CN104873359A - Exoskeleton type finger motion function rehabilitation machine - Google Patents
Exoskeleton type finger motion function rehabilitation machine Download PDFInfo
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- CN104873359A CN104873359A CN201410072245.5A CN201410072245A CN104873359A CN 104873359 A CN104873359 A CN 104873359A CN 201410072245 A CN201410072245 A CN 201410072245A CN 104873359 A CN104873359 A CN 104873359A
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Abstract
The invention relates to an exoskeleton type finger motion function rehabilitation machine. The rehabilitation machine comprises a far knuckle connecting rod, a middle knuckle connecting rod, a near knuckle connecting rod, a first serpentine spring, a second serpentine spring, a rack, a tail rod, a driving mechanism and a controller. The far knuckle connecting rod, the middle knuckle connecting rod and the near knuckle connecting rod are in hinge connection sequentially so as to matching a finger far knuckle, a finger middle knuckle and a finger near knuckle. One end of the tail rod and the near knuckle connecting rod are hinged to the rack, the other end of the tail rod is hinged to one end of the second serpentine spring, and the other end of the second serpentine spring is hinged to the middle knuckle connecting rod. One end of the first serpentine spring is hinged to the far knuckle connecting rod, and the other end of the first serpentine spring is hinged to the near knuckle connecting rod. The driving mechanism is connected to the tail end, and drives the tail rod to rotate by the hinge point between the tail rod and the rack under the control of the controller. The rehabilitation machine is advantageous in that the rehabilitation machine can automatically assist the wounded in exercising flexion and extension motions, and modes, the strength, the time and angles can be controlled, thereby bringing great convenience for the wounded whose fingers need rehabilitation.
Description
Technical field
The present invention relates to finger rehabilitation exercise technical field, particularly relate to a kind of exoskeleton type finger motion function rehabilitation machine.
Background technology
The finger injuries of people needs plaster fixing usually, and after removing Gypsum Fibrosum, pointing can be dumb within a period of time.Make the main path of its quick recovery carry out bending exercise exactly, but flexed one's fingers by patient oneself and repeatedly temper that to form mechanical action very dull.Meanwhile, the patient suffering from the diseases such as apoplexy does not possess the ability in autonomic activities joint, needs passive exercise to carry out rehabilitation.Continuous Passive Movement (Continuous PassiveMotion, being called for short CPM) equipment utilizes the ultimate principle of continuous passive motion in rehabilitation medicine to carry out the machinery of rehabilitation to injured limb, is the illustration of the application of a unique so far robot biomechanics or biophysical chemistry type.The proposition of CPM concept is based on following dual reason:
1) motion in joint needs wear well articular cartilage.
2) dynamic equilibrium in joint needs the compliance keeping periarticular soft tissues.
Complete above-mentioned functions to need to adopt Continuous Passive Movement to make joint movable in gamut, make soft tissue stop stiff developing rapidly by tension force immediately injured or postoperative.Employing Continuous Passive Movement fast is as far as possible the key of the kinematic dexterity keeping joint long-term.
The effectiveness of Continuous Passive Movement is also to reduce hydrarthrosis and hematoma, and this conclusion is confirmed from the experiment carried out rabbit knee joint.When to knee joint passive activity to the limit time, IA pressure increases thereupon, and in whole passive continuously active process, intra-articular pressure is in sinusoidal wave pulsation.Congestion in articular cavity and edema can be got rid of by " the pump suction effect " of the periodically pulsing effect of intra-articular pressure.
Since 1978, first CPM device in the world of people's designs such as Salter comprised ankle, elbow since being born, and shoulder, wrist, the CPM machine of the human synovials such as finger is devised.At present, more than 700 ten thousand patients benefit national more than 57 are had in the world in CPM technology.
According to the object of CPM machine rehabilitation, lower limb rehabilitation CPM machine can be divided into, upper limb healing CPM machine, waist rehabilitation CPM machine and hand rehabilitation CPM machine.
