CN105853146B - A kind of healing hand function trainer - Google Patents
A kind of healing hand function trainer Download PDFInfo
- Publication number
- CN105853146B CN105853146B CN201610243165.0A CN201610243165A CN105853146B CN 105853146 B CN105853146 B CN 105853146B CN 201610243165 A CN201610243165 A CN 201610243165A CN 105853146 B CN105853146 B CN 105853146B
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- China
- Prior art keywords
- finger
- thumb
- rehabilitation
- connecting rod
- ectoskeleton
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Abstract
The invention discloses a kind of healing hand function trainer, including casing and the thumb rehabilitation system and four finger rehabilitation systems that are respectively erected in casing both sides, thumb rehabilitation system and four finger rehabilitation systems are connected by connecting rod actuating system with static housing；Level crossing is located between thumb rehabilitation system and four finger rehabilitation systems, thumb rehabilitation system and four finger rehabilitation systems are connected with each joint of finger respectively, connected end is provided with pressure sensor, it is worn by thumb rehabilitation system and four and refers to the exoskeleton manipulator motion of side after rehabilitation system, transmit power to drive opposite side exoskeleton manipulator to be synchronized with the movement by connecting rod actuating system, and then realize that Ipsilateral ectoskeleton drives Ipsilateral finger to synchronize rehabilitation exercise.Exoskeleton manipulator of the present invention undertakes weight by device for fixing boxes, patient will not be constituted and born, the present invention is simple in construction, easy and safe to operate and be easily achieved.More more exquisite more complicated rehabilitation exercise motions can be completed, more comprehensively more efficient rehabilitation is reached.
Description
Technical field
The present invention relates to a kind of human motion convalescence device, more particularly to a kind of healing hand function trainer.
Background technology
The patient damaged for hand movement function caused by unexpected injury, postoperative complication, apoplexy etc., some strength
Science Rehabilitation Training in Treating has very important meaning for recovering hand movement function to greatest extent.It is right both at home and abroad at present
The improvement being damaged in patient hand's motor function and rehabilitation therapy method mainly by repairing or remolding injured nerve, strengthen flesh
The intensity exercise of meat tendon, the motor function for completing motor learning to rebuild or improve patient hand prevents patient muscle's useless
Occur with property, promote cranial nerve compensatory.In traditional rehabilitation, therapist's teach-by-doing to patient carries out one-to-one formula rehabilitation
Therapy, not only the amount of labour is big for this method, somewhat expensive, and training effectiveness and intensity are difficult to ensure that, are lacked and are evaluated training ginseng
The objective data of number and rehabilitation efficacy relation, it is difficult to optimize to obtain therapeutic regimen to training parameter.
A kind of healing hand function trainer of the present invention is to obtain thinking from biological ectoskeleton, and according to ergonomics
The characteristics of be designed, equivalent to the hand ectoskeleton of patient, patient is worn on hand to aid in suffering from the rehabilitation referred to instruction
Practice, referring to the sensor of database and coordinative composition of equipments by setting up trouble can be directed to Rehabilitation situation progress objective quantification
Property training, make Rehabilitation effect maximize.Existing finger rehabilitation training device is all the fortune of some large joints of patient
It is dynamic, it is not that each important joint of every finger is substantially and driven using external force such as motor, cylinders in motion, and design
It is dynamic, there is the potential safety hazard for causing hand injuries all the time, therefore, present invention seek to address that above mentioned problem and set up.
The content of the invention
There is provided one kind for the hand function rehabilitation problem for the patient being damaged present invention aim to address hand movement function
Healing hand function trainer.
