CN105726263A - Wearable hand exoskeleton rehabilitation training robot - Google Patents

Wearable hand exoskeleton rehabilitation training robot Download PDF

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Publication number
CN105726263A
CN105726263A CN201610243595.2A CN201610243595A CN105726263A CN 105726263 A CN105726263 A CN 105726263A CN 201610243595 A CN201610243595 A CN 201610243595A CN 105726263 A CN105726263 A CN 105726263A
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CN
China
Prior art keywords
thumb
joint
finger
ectoskeleton
electric motors
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CN201610243595.2A
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Chinese (zh)
Inventor
王晶
郭晓辉
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Xian Jiaotong University
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Xian Jiaotong University
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Priority to CN201610243595.2A priority Critical patent/CN105726263A/en
Publication of CN105726263A publication Critical patent/CN105726263A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285Hand
    • A61H1/0288Fingers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0006Exoskeletons, i.e. resembling a human figure
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01Constructive details
    • A61H2201/0157Constructive details portable
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • A61H2205/065Hands
    • A61H2205/067Fingers

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a wearable hand exoskeleton rehabilitation training robot. The wearable hand exoskeleton rehabilitation training robot comprises a hand fixing device which is fixed with a hand back and a wrist, wherein the hand fixing device is connected with a thumb rehabilitation system and a four-finger rehabilitation system; the thumb rehabilitation system comprises a thumb power source and a thumb mechanism connected with the thumb power source; the four-finger rehabilitation system comprises a four-finger linear motor, an index finger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism which are connected with the four-finger linear motor; the thumb mechanism, the index finger mechanism, the middle finger mechanism, the ring finger mechanism and the little finger mechanism are respectively connected with all joints of the fingers; pressure sensors are arranged at the connecting ends; the thumb rehabilitation and the four-finger rehabilitation system are driven by a thumb middle motor, a thumb linear motor and a four-finger linear motor to move, so as to drive the fingers to perform exoskeleton rehabilitation training. The device is small in size, intelligent, easy to wear and good in portability.

Description

A kind of Wearable hand exoskeleton rehabilitation image training robot
Technical field
The present invention relates to healing robot technical field, particularly relate to a kind of Wearable hand exoskeleton rehabilitation image training robot.
Background technology
Theory of medicine with facts have proved, for the patient of the hand movement function damage that unexpected injury, postoperative complication, cardiovascular and cerebrovascular disease or nervous system disease etc. cause, the Rehabilitation Training in Treating of the science of some strength has very important meaning for recovering hand movement function to greatest extent.The domestic and international improvement impaired for patient hand's motor function at present and rehabilitation therapy method are mainly by repairing or reinventing injured nerve, strengthen the intensity exercise of muscle tendon, complete the motor function that motor learning is rebuild or improved patient hand, the useless property preventing patient muscle occurs, and promotes that cranial nerve is compensatory.In traditional rehabilitation, therapist by doing and illustrating patient is carried out formula rehabilitation therapy one to one, this method not only amount of labour is big, somewhat expensive, and training effectiveness and intensity are difficult to ensure that, lack the objective data evaluating training parameter and rehabilitation efficacy relation, it is difficult to be optimized to obtain therapeutic regimen to training parameter.In order to solve above drawback, research and the utilization of hand function healing robot technology robot application combined with the recovering aid therapy of rehabilitation field are arisen at the historic moment.
Ectoskeleton is that one can provide biological soft inside organ carries out configuration, the hard external structure of building and protection.Being usually and chitinous skeleton tough and tensile to shrimp, Eriocheir sinensis, insecticide constant pitch main drive object table is called ectoskeleton, it has protection and supporting function.
Hand exoskeleton rehabilitation image training robot obtains a kind of mode that human hands function is strengthened of thinking just from biological ectoskeleton, it is that the feature according to human engineering is designed, be equivalent to the hand ectoskeleton of patient, patient is worn on the rehabilitation training that hand assists trouble to refer to, Rehabilitation situation can be carried out objective quantification train targetedly by setting up the sensor of database and coordinative composition of equipments, make Rehabilitation maximum effect.But existing exoskeleton rehabilitation training device not only volume is relatively big, not having portability, and not each important finger-joint is in motion, major part hand device for healing and training all have ignored this point.Therefore, the invention is intended to solve the problems referred to above and set up.