Hands is one of the most complicated organ of human body, and in each joint of human body, the joint freedom degrees of hand is many, and structure is also complicated.Therefore, up to the present to the mechanism of hand Continuous Passive Movement, the documents and materials of CPM device and clinical analysis are lack very much.Although few for the theoretical research of the device by wound and postoperative healing hand function CPM, some medical apparatus corporation, Ltds are still had to be proposed healing hand function CPM machine.From current product, although healing hand function CPM machine can realize the Continuous Passive Movement of carpal joint and finger-joint, rehabilitation exercise simple joint being carried out to accurately control all can only be realized.The accurate control to multiple joint then can not be realized when rehabilitation is carried out simultaneously to multiple joint.Trace it to its cause, current healing hand function CPM machine is all the setting based on mechanism with single degree of freedom, wants the degree of freedom that then must increase CPM device to the rehabilitation exercise that multiple joints of staff carry out accurately controlling simultaneously.
Summary of the invention
The object of the embodiment of the present invention is for the structural shortcoming of prior art, a kind of exoskeleton type finger motion function rehabilitation machine is proposed, the wounded can be automatically helped to carry out bending and stretching exercise, and energy control model, power, time and angle, meeting the demand of different state of an illness patient, providing a great convenience for needing the wounded of finger gymnastic.
In order to reach foregoing invention object, a kind of exoskeleton type finger motion function rehabilitation machine that the embodiment of the present invention proposes is achieved through the following technical solutions:
A kind of exoskeleton type finger motion function rehabilitation machine, is characterized in that, comprises dactylus connecting rod far away L-shaped respectively, middle finger joint connecting rod, nearly dactylus connecting rod, the first serpentine spring and the second serpentine spring, also comprises frame, foot piece, driving mechanism and controller;
The corner of described middle finger joint connecting rod and the corner of nearly dactylus connecting rod hinged, the end of its stock and the corner of dactylus connecting rod far away hinged, make described dactylus connecting rod far away, middle finger joint connecting rod and nearly dactylus connecting rod successively with finger dactylus far away, point middle finger joint and point nearly dactylus suitable; The quarter butt of described middle finger joint connecting rod and the quarter butt of dactylus connecting rod far away are towards the same side, and the quarter butt of described nearly dactylus connecting rod is towards opposite side;
One end of described foot piece and the end of nearly dactylus connecting rod stock are hinged in described frame together, and the first end of the described foot piece other end and the second serpentine spring is hinged; Second end of described second serpentine spring and the quarter butt end of middle finger joint connecting rod hinged; The first end of described first serpentine spring and the quarter butt end of dactylus connecting rod far away hinged, the quarter butt end of the second end and nearly dactylus connecting rod is hinged;
Described driving mechanism connects foot piece, and in the control of controller, drives described foot piece to rotate around the pin joint of itself and frame.
Described driving mechanism comprises motor, crank and drive rod, described crank one end and described drive rod end hinged, the other end is fixed on described motor output end, and the described drive rod other end is hinged on described foot piece.
Described drive rod, foot piece and the second serpentine spring are articulated with on same bearing pin jointly.
Described motor is low rotation speed large torque motor.
Described dactylus connecting rod far away, middle finger joint connecting rod and nearly dactylus connecting rod are respectively equipped with and point dactylus far away, point middle finger joint and point the suitable knuckle of nearly dactylus.
Described frame is also provided with LCDs and input mechanism, and described controller connects described LCDs and input mechanism.
Compared with prior art, the invention has the beneficial effects as follows: can automatically help the wounded to carry out bending and stretching exercise, and energy control model, power, time and angle, meeting the demand of different state of an illness patient, providing a great convenience for needing the wounded of finger gymnastic.
Accompanying drawing explanation
By the description carried out its exemplary embodiment below in conjunction with accompanying drawing, the above-mentioned feature and advantage of the present invention will become apparent and easy understand.
