CN105310864B - A kind of finger grip device for healing and training - Google Patents
A kind of finger grip device for healing and training Download PDFInfo
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- CN105310864B CN105310864B CN201510448216.9A CN201510448216A CN105310864B CN 105310864 B CN105310864 B CN 105310864B CN 201510448216 A CN201510448216 A CN 201510448216A CN 105310864 B CN105310864 B CN 105310864B
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- chute
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Abstract
The invention discloses a kind of finger grip device for healing and training, detection means is including detecting finger the position torque sensor of torque and the encoder being installed on motor for detecting finger torque when making to grasp training when making to grasp training.The present invention is integrated with rehabilitation training and patient motion state-detection, can effectively evaluate the progress and effect of rehabilitation training；The active training and passive exercise of finger grip can be achieved；Finger different length is compensated with different finger slides, makes finger mechanism end at grade, simplifies mechanism design；Close up when reaching finger grip by being moved in the inclined chute of different angle, the effect deployed during stretching, extension.In addition, the present invention can grasp stretching routine with altitude simulation human normal, rehabilitation efficacy is improved, suitable for the early, middle and late phase patient of hemiplegia, strong adaptability.
Description
Technical field
The invention belongs to technical field of medical instruments, more particularly to a kind of finger grip device for healing and training.
Background technology
China's Aging Problem getting worse, and hemiplegia is the high morbidity in the elderly, therefore it is directed to the elderly
Posthemiplegic rehabilitation is particularly important.Hemiplegic patient by upper Ipsilateral keeps state of clenching fist in flexion posture and finger, sternly
The daily life of patient is have impact on again, therefore finger gymnastic has extremely important meaning to the overall Sex Rehabilitation of hemiplegic patient.
The traditional rehabilitation maneuver of hemiplegic patient relies primarily on the one-to-one service of Physical Therapist, but there is Physical Therapist's number deficiency, work
The problem of intensity is big.
Existing hand rehabilitation appliances are mostly single-degree-of-freedom, and training mode is single, lack patient and train exercise data
Detection, can not carry out efficient rehabilitation training.
The content of the invention
It is an object of the invention to provide a kind of finger grip device for healing and training, it is intended to solves existing hand device for rehabilitation
Tool is mostly single-degree-of-freedom, and training mode is single, lacks patient and trains exercise data detection, can not carry out efficient rehabilitation training
The problem of.
The present invention is achieved in that a kind of finger grip device for healing and training, is provided with detection means, the detection dress
Put and the position torque sensor of torque and be installed on motor when making to grasp training including detection finger and be used to detect finger and exist
The encoder of torque when making to grasp training.
Further, the new finger grip device for healing and training also includes：Supporting mechanism, drive device, transmission device；
The drive device is arranged on supporting mechanism, and the transmission device connects drive device.
Further, the supporting mechanism includes pedestal, the first deep groove ball bearing, the second deep groove ball bearing, the 3rd deep-groove ball
Bearing, chute platform and holding rod.
Chute platform and holding rod, the first deep groove ball bearing, the second deep groove ball bearing, the 3rd deep-groove ball are installed on the pedestal
Bearing is arranged on sensor axis, is connected respectively with chute platform, drive rod, holding rod, the first deep groove ball bearing, the 3rd deep-groove ball axle
Accept insurance and demonstrate,prove the relative motion of sensor axis and chute platform, holding rod, the second deep groove ball bearing ensures that sensor only produces with drive rod
With respect to gyration, for detecting flywheel moment.
Further, the chute platform is provided with drive rod, forefinger sliding block, forefinger chute, middle finger sliding block, middle finger chute, nothing
Name refers to sliding block, nameless chute, little finger of toe sliding block, little finger of toe chute.
The drive rod connects drive device, and drive rod connection forefinger sliding block, middle finger sliding block, nameless sliding block, little finger of toe are slided
Block, the forefinger sliding block, middle finger sliding block, nameless sliding block, little finger of toe sliding block are sliding in forefinger chute, middle finger chute, the third finger respectively
Slided in groove, little finger of toe chute, with the combination for crossing sliding groove and drive rod, complete forefinger sliding block, middle finger sliding block, nameless sliding block,
The spatial movement of little finger of toe sliding block drives finger to complete grasp motion.
Further, on the basis of middle finger chute, forefinger chute tilts 9.5 degree counterclockwise, and nameless chute tilts clockwise
6.5 degree, little finger of toe chute tilts 13 degree clockwise, and chute is located on the radius 123mm face of cylinder to collectively form to be transported for sliding shoe
Dynamic space orbit.
Further, the drive device includes motor and decelerator.