In order to solve deficiency of the prior art, the technical scheme that the present invention is provided is：
A kind of healing hand function trainer, including fix the casing of exoskeleton manipulator and be respectively erected in casing
The thumb rehabilitation system of the left and right sides and four refers to rehabilitation system, and thumb rehabilitation system and four finger rehabilitation systems pass through connecting rod power train
System is connected with static housing；Level crossing is located at the thumb rehabilitation system and four and referred in the casing between rehabilitation system, the thumb
Refer to rehabilitation system and four finger rehabilitation systems are connected with each joint of finger respectively, connected end is provided with pressure sensor, is worn by thumb
Rehabilitation system and four exoskeleton manipulators for referring to side after rehabilitation system are moved, and transmit power to drive by connecting rod actuating system
Opposite side exoskeleton manipulator is synchronized with the movement, and then realizes that Ipsilateral ectoskeleton drives Ipsilateral finger to synchronize rehabilitation exercise.
For above-mentioned technical proposal, inventor also has further optimal enforcement scheme：
As optimization, the thumb rehabilitation system includes thumb mechanism and thumb fixes floor；Described four refer to rehabilitation system
System includes four finger mechanisms being respectively connected with by four fingers of connecting rod actuating system and forefinger, middle finger, the third finger and little finger of toe, Yi Jisi
Refer to fixed floor.
Further, it is described four finger mechanism include four side by side be located at casing both sides by four finger bolt groups be fixed on four fingers
Four on fixed floor refer to fixed mechanism and crank mechanism, and four, which refer to fixed mechanism, includes four finger middle-end finger joint ectoskeletons, described four
Referring to middle-end finger joint ectoskeleton includes linear arm and four finger middle-end finger joint arched arms；Crank mechanism includes four and refers to left knee dermoskeleton
Bone, described four, which refer to left knee ectoskeleton, includes four finger left knee arched arms and telescopic arm；Described four refer to left knee arc
Arm and four finger middle-end finger joint ectoskeleton linear arms pass through 1# cylinder pin connections, and described four refer to left knee ectoskeleton telescopic arm and four
Refer to middle-end finger joint arched arm and pass through 2# cylinder pin connections.
Further, the telescopic arm of the four fingers left knee ectoskeleton includes being connected to four finger left knee arched arms
On connecting rod, connecting rod threaded connection screw mandrel, the side link that screw mandrel can be folded by cylinder pin connection, side link is connected with
The push rod socket-connected with four finger middle-end finger joint arched arms；Four finger distal end finger joint ectoskeletons are connected with push rod.
Further, described four refer to left knee arched arm and four finger middle-end finger joint arched arms provided with double arc tracks
Spacer pin is respectively equipped with groove, double arc track grooves；The 1# straight pins in four finger middle-end finger joint ectoskeleton linear arms are located at, and are set
Four finger distal end finger joint ectoskeletons on 2# straight pins connect with the bearing in rail groove, bearing can along joint ectoskeleton rail
Rolled in road groove.
Further, described four refer to middle-end finger joint arched arm inner arc root and four finger distal end finger joint ectoskeleton end difference
It is connected by each joint of VELCRO and finger, middle-end finger joint arched arm inner arc root and four finger distal end finger joint ectoskeleton ends is referred to four
Portion is respectively equipped with first pressure sensor and second pressure sensor.
As optimization, the thumb mechanism includes being located at casing both sides, being fixed on thumb fixing rib by thumb bolt group
Thumb proximal finger joint ectoskeleton on plate, thumb proximal finger joint ectoskeleton carries thumb proximal finger joint arched arm, and thumb proximal refers to
Saving arched arm has double arc track grooves, and spacer pin is respectively equipped with double arc track groove ends；Thumb proximal finger joint ectoskeleton
It is connected by 2# straight pins with the thumb middle-end finger joint ectoskeleton for the first connecting rod lower end being connected in connecting rod actuating system, bearing
It can be rolled along along the rail groove of joint ectoskeleton.
Further, the thumb middle-end finger joint ectoskeleton is provided with thumb pressure sensor with finger junction.