Fig. 1 is embodiment of the present invention overall structure principle schematic;
Fig. 2 is embodiment of the present invention mechanical structure portion principle schematic.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail, so that the understanding of technical staff of the same trade:
Shown in Fig. 1-2, in the present embodiment, provide a kind of exoskeleton type finger motion function rehabilitation machine, primarily of input and display, machine driving and control system three part composition.
In control system, mainly comprise controller 1, sensor 2 and switch 5.Adopt intelligent bright single-chip microcomputer to be controller 1 in the present embodiment, select to carry after the information got is preserved.The quantity of sensor 2 is two, adopts position sensor, and namely one of them imitate hands and the deflection angle pointing the joint be connected for controlling first joint, and another is for controlling the initial position in joint.Number of switches is two, and one controls power supply 3, and another controls motor 4.
Input and display section mainly comprise display screen 6 and button 7, respectively connection control device 1.Display screen 7, for the parameters of the switch and rotation that show mechanical driving part, is convenient to mechanism's rotation information that user understands current residing pattern clear and intuitively, also allows user be adjusted to more easily oneself to want the pattern used.Button 7 is input user instruction, and as selected operational mode, running duration etc., user can in the patterns of change of the switch of this Region control mechanism and rotation, this mechanism is adjusted to oneself want the pattern used, to adapt to the needs of oneself state of an illness.
Mechanical driving part, comprises Immobile frame 8, and frame 8 can fix in the mode being arranged on user palm, and the mode that also can be set directly on fixation means (as desk, ground etc.) is fixed.
In addition, dactylus connecting rod 9 far away, middle finger joint connecting rod 10, nearly dactylus connecting rod 11, first serpentine spring 12, second serpentine spring 13, foot piece 14 and driving mechanism respectively is also comprised; Wherein:
Dactylus connecting rod 9 far away, middle finger joint connecting rod 10, nearly dactylus connecting rod 11, first serpentine spring 12, second serpentine spring 13 are all L-shaped, have a stock and a quarter butt, and the intersection of stock and quarter butt are referred to as turning in the present embodiment.
The turning of middle finger joint connecting rod 10 and nearly dactylus connecting rod 11 corner hinged, the end of the stock of middle finger joint connecting rod 10 and the corner of dactylus connecting rod 9 far away hinged.The stock length of dactylus connecting rod 9 far away, middle finger joint connecting rod 10, nearly dactylus connecting rod 11 successively with finger dactylus far away, point middle finger joint and point the length of nearly dactylus suitable.Meanwhile, the quarter butt of middle finger joint connecting rod 10 and the quarter butt of dactylus connecting rod 9 far away towards the same side, and the quarter butt of nearly dactylus connecting rod 11 and the quarter butt of middle finger joint connecting rod 10 opposing, towards opposite side.
One end of foot piece 14 and the end of nearly dactylus connecting rod 11 stock are hinged in frame 8 jointly, and can rotate by the pin joint respectively in frame 8.The other end of foot piece 14 and the first end of the second serpentine spring 13 hinged.Second end of the second serpentine spring 13 and the quarter butt end of middle finger joint connecting rod 10 hinged.The first end of the first serpentine spring 12 and the quarter butt end of dactylus connecting rod 9 far away hinged, the second end of the first serpentine spring 12 and the quarter butt end of nearly dactylus connecting rod 9 hinged.
Thus, when foot piece 14 rotates around the pin joint of itself and frame 8, first serpentine spring 12 and the second serpentine spring 13 drive nearly dactylus connecting rod 11 to deflect, middle finger joint connecting rod 10 again deflects on the basis of nearly dactylus connecting rod 11 simultaneously, dactylus connecting rod 9 far away again deflects on the basis of middle finger joint connecting rod 10, a final generation finger deflected step by step.
And adopt the object of serpentine spring to be that conventional rigid connecting rod does not possess adaptability, easily cause secondary injury.And serpentine spring has good damping property and bears fluctuating load.