Summary of the invention
It is an object of the invention to the limitation for prior art, solve the hand rehabilitation problem of the impaired patient of hand movement function, it is provided that a kind of Wearable hand exoskeleton rehabilitation image training robot.
It is an object of the invention to be achieved through the following technical solutions:
A kind of Wearable hand exoskeleton rehabilitation image training robot, including the hand fixing device being fixed in the back of the hand and wrist, being connected to thumb rehabilitation system and four on described hand fixing device and refer to rehabilitation system, described thumb rehabilitation system includes motor in the middle part of thumb, thumb linear electric motors and the thumb mechanism being connected with motor, thumb linear electric motors in the middle part of thumb;Described four refer to that rehabilitation system includes four finger linear electric motors and refers to, with four, forefinger, middle finger, the third finger and the little finger of toe mechanism that linear electric motors are connected;Described thumb mechanism and forefinger, middle finger, the third finger and little finger of toe mechanism are connected with each joint of finger respectively, connected end is provided with pressure transducer, refer to that linear electric motors drive thumb rehabilitation system and four to refer to rehabilitation system motion by motor, thumb linear electric motors and four in the middle part of thumb, thus driving finger to do exoskeleton rehabilitation training.
For technique scheme, inventor also has further optimal enforcement scheme:
As optimization, described forefinger, middle finger, the third finger and little finger of toe mechanism include four and are located at hand fixing device rear portion side by side and refer to fixed mechanism and crank mechanism by the four of four finger linear electric motors bases support four finger linear electric motors connections, four refer to by ball pivot and four, fixed mechanism refers to that the output shaft of linear electric motors is connected, and it is coupled that crank mechanism runs through hand fixing device front portion adjustment hole by screw.
Further, described four refer to that fixed mechanism includes the PIP joint ectoskeleton being connected on the output shaft of four finger linear electric motors, and described PIP joint ectoskeleton includes linear arm and PIP arched arm;Described crank mechanism includes the MP joint ectoskeleton that hand fixing device is anterior, and described MP joint ectoskeleton includes MP arched arm and telescopic arm;
Further, described MP arched arm is connected by 1# straight pin with PIP joint ectoskeleton linear arm, and described MP joint ectoskeleton telescopic arm is connected by 2# straight pin with PIP arched arm.
Further, the ectoskeletal telescopic arm in described MP joint includes the connecting rod being connected on MP arched arm, the threaded screw mandrel of connecting rod, and screw mandrel connects the side link that can fold by straight pin, and side link is connected to the push rod socket-connected with PIP arched arm;Push rod is connected to DIP joint ectoskeleton.
Further, described MP arched arm and PIP arched arm are provided with double; two arc track groove, are respectively equipped with spacer pin in double; two arc track grooves;Being located at the 1# straight pin in the ectoskeleton linear arm of PIP joint, and the 2# straight pin being located on push rod connects with the bearing in rail groove, bearing can roll along the ectoskeletal rail groove in joint.
Further, described PIP arched arm inner arc root is connected respectively through each joint of VELCRO and finger with ectoskeleton end, DIP joint, is respectively equipped with the first pressure transducer and the second pressure transducer in PIP arched arm inner arc root and ectoskeleton end, DIP joint.
As optimization, described thumb rehabilitation system includes being located at hand fixing device sidepiece and supporting, by three thumb linear electric motors bases, the thumb fixed mechanism that thumb linear electric motors connect;Described thumb fixed mechanism includes the thumb IP joint ectoskeleton that in the middle part of thumb, motor connects and the thumb MP joint ectoskeleton being connected on hand fixing device by bearing.