As optimization, the connecting rod actuating system includes the first connecting rod being located in casing, first connecting rod termination and right side
The four four finger middle-end finger joint ectoskeletons or thumb middle-end finger joint ectoskeleton for referring to mechanism are connected by screw, the other end of first connecting rod
The quadric chain for the piston rod being hinged is connected with, the elongated end of quadric chain is connected with cross bar, and the end of cross bar is cut with scissors respectively
Fix bar and second connecting rod are connected to, fix bar is connected with casing, second connecting rod termination refers to mechanism four with opposing left four and refers to middle-end
Finger joint ectoskeleton or thumb middle-end finger joint ectoskeleton pass through cylinder pin connection.
Further, the casing is front opening rear closure structure, and thumb rehabilitation system, four refer to rehabilitation system peace
Face mirror is located at box opening, and connecting rod actuating system is located at bin enclosure；The piston rod upper end of the connecting rod actuating system is passed through
Case-side cinclides is worn to slide up and down；The fix bar of connecting rod actuating system is connected on wall box.
Using above-mentioned technical proposal, compared with scheme of the prior art, the invention has the advantages that：
1st, provide power by patient's healthy side hand and drive Ipsilateral hands movement, it is simple in construction, safe operation and it is easily achieved.
2nd, a kind of healing hand function trainer of the invention is designed according to human hands physical dimension, no matter in hand
Fixing device still all devises size adjustment mechanism to meet the wearing demand and fortune of different patients at four finger movable joints
Dynamic scope.
3rd, sensor technology, the feedback ectoskeleton system of real-time objective are used in the ectoskeleton motion of the trainer
The movable information of system, sets up database, realizes that carrying out objective quantification to Rehabilitation situation targetedly trains, and makes trouble
Person's rehabilitation efficacy is maximized.
4th, exoskeleton manipulator undertakes weight by device for fixing boxes, patient will not be constituted and born.
5th, there is provided more frees degree, more more exquisite more complicated hand rehabilitation exercise motions can be completed, including
The associated movement and independently moving of five fingers, contribute to the better and more comprehensively rehabilitation of patient's Ipsilateral hand.
6th, the device for healing and training of the present invention is aided in carry out suffering from the rehabilitation referred to again against mirror by mirror therapy, i.e. patient
Training, contributes to patient to remold injured nerve, and then impaired brain is recovered function.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, not
Inappropriate limitation of the present invention is constituted, in the accompanying drawings：
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the forefinger or middle finger of the present invention or the structural representation of nameless or little finger of toe；
Fig. 3 is the structural representation of the thumb of the present invention；
Fig. 4 is the structural representation of the connecting rod actuating system of the present invention；
Fig. 5 is dimensional structure diagram of the invention.
In figure, 1, casing；2nd, right side thumb fixes floor；3rd, right side thumb；4th, right side forefinger；5th, right side middle finger；6th, it is right
Side is nameless；7th, right side little finger of toe；8th, right side four refers to fixed floor；9th, level crossing；10th, left side four refers to fixed floor；11st, left side is small
Refer to；12nd, left side is nameless；13rd, left side middle finger；14th, left side forefinger；15th, left side thumb；16th, left side thumb fixes floor；17、
Piston rod；18th, quadric chain；19th, first connecting rod；20th, second connecting rod；21st, fix bar；22nd, cross bar；23rd, four finger middle-ends refer to
Save ectoskeleton；24th, four refer to bolt group；25th, four refer to left knee ectoskeleton；26th, 1# straight pins；27th, four refer to left knee arc
Arm；28th, side link；29th, push rod；30th, first pressure sensor；31st, 2# straight pins；32nd, second pressure sensor；33rd, four refer to
Distal end finger joint ectoskeleton；34th, four refer to middle-end finger joint arched arm；35th, screw rod；36th, connecting rod；37th, thumb middle-end finger joint ectoskeleton；
38th, thumb bolt group；39th, thumb proximal finger joint ectoskeleton；40th, 2# straight pins；41st, thumb pressure sensor；42nd, thumb proximal