In the present embodiment, driving mechanism comprises motor 4, crank and drive rod 15, crank one end and drive rod 15 end hinged, the other end is fixed on motor 4 outfan, and drive rod 15 other end and foot piece 14 and the second serpentine spring 13 are articulated with on same bearing pin jointly.Motor 4 adopts low rotation speed large torque motor, and under the driving of motor 4, bent axle drives drive rod 15 to swing, thus foot piece 14 is rotated around the pin joint of itself and frame 8.
In use, the signal that sensor 2 produces arrives the acquisition that controller 1 carries out input information, then the information storage obtained is in territory, input block, again digital signal is exported after being handled well by controller 1, after digital signal arrives motor 4, the angle that motor 4 is different according to signal rotation, controls the deflection angle of dactylus connecting rod 9 far away, middle finger joint connecting rod 10 and nearly dactylus connecting rod 11, and then make whole mechanism imitate the motion of finger different modes, thus reach the object of the finger gymnastic of expection.
For ease of using, dactylus connecting rod 9 far away, middle finger joint connecting rod 10 and nearly dactylus connecting rod 11 are respectively equipped with and point dactylus far away, point middle finger joint and point the suitable knuckle of nearly dactylus.
In the present embodiment, utilize parallel-crank mechanism transmission to achieve the transmission in multiple joint, motor the is virtual grasp motion of a finger-joint, utilize parallel institution to achieve three rotational freedoms of finger, thus effectively complete the simulation of finger gesture.Connecting rod in parallel-crank mechanism adopts serpentine spring, increases mechanism flexibility, can adapt to different fingers, avoid the secondary injury because positive motion causes simultaneously.This mechanism structure is simple, and structural member is few, and mechanical stiffness is better, and cumulative errors are little, and maximum deflection angle is 60*3=180 degree.Make the passive exercise rehabilitation therapy of the wounded become simple, achieve summary and the automatization of finger gymnastic mechanism, can also independently shaping modes, power, time and angle, meet the needs of the different state of an illness.
By embodiment, invention intention of the present invention and embodiment are described in detail above; but one of ordinary skill in the art of the present invention are appreciated that; the above embodiment of the present invention is only one of the preferred embodiments of the present invention; for length restriction; here can not all embodiments of particularize; any enforcement that can embody the claims in the present invention technical scheme, all in protection scope of the present invention.
It should be noted that; above content is in conjunction with concrete embodiment further description made for the present invention; can not assert that the specific embodiment of the present invention is only limitted to this; under the guidance of above-described embodiment; those skilled in the art can carry out various improvement and distortion on the basis of above-described embodiment, and these improve or distortion drops in protection scope of the present invention.
Claims (6)
1. an exoskeleton type finger motion function rehabilitation machine, is characterized in that, comprises dactylus connecting rod far away L-shaped respectively, middle finger joint connecting rod, nearly dactylus connecting rod, the first serpentine spring and the second serpentine spring, also comprises frame, foot piece, driving mechanism and controller;
The corner of described middle finger joint connecting rod and the corner of nearly dactylus connecting rod hinged, the end of its stock and the corner of dactylus connecting rod far away hinged, make described dactylus connecting rod far away, middle finger joint connecting rod and nearly dactylus connecting rod successively with finger dactylus far away, point middle finger joint and point nearly dactylus suitable; The quarter butt of described middle finger joint connecting rod and the quarter butt of dactylus connecting rod far away are towards the same side, and the quarter butt of described nearly dactylus connecting rod is towards opposite side;
One end of described foot piece and the end of nearly dactylus connecting rod stock are hinged in described frame together, and the first end of the described foot piece other end and the second serpentine spring is hinged; Second end of described second serpentine spring and the quarter butt end of middle finger joint connecting rod hinged; The first end of described first serpentine spring and the quarter butt end of dactylus connecting rod far away hinged, the quarter butt end of the second end and nearly dactylus connecting rod is hinged;
Described driving mechanism connects foot piece, and in the control of controller, drives described foot piece to rotate around the pin joint of itself and frame.