Further, described thumb IP joint ectoskeleton is linear arm, and thumb MP joint ectoskeleton is double; two arched arms, and double; two arched arms are respectively equipped with double; two arc track groove, are respectively equipped with spacer pin in double; two arc track grooves;Described thumb IP joint ectoskeleton is connected by 3# straight pin with the double; two arched arm of thumb MP joint ectoskeleton, ectoskeletal one end, thumb MP joint is connected with straight pin by taper roll bearing with hand fixing device, being connected with bearing by 3# straight pin between the ectoskeletal other end in thumb MP joint with thumb IP joint ectoskeleton, bearing can roll along the ectoskeletal rail groove in MP joint.
Further, being provided with angular transducer in described thumb MP joint ectoskeleton and hand fixing device junction, ectoskeleton end, described thumb IP joint is connected with thumb by VELCRO, and thumb IP joint ectoskeleton and finger junction are provided with thumb pressure sensor.
Further, in the middle part of described thumb, the clutch end of motor is connected by ball pivot with thumb IP joint ectoskeleton, thumb linear electric motors run through thumb linear electric motors base by screw and are connected with the adjustment hole on hand fixing device, reach to adapt to the purpose of different finger abduction/adduction angle.
Adopt technique scheme, compared with scheme of the prior art, present invention have the advantage that
1, drive ball pivot to connect by linear electric motors and obtain power, simple in construction, it is easy to accomplish.
2, one Wearable hand exoskeleton rehabilitation image training robot of the present invention is designed according to human hands physical dimension, refers to that movable joint places all devise size adjustment mechanism with the wearing demand of satisfied different patients and range of movement at hand fixing device or four.
3, skeleton motion mechanism adopts sensor technology outside, the movable information of the feedback exoskeleton system of real-time objective, set up database, it is achieved Rehabilitation situation is carried out objective quantification and trains targetedly, make Rehabilitation maximum effect.
4, more degree of freedom is provided, more more exquisite more complicated hand rehabilitation exercise motion can be completed, except realizing jointly the bending and stretching and except the independently moving of each finger oriented mission of thumb, forefinger, middle finger, the third finger and little finger of toe, the degree of freedom of an abduction and interior receipts is increased at thumb place, while patient's thumb is carried out rehabilitation training, contribute to patient hand's rehabilitation better and more comprehensively.
5, volume of the present invention is little, intelligent, easy donning and good portability.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, is not intended that inappropriate limitation of the present invention, in the accompanying drawings:
Fig. 1 is the overall structure schematic diagram of the present invention;
Fig. 2 is the forefinger of the present invention or middle finger or nameless or little finger of toe structural representation;
Fig. 3 is the structural representation of the thumb of the present invention;
In figure, 1, hand fixing device;2, four refer to linear electric motors;3, thumb linear electric motors;4, thumb;5, forefinger;6, middle finger;7, nameless;8, little finger of toe;9, MP joint ectoskeleton;10, PIP joint ectoskeleton;11, MP arched arm;12, connecting rod;13, screw mandrel;14, side link;15, PIP arched arm;16, the second pressure transducer;17, the first pressure transducer;18, push rod;19,1# straight pin;20,2# straight pin;21, middle part motor base;22, thumb linear electric motors base;23, motor in the middle part of thumb;24, thumb connector;25, thumb MP joint ectoskeleton;26, thumb IP joint ectoskeleton;27, thumb pressure sensor;28, thumb spacer pin;29,3# straight pin;30, ball pivot;31, angular transducer;32, taper roll bearing;33, adjustment hole;34, linear electric motors base;35, DIP joint ectoskeleton.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
As shown in Figure 1, present embodiment describes a kind of Wearable hand exoskeleton rehabilitation image training robot, its structure is as shown in Figure 1, it includes the hand fixing device 1 in fixing the back of the hand and wrist, thumb rehabilitation system and four refers to rehabilitation system, hand fixing device 1 outer surface is used for fixing exoskeleton rehabilitation image training robot, inner surface be arcwall face with staff back structures of fitting, be fixed on hand by VELCRO.Described thumb rehabilitation system includes thumb 4 mechanism, power source (in the middle part of thumb motor 23, thumb linear electric motors 3) and the hand fixing device 1 being connected with power source;Four refer to rehabilitation systems include forefinger 5, middle finger 6, nameless 7 and little finger of toe 8 mechanism and be fixed on hand fixing device 1 to refer to respectively the power source (four finger linear electric motors 2) being connected with four.Thumb 4 mechanism and forefinger 5, middle finger 6, nameless 7 it is connected with each joint of finger respectively with little finger of toe 8 mechanism, connected end is provided with pressure transducer, refer to that linear electric motors 2 drive thumb rehabilitation system and four to refer to rehabilitation system motion by motor in the middle part of thumb 23, thumb linear electric motors 3 and four, thus driving finger to do exoskeleton rehabilitation training.