The motor and decelerator are fixed on pedestal, and the motor connects with reducer shaft.
Further, the transmission device includes a pair of cone teeth；The cone tooth is on pedestal.
Finger grip device for healing and training provided by the invention, compared to prior art, the present invention has advantages below：
One, rehabilitation training and patient motion state-detection are integrated, can effectively evaluate the progress and effect of rehabilitation training；
Two, the active training and passive exercise of finger grip can be achieved；
Three, finger different length is compensated with different finger slides, makes finger mechanism end at grade,
Simplify mechanism design；
Four, close up when reaching finger grip by being moved in the inclined chute of different angle, the effect deployed during stretching, extension.
The present invention can grasp stretching routine with altitude simulation human normal, improve rehabilitation efficacy.The finger grip training
Device is applied to the early, middle and late phase patient of hemiplegia, strong adaptability.
Brief description of the drawings
Fig. 1 is finger grip device for healing and training structural representation of the present invention.
Fig. 2 (a) is forefinger chute provided in an embodiment of the present invention, middle finger chute, nameless chute, the structure of little finger of toe chute
Schematic diagram.
Fig. 2 (b) is forefinger chute provided in an embodiment of the present invention, middle finger chute, nameless chute, the left view of little finger of toe chute
Figure.
In figure：1st, motor；2nd, decelerator；3rd, pedestal；4th, tooth is bored；5th, torque sensor；6th, the first deep groove ball bearing；7th,
Two deep groove ball bearings；8th, the 3rd deep groove ball bearing；9th, drive rod；10th, forefinger sliding block；11st, forefinger chute；12nd, middle finger sliding block；
13rd, middle finger chute；14th, nameless sliding block；15th, nameless chute；16th, little finger of toe sliding block；17th, little finger of toe chute；18th, chute platform；19、
Holding rod.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The present invention can be achieved the rehabilitation training grasped to human finger, at the same by torque sensor and encoder should
With, the information such as the torque of patient, movement position in training process can be obtained, is integrated with rehabilitation training and information detection functions,
Foundation is provided for rehabilitation evaluation system.
The description detailed to the structure of the present invention below in conjunction with the accompanying drawings.
Referring to Fig. 1, Fig. 2, a kind of integrated rehabilitation training of the present invention and the finger grip rehabilitation of patient motion state-detection instruction
Practice device, including：Supporting mechanism, drive device, transmission device and detection means；
Supporting mechanism includes pedestal 3, the first deep groove ball bearing 6, the second deep groove ball bearing 7, the 3rd deep groove ball bearing 8, cunning
Groove platform 18 and holding rod 19；
Drive device includes motor 1 and decelerator 2；
Transmission device includes a pair of cone teeth 4；
Detection means refers to torque sensor 5 and the encoder being installed on motor 1.
Specifically, motor 1 and decelerator 2 are fixed on pedestal 3, by a pair of cone teeth 4 be driven, drive drive rod 9 around
Trunnion axis rotates, and so as to drive the sliding block completion rotation on drive rod 9 and the cooperative motion along slide, realizes soft with sliding block
Property connection finger do grasping training.First deep groove ball bearing 6, the second deep groove ball bearing 7, the 3rd deep groove ball bearing 8 are arranged on
On the axle of torque sensor 5, it is connected respectively with chute platform 18, drive rod 9, holding rod 19, the first deep groove ball bearing 6, the 3rd zanjon
Ball bearing 8 ensures the axle of torque sensor 5 and the relative motion of chute platform 14, holding rod 15, and the second deep groove ball bearing 7 ensures moment of torsion
Sensor 5 produces relative gyration for 9 with drive rod, for detecting flywheel moment.
Pass through the finger actuation sliding block of different length：Forefinger sliding block 10, middle finger sliding block 12, nameless sliding block 14, little finger of toe are slided
The finger lengthening identical length that block 16 connects, the cooperative motion of multiple fingers is then realized by motor 1.According to finger
Length, the different length that refer to are extended into same arc surface, radius is taken as 123mm.This invention simplifies rehabilitation institution, improves rehabilitation
The reliability of device.
Four finger chutes：Forefinger chute 11, middle finger chute 13, nameless chute 15,17 inclined angle of little finger of toe chute
The Trajectory Design of the actual open and close movement of human finger is copied, in the training process, finger is connected with finger actuation sliding block, along finger
The motion of chute inclined direction, closes up when reaching grasping, the effect deployed during stretching, extension.As shown in Figure 2, according to finger physiology knot
Structure, on the basis of middle finger chute 13, forefinger chute 11 tilts 9.5 degree counterclockwise, and nameless chute 15 tilts 6.5 degree clockwise,
Little finger of toe chute 17 tilts 13 degree clockwise.The present invention can grasp stretching routine with altitude simulation human normal, improve rehabilitation efficacy.
