 |