As shown in Figure 2, the power source of forefinger 5, middle finger 6, the third finger 7 and little finger of toe 8 includes four finger linear electric motors 2, linear electric motors base 34 respectively, refer to four, bending and stretching the clutch end providing the four of power to refer to linear electric motors 2 respectively refers to that mechanism is connected by ball pivot respectively for four, four refer to that linear electric motors 2 are fixed on hand fixing device 1 by motor base 33, and four refer to that linear electric motors 2 can rotate in the hole on linear electric motors base 34.
Four refer to that fixed mechanism includes MP joint ectoskeleton 9, connecting rod 12, screw mandrel 13, side link 14, push rod 18, DIP joint ectoskeleton 35 and PIP joint ectoskeleton 10.Four refer to that fixed mechanism includes four and is located at hand fixing device 1 rear portion side by side and supports, by four finger linear electric motors bases 34, four finger fixed mechanism and the crank mechanisms that four finger linear electric motors 2 connect, four refer to by ball pivot and four, fixed mechanism refers to that the output shaft of linear electric motors 2 is connected, and it is coupled that crank mechanism runs through the anterior adjustment hole of hand fixing device 1 by screw.Wherein, four refer to that ectoskeleton 10, PIP joint, the PIP joint ectoskeleton 10 that fixed mechanism includes being connected on the output shaft of four finger linear electric motors 2 includes linear arm and PIP arched arm 15;Crank mechanism includes ectoskeleton 9, MP joint, the MP joint ectoskeleton 9 of hand fixing device 1 front portion and includes MP arched arm 11 and telescopic arm;MP arched arm 11 is connected by 1# straight pin 19 with PIP joint ectoskeleton 10 linear arm, and MP joint ectoskeleton 9 telescopic arm is connected by 2# straight pin 20 with PIP arched arm 15.The telescopic arm of MP joint ectoskeleton 9 includes the connecting rod 12 being connected on MP arched arm 11, the threaded screw mandrel 13 of connecting rod 12, and screw mandrel 13 connects the side link 14 that can fold by straight pin, and side link 14 is connected to the push rod 18 socket-connected with PIP arched arm 15;Push rod 18 is connected to DIP joint ectoskeleton 35.MP arched arm 11 and PIP arched arm 15 are provided with double; two arc track groove, are respectively equipped with spacer pin in double; two arc track grooves;It is located at the 1# straight pin 19 in ectoskeleton 10 linear arm of PIP joint, and the 2# straight pin 20 being located on DIP joint ectoskeleton 35 connects with the bearing in rail groove.PIP arched arm 15 inner arc root is connected respectively through each joint of VELCRO and finger with ectoskeleton 35 end, DIP joint, is respectively equipped with the first pressure transducer 17 and the second pressure transducer 16 in PIP arched arm 15 inner arc root and ectoskeleton 35 end, DIP joint.
It is connected by screw between MP joint ectoskeleton 9 and hand fixing device 1, it is connected with bearing by 1# straight pin 19 between PIP joint ectoskeleton 10 with MP joint ectoskeleton 9, being connected with bearing by 2# straight pin 20 between DIP joint ectoskeleton 35 with PIP joint ectoskeleton 10, bearing can roll along the ectoskeletal rail groove in joint.
The stretching motion of linear electric motors 2 clutch end acts on PIP joint ectoskeleton 10 by ball pivot, drive DIP joint ectoskeleton 35 to move along the arcuate groove of PIP joint ectoskeleton 10 via connecting rod 12, screw mandrel 13, side link 14, push rod 18, and then control bending and stretching, extension that hand four refers to.