In the present invention：
Drive device is arranged on supporting mechanism, and the transmission device connects drive device.
Chute platform 18 and holding rod 19 are installed on pedestal 3.
Drive rod 9 connects drive device, and drive rod 9 connects forefinger sliding block 10, middle finger sliding block 12, nameless sliding block 14, small
Refer to sliding block 16, forefinger sliding block 10, middle finger sliding block 12, nameless sliding block 14, little finger of toe sliding block 16 are slided in forefinger chute 11, middle refer to respectively
Slided in groove 13, nameless chute 15, little finger of toe chute 17.
Motor 1 and the axis connection of decelerator 2.
Tooth 4 is bored to be arranged on pedestal 3.
The operation principle of the present invention：
Palm is positioned on holding rod first by instruction person, forefinger, middle finger, the third finger and little finger of toe are slided with corresponding driving respectively
Block is flexibly connected.When implementing by instruction person's passive exercise, motor 1 is operated in mode position, motor 1 and decelerator 2 and passes through a pair of cones
Tooth 4 drives drive rod to be rotated around trunnion axis, drives four on drive rod finger sliding blocks to complete synchronous axial system and slided along respective slide slots
Cooperative motion, so as to realize the grasping of finger train；When implementing by instruction person's active training, motor 1 is operated in torque mode, quilt
Instruction person actively makees grasp motion, and being driven reverse drive motor 1 by torque sensor 5 and cone tooth rotates, and motor 1 exports fixed force
Square, the fixed damping needed for instruction person's training can be provided.Torque sensor 5 can detect hand with the encoder for being installed on motor 1
Refer to the torque when making to grasp training and position, provide feedback for active and passive exercise, it is often more important that can be trained
State, help to establish rehabilitation evaluation system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (1)
1. a kind of finger grip device for healing and training, it is characterised in that including detection means, the detection means includes detection hand
Refer to when making to grasp training the position torque sensor (5) of torque and be installed on motor (1) and grasping for detecting finger
The encoder of torque during training, the finger grip device for healing and training also include：Supporting mechanism, drive device, transmission device；
The drive device is arranged on supporting mechanism, and the transmission device connects drive device；
The supporting mechanism includes pedestal (3), the first deep groove ball bearing (6), the second deep groove ball bearing (7), the 3rd deep-groove ball axle
(8), chute platform (18) and holding rod (19) are held, chute platform (18) and holding rod (19), the first deep-groove ball are installed on the pedestal (3)
Bearing (6), the second deep groove ball bearing (7), the 3rd deep groove ball bearing (8) be arranged on torque sensor (5) axle on, respectively with chute
Platform (18), drive rod (9), holding rod (19) connection；
The drive device includes motor (1) and decelerator (2)；The motor (1) and decelerator (2) are fixed on pedestal (3), institute
State motor (1) and decelerator (2) axis connection；
The transmission device includes a pair of cone teeth (4)；The cone tooth (4) is arranged on pedestal (3), chute platform (18) installation
There are drive rod (9), forefinger sliding block (10), forefinger chute (11), middle finger sliding block (12), middle finger chute (13), nameless sliding block
(14), nameless chute (15), little finger of toe sliding block (16), little finger of toe chute (17)；
The drive rod (9) connects drive device, and drive rod (9) connection forefinger sliding block (10), middle finger sliding block (12), the third finger are sliding
Block (14), little finger of toe sliding block (16), the forefinger sliding block (10), middle finger sliding block (12), nameless sliding block (14), little finger of toe sliding block (16)
Slided respectively in forefinger chute (11), middle finger chute (13), nameless chute (15), little finger of toe chute (17), with middle finger chute
(13) on the basis of, forefinger chute (11) tilts 9.5 degree counterclockwise, and nameless chute (15) tilts 6.5 degree clockwise, little finger of toe chute
(17) 13 degree are tilted clockwise, and chute is located at the space rail collectively formed on the radius 123mm face of cylinder for sliding shoe motion