2. a kind of exoskeleton type finger motion function rehabilitation machine according to claim 1, it is characterized in that: described driving mechanism comprises motor, crank and drive rod, described crank one end and described drive rod end hinged, the other end is fixed on described motor output end, and the described drive rod other end is hinged on described foot piece.
3. a kind of exoskeleton type finger motion function rehabilitation machine according to claim 2, is characterized in that: described drive rod, foot piece and the second serpentine spring are articulated with on same bearing pin jointly.
4. a kind of exoskeleton type finger motion function rehabilitation machine according to claim 1, is characterized in that: described motor is low rotation speed large torque motor.
5. a kind of exoskeleton type finger motion function rehabilitation machine according to claim 1-4 any one, is characterized in that: described dactylus connecting rod far away, middle finger joint connecting rod and nearly dactylus connecting rod are respectively equipped with and point dactylus far away, point middle finger joint and point the suitable knuckle of nearly dactylus.
6. a kind of exoskeleton type finger motion function rehabilitation machine according to claim 5, it is characterized in that: described frame is also provided with LCDs and input mechanism, described controller connects described LCDs and input mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410072245.5A CN104873359A (en) | 2014-02-28 | 2014-02-28 | Exoskeleton type finger motion function rehabilitation machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410072245.5A CN104873359A (en) | 2014-02-28 | 2014-02-28 | Exoskeleton type finger motion function rehabilitation machine |
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| CN104873359A true CN104873359A (en) | 2015-09-02 |
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| CN201410072245.5A Pending CN104873359A (en) | 2014-02-28 | 2014-02-28 | Exoskeleton type finger motion function rehabilitation machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105078707A (en) * | 2015-09-21 | 2015-11-25 | 宁波吉登电子科技有限公司 | Finger massage device |
| CN108883023A (en) * | 2016-02-15 | 2018-11-23 | 利姆医疗有限公司 | Finger movement guide rail and its bracket, and the therapeutic device including finger movement guide rail and its bracket |
| CN109199784A (en) * | 2017-07-04 | 2019-01-15 | 中国科学院沈阳自动化研究所 | A kind of the hand rehabilitation equipment and its feedback control circuit of flexible drive |
| CN110253540A (en) * | 2017-09-07 | 2019-09-20 | 重庆市牛迪科技发展有限公司 | A kind of ectoskeleton |
-
2014
- 2014-02-28 CN CN201410072245.5A patent/CN104873359A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105078707A (en) * | 2015-09-21 | 2015-11-25 | 宁波吉登电子科技有限公司 | Finger massage device |
| CN105078707B (en) * | 2015-09-21 | 2017-06-16 | 宁波吉登电子科技有限公司 | A kind of finger massage device |
| CN108883023A (en) * | 2016-02-15 | 2018-11-23 | 利姆医疗有限公司 | Finger movement guide rail and its bracket, and the therapeutic device including finger movement guide rail and its bracket |
| CN108883023B (en) * | 2016-02-15 | 2020-12-29 | 利姆医疗有限公司 | Treatment device for performing an assisted movement of a finger of a patient's hand |
| CN109199784A (en) * | 2017-07-04 | 2019-01-15 | 中国科学院沈阳自动化研究所 | A kind of the hand rehabilitation equipment and its feedback control circuit of flexible drive |
| CN109199784B (en) * | 2017-07-04 | 2024-03-26 | 中国科学院沈阳自动化研究所 | Flexibly-driven hand rehabilitation equipment and feedback control circuit thereof |
| CN110253540A (en) * | 2017-09-07 | 2019-09-20 | 重庆市牛迪科技发展有限公司 | A kind of ectoskeleton |
| CN110253540B (en) * | 2017-09-07 | 2022-05-17 | 重庆市牛迪科技发展有限公司 | Exoskeleton |
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