Four refer to forefinger 5 in rehabilitation systems, middle finger 6, nameless 7 and little finger of toe 8 mechanism be respectively equipped with the first spacer pin and the second spacer pin at the end of MP joint ectoskeleton 9 and PIP joint ectoskeleton 10 groove, prevent mechanism blockage in motor process, VELCRO and finger each joint connecting place is passed through at PIP joint ectoskeleton 10 and DIP joint ectoskeleton 35, it is respectively equipped with the first pressure transducer 17 and the second pressure transducer 16, by pressure transducer feedback collection patient's training data.
Screw mandrel 13 is provided with external screw thread, screw mandrel 13 and connecting rod 12 and is threaded connection and regulates length of fit, and screw mandrel 13 is connected by straight pin with side link 14, reaches to regulate the purpose of finger motion scope by the relative motion between bar.Described hand fixing device 1 is provided with the adjustment hole of diverse location, forefinger 5, middle finger 6, is connected by screw is fixed in adjustment hole between nameless 7 and little finger of toe 8 mechanism and hand fixing device 1, reaches to adapt to the purpose of different size finger.
As it is shown on figure 3, thumb rehabilitation system includes being located at hand fixing device 1 sidepiece and supporting, by three thumb linear electric motors bases, the thumb fixed mechanism that thumb linear electric motors 3 connect;Wherein, the power source of thumb rehabilitation system includes motor 23 in the middle part of thumb, middle part motor base 21, it is connected by ball pivot 30 with thumb IP joint ectoskeleton 26 for bending and stretching the clutch end of motor 23 in the middle part of the thumb providing power, in the middle part of thumb, motor 23 is fixed on hand fixing device 1 by middle part motor base 21, being fixed on thumb linear electric motors base 22 for swinging the thumb linear electric motors 3 providing power, thumb linear electric motors 3 are fixed on hand fixing device 1 by thumb linear electric motors base 22;The outfan of thumb linear electric motors 3 is connected by thumb connector 24 with thumb MP joint ectoskeleton 25.
Thumb fixed mechanism includes the thumb IP joint ectoskeleton 26 that in the middle part of thumb, motor 23 connects and the thumb MP joint ectoskeleton 25 being connected on hand fixing device 1 by taper roll bearing 32.One end of thumb MP joint ectoskeleton 25 is connected with straight pin by taper roll bearing 32 with hand fixing device 1, it is connected with bearing by 3# straight pin 29 between the other end of thumb MP joint ectoskeleton 25 with thumb IP joint ectoskeleton 26, bearing can roll along the ectoskeletal rail groove in joint, is provided with thumb spacer pin 28 in rail groove;The other end of thumb IP joint ectoskeleton 26 is connected by VELCRO with thumb.
Thumb IP joint ectoskeleton 26 is linear arm, and thumb MP joint ectoskeleton 25 is double; two arched arms, and double; two arched arms are respectively equipped with double; two arc track groove, are respectively equipped with spacer pin in double; two arc track grooves;Thumb IP joint ectoskeleton 26 is connected by 3# straight pin 29 with thumb MP joint 25 pairs of arched arms of ectoskeleton, and 3# straight pin 29 connects with the bearing in rail groove, and bearing can roll along the rail groove of MP joint ectoskeleton 25.
Being provided with angular transducer 31 in described thumb MP joint ectoskeleton 25 and hand fixing device 1 junction, ectoskeleton 26 end, thumb IP joint is connected with thumb by VELCRO, and thumb IP joint ectoskeleton 26 and finger junction are provided with thumb pressure sensor 27.
In the middle part of thumb, the clutch end of motor 23 is connected by ball pivot 30 with thumb IP joint ectoskeleton 26, thumb linear electric motors 3 run through thumb linear electric motors base 22 by screw and are connected with the adjustment hole 33 on hand fixing device 1, reach to adapt to the purpose of different finger abduction/adduction angle.
In the middle part of thumb, the stretching motion of motor 23 clutch end is acted on thumb IP joint ectoskeleton 26 by ball pivot, and then controls the bending and stretching of thumb;The stretching motion of thumb linear electric motors 3 clutch end passes through thumb connector 24, acts on thumb MP joint ectoskeleton 25, and then controls the swing of thumb.