Road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510448216.9A CN105310864B (en) | 2015-07-26 | 2015-07-26 | A kind of finger grip device for healing and training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510448216.9A CN105310864B (en) | 2015-07-26 | 2015-07-26 | A kind of finger grip device for healing and training |
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| Publication Number | Publication Date |
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| CN105310864A CN105310864A (en) | 2016-02-10 |
| CN105310864B true CN105310864B (en) | 2017-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510448216.9A Active CN105310864B (en) | 2015-07-26 | 2015-07-26 | A kind of finger grip device for healing and training |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106377397B (en) * | 2016-12-06 | 2018-09-14 | 常州工学院 | A kind of finger training device |
| CN107080671B (en) * | 2017-06-20 | 2019-03-12 | 孙静洁 | A kind of finger training device swung based on hydraulic drive band |
| CN112294596A (en) * | 2020-03-24 | 2021-02-02 | 南通大学 | Finger rehabilitation training device convenient for adjusting training track |
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|---|---|---|---|---|
| CN2707239Y (en) * | 2004-05-27 | 2005-07-06 | 哈尔滨工程大学 | Traction type intelligent hand rehabilitation exerciser |
| CN101869526A (en) * | 2010-06-07 | 2010-10-27 | 付风生 | Upper limb rehabilitation training robot |
| CN101919757A (en) * | 2010-08-05 | 2010-12-22 | 徐树平 | Adjustable finger-separating plate |
| CN102813518A (en) * | 2012-09-11 | 2012-12-12 | 昆山市工业技术研究院有限责任公司 | Intelligent rehabilitation training instrument |
| CN204521434U (en) * | 2015-01-13 | 2015-08-05 | 常州市建本医疗康复器材有限公司 | A kind of human body recovery training mechanical arm |
| CN205108260U (en) * | 2015-07-26 | 2016-03-30 | 广东铭凯医疗机器人有限公司 | Finger gripping rehabilitation training device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PT2056752T (en) * | 2006-09-01 | 2017-12-22 | Bioservo Tech Ab | Strengthening glove |
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2015
- 2015-07-26 CN CN201510448216.9A patent/CN105310864B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2707239Y (en) * | 2004-05-27 | 2005-07-06 | 哈尔滨工程大学 | Traction type intelligent hand rehabilitation exerciser |
| CN101869526A (en) * | 2010-06-07 | 2010-10-27 | 付风生 | Upper limb rehabilitation training robot |
| CN101919757A (en) * | 2010-08-05 | 2010-12-22 | 徐树平 | Adjustable finger-separating plate |
| CN102813518A (en) * | 2012-09-11 | 2012-12-12 | 昆山市工业技术研究院有限责任公司 | Intelligent rehabilitation training instrument |
| CN204521434U (en) * | 2015-01-13 | 2015-08-05 | 常州市建本医疗康复器材有限公司 | A kind of human body recovery training mechanical arm |
| CN205108260U (en) * | 2015-07-26 | 2016-03-30 | 广东铭凯医疗机器人有限公司 | Finger gripping rehabilitation training device |
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| CN105310864A (en) | 2016-02-10 |
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Address after: 518035 Yinhua building, No. 3004 Sungang West Road, Mei Gang community, Shenzhen City, Futian District, Guangdong Province, 18EE05 Applicant after: GUANGDONG MINGKAI MEDICAL ROBOT CO., LTD. Address before: 510000 C, Shenzhen International Innovation Center, 1006 Shennan Road, Hua Fu Street, Guangdong, Zhuhai, Futian District 1903, China Applicant before: GUANGDONG MINGKAI MEDICAL ROBOT CO., LTD. |
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| CB03 | Change of inventor or designer information |
Inventor after: Wang Chunbao Inventor after: Long Jianjun Inventor after: Li Hua Inventor after: Guo Shanshan Inventor after: Li Weiguang Inventor after: Yao Xifan Inventor after: Zhang Qin Inventor after: Wei Jianjun Inventor after: Chen Wensheng Inventor after: Sun Tongyang Inventor after: Lu Zhixiang Inventor after: Duan Lihong Inventor after: Hou Anxin Inventor after: Xia Jinfeng Inventor after: Wang Nuan Inventor after: Li Meng Inventor after: Cai Xiaoyin Inventor after: Wang Guojun Inventor after: Wang Chunyu Inventor after: Li Limin Inventor after: Sang Xiaorong Inventor after: Takanishi Atsuo Inventor after: Shen Yajing Inventor after: Fujie Masakatsu Inventor after: Masiri zeca Arnold Inventor after: Zhang Xiaoli Inventor after: Liu Quanquan Inventor after: Shang Wanfeng Inventor after: Lin Chaohua Inventor after: Shi Qing Inventor after: Wang Yulong Inventor after: Wu Zhengzhi Inventor before: Wang Chunbao Inventor before: Duan Lihong Inventor before: Wang Yulong Inventor before: Li Weiguang Inventor before: Wu Zhengzhi Inventor before: Liu Quanquan Inventor before: Lu Zhijiang |
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