Thumb MP joint ectoskeleton 25 in thumb rehabilitation system is provided with thumb spacer pin 28 at arcuate groove end, prevent mechanism blockage in motor process, it is provided with angular transducer 31 in thumb MP joint ectoskeleton 25 and hand fixing device 1 junction, thumb IP joint ectoskeleton 26 and finger junction are provided with thumb pressure sensor 27, by angular transducer and pressure transducer feedback collection patient's training data.Described hand fixing device 1 is provided with the adjustment hole 33 of diverse location, is connected by screw and is fixed in adjustment hole 33 between thumb linear electric motors 3 and hand fixing device 1, reaches to adapt to the purpose of different finger pendulum angle.
The work process of the present invention is as follows:
The Ipsilateral hands of patient has dressed the exoskeleton rehabilitation image training robot of the present invention.When exoskeleton rehabilitation image training robot does grasp motion, for forefinger, four refer to that the clutch end bar of linear electric motors 2 stretches out, by ball pivot interconnection function on PIP joint ectoskeleton 10, promote its arcuate groove along MP joint ectoskeleton 9 to move, namely drive trouble to refer to nearly finger tip arthrogryposis.In MP joint ectoskeleton 9 and PIP joint ectoskeleton 10 relative movement, indirectly drive finger tip arthrogryposis in patient, under connecting rod 12, screw mandrel 13, side link 14, push rod 18 drive, DIP joint ectoskeleton 35 moves along the arcuate groove of PIP joint ectoskeleton 10, namely drive trouble to refer to remote finger tip arthrogryposis, and then control to suffer from the bending referred to.Motor adverse movement, then realize the stretching of each finger.Patient's thumb can also realize abduction and the motion of interior receipts, and the stretching motion of thumb linear electric motors 3 clutch end passes through thumb connector 24, acts on thumb MP joint ectoskeleton 25, and then control thumb swings around taper roll bearing 32.
Examples detailed above only for technology design and the feature of the present invention are described, can not limit the scope of the invention with this.For a person skilled in the art, every equivalent transformation done according to spirit of the invention or modify improves, and all should be encompassed within protection scope of the present invention.

Claims (10)

1. a Wearable hand exoskeleton rehabilitation image training robot, including the hand fixing device (1) being fixed in the back of the hand and wrist, it is characterized in that, being connected to thumb rehabilitation system and four on described hand fixing device (1) and refer to rehabilitation system, described thumb rehabilitation system includes motor in the middle part of thumb (23), thumb linear electric motors (3) and the thumb mechanism being connected with motor in the middle part of thumb (23), thumb linear electric motors (3);Described four refer to that rehabilitation system includes four finger linear electric motors (2) and the forefinger (5) being connected with four fingers linear electric motors (2), middle finger (6), nameless (7) and little finger of toe mechanism (8);Described thumb mechanism and forefinger (5), middle finger (6), nameless (7) are connected with each joint of finger respectively with little finger of toe (8) mechanism, connected end is provided with pressure transducer, refer to that linear electric motors (2) drive thumb rehabilitation system and four to refer to rehabilitation system motion by motor in the middle part of thumb (23), thumb linear electric motors (3) and four, thus driving finger to do exoskeleton rehabilitation training.
2. a kind of Wearable hand exoskeleton rehabilitation image training robot according to claim 1, it is characterized in that, described forefinger (5), middle finger (6), nameless (7) and little finger of toe (8) mechanism include four and are located at hand fixing device (1) rear portion side by side, and support, by four fingers linear electric motors base (34), four finger fixed mechanism and the crank mechanisms that four fingers linear electric motors (2) connect, four refer to by ball pivot and four, fixed mechanism refers to that the output shaft of linear electric motors (2) is connected, it is coupled that crank mechanism runs through the anterior adjustment hole of hand fixing device (1) by screw.
3. a kind of Wearable hand exoskeleton rehabilitation image training robot according to claim 2, it is characterized in that, described four refer to that fixed mechanism includes PIP joint ectoskeleton (10) being connected on the output shaft of four finger linear electric motors (2), and described PIP joint ectoskeleton (10) includes linear arm and PIP arched arm (15);Described crank mechanism includes MP joint ectoskeleton (9) that hand fixing device (1) is anterior, and described MP joint ectoskeleton (9) includes MP arched arm (11) and telescopic arm;
Described MP arched arm (11) is connected by 1# straight pin (19) with PIP joint ectoskeleton (10) linear arm, and described MP joint ectoskeleton (9) telescopic arm is connected by 2# straight pin (20) with PIP arched arm (15).
4. a kind of Wearable hand exoskeleton rehabilitation image training robot according to claim 3, it is characterized in that, the telescopic arm of described MP joint ectoskeleton (9) includes the connecting rod (12) being connected on MP arched arm (11), connecting rod (12) threaded screw mandrel (13), screw mandrel (13) connects the side link (14) that can fold by straight pin, and side link (14) is connected to the push rod (18) socket-connected with PIP arched arm (15);Push rod (18) is connected to DIP joint ectoskeleton (35).
5. a kind of Wearable hand exoskeleton rehabilitation image training robot according to claim 3, it is characterized in that, described MP arched arm (11) and PIP arched arm (15) are provided with double; two arc track groove, are respectively equipped with spacer pin in double; two arc track grooves;It is located at the 1# straight pin (19) in ectoskeleton (10) linear arm of PIP joint, connecting with the bearing in rail groove with the 2# straight pin (20) being located on DIP joint ectoskeleton (35), bearing can roll along the ectoskeletal rail groove in joint.
6. a kind of Wearable hand exoskeleton rehabilitation image training robot according to claim 4, it is characterized in that, described PIP arched arm (15) inner arc root is connected respectively through each joint of VELCRO and finger with ectoskeleton (35) end, DIP joint, is respectively equipped with the first pressure transducer (17) and the second pressure transducer (16) in PIP arched arm (15) inner arc root and ectoskeleton (35) end, DIP joint.
7. a kind of Wearable hand exoskeleton rehabilitation image training robot according to claim 1, it is characterized in that, described thumb rehabilitation system includes being located at hand fixing device (1) sidepiece and supporting, by three thumb linear electric motors bases, the thumb fixed mechanism that thumb linear electric motors (3) connect;Described thumb fixed mechanism includes thumb IP joint ectoskeleton (26) that motor in the middle part of thumb (23) connects and thumb MP joint ectoskeleton (25) being connected on hand fixing device (1) by taper roll bearing (32).
8. a kind of Wearable hand exoskeleton rehabilitation image training robot according to claim 7, it is characterized in that, described thumb IP joint ectoskeleton (26) is linear arm, thumb MP joint ectoskeleton (25) is double; two arched arms, double; two arched arms are respectively equipped with double; two arc track groove, are respectively equipped with spacer pin in double; two arc track grooves;Described thumb IP joint ectoskeleton (26) is connected by 3# straight pin (29) with thumb MP joint ectoskeleton (25) double; two arched arm, the one end in thumb MP joint ectoskeleton (25) is connected with straight pin by taper roll bearing (32) with hand fixing device (1), being connected with bearing by 3# straight pin (29) between the other end in thumb MP joint ectoskeleton (25) with thumb IP joint ectoskeleton (26), bearing can roll in the rail groove in MP joint ectoskeleton (25).
9. a kind of Wearable hand exoskeleton rehabilitation image training robot according to claim 7, it is characterized in that, it is provided with angular transducer (31) in described thumb MP joint ectoskeleton (25) and hand fixing device (1) junction, ectoskeleton (26) end, described thumb IP joint is connected with thumb by VELCRO, and thumb IP joint ectoskeleton (26) and finger junction are provided with thumb pressure sensor (27).
10. a kind of Wearable hand exoskeleton rehabilitation image training robot according to claim 7, it is characterized in that, in the middle part of described thumb, the clutch end of motor (23) is connected by ball pivot (30) with thumb IP joint ectoskeleton (26), and thumb linear electric motors (3) run through thumb linear electric motors base (22) by screw and are connected with the adjustment hole (33) on hand fixing device (1).
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