Finger joint arched arm；43rd, spacer pin；44th, groove；45th, the groove on cabinet exterior；46th, cabinet rear panel；47th, bin enclosure portion top surface
Plate；48th, box opening portion top panel；49th, casing front panel.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, present embodiment describes a kind of healing hand function trainer, its structure as shown in figure 1, including solid
The casing 1 for determining exoskeleton manipulator and the thumb rehabilitation system for the left and right sides of casing 1 for being respectively erected in exoskeleton manipulator
Refer to rehabilitation system with four, thumb rehabilitation system and four finger rehabilitation systems are connected by connecting rod actuating system with casing 1；Level crossing 9
The thumb rehabilitation system and four is located to refer in the casing 1 of the fixation exoskeleton manipulator between rehabilitation system.Thumb rehabilitation system
System and four finger rehabilitation systems are connected with each joint of finger respectively, and connected end is provided with pressure sensor, is worn by thumb rehabilitation system
With the four exoskeleton manipulator motions for referring to side (healthy side) after rehabilitation system, transmit power to drive by connecting rod actuating system
Opposite side (Ipsilateral) exoskeleton manipulator is synchronized with the movement, and then realizes that Ipsilateral ectoskeleton drives Ipsilateral finger to synchronize rehabilitation fortune
It is dynamic.
Shown in Fig. 1, the fixation floor of casing 1 is provided with the groove 45 on two cabinet exteriors, and four refer to four finger near-ends of mechanism
Also two bar grooves are respectively equipped with finger joint ectoskeleton 25, four finger mechanisms are fixed in groove fit structure by four finger bolt groups 24, led to
The cooperation of the two is crossed, reaches and adapts to different sizes and the purpose of position finger.The adjustment hole of diverse location is provided with casing 1,
Level crossing 9 is fixed in the adjustment hole of diverse location, the need for adapting to the different angles of diverse location.
As shown in Fig. 2 thumb rehabilitation system include thumb mechanism 3, the connecting rod actuating system that is connected with thumb mechanism and
The thumb of fixed thumb mechanism fixes floor.It is divided into left side thumb 15 and right side thumb 3, left side thumb fixes floor 16 and right side
Thumb fixes floor 2.
Four finger rehabilitation systems include forefinger, middle finger, the third finger and little finger of toe and refer to the connecting rod power train being respectively connected with four
Unite and fix the four of four finger mechanisms and refer to fixed floor.It is divided into the right hand four and refers to right side thumb health in mechanism and the finger of left hand four mechanism, Fig. 1
Complex system and four finger rehabilitation systems be sequentially distributed from top to bottom for right side thumb fix floor 2, right side thumb 3, right side forefinger 4,
Right side middle finger 5, the right side third finger 6, right side little finger of toe 7 and right side four refer to fixed cant timber 8.Left side thumb rehabilitation system and four refers to health
Complex system is sequentially distributed from top to bottom refers to fixed cant timber 10, left side little finger of toe 11, the left side third finger 12, left side middle finger for left side four
13rd, left side forefinger 14, left side thumb 15 and left side thumb fix floor 16.The right hand four, which refers to mechanism, to be included in right side forefinger 4, right side
Refer to 5, the right side third finger 6, right side little finger of toe 7, for one end first connecting rod 19 and the finger of the right hand four of the push and pull system for bending and stretching transmission power
The four of mechanism refer to middle-end finger joint ectoskeleton 33 and are connected by straight pin, and the two can be relatively rotated, and the right hand four refers to mechanism and referred to by four
Bolt group 24 is fixed on the right side four of casing 1 and referred on fixed floor 8；Left hand four, which refers to mechanism, includes left side forefinger 14, left side middle finger
13rd, the left side third finger 12, left side little finger of toe 11, mechanism is referred to bend and stretch the second connecting rod 20 of push and pull system of transmission power with left side four
Four refer to middle-end finger joint ectoskeletons by straight pin be connected, the two can be relatively rotated, left hand four refer to mechanism pass through four refer to bolt groups
24, which are fixed on the left side four of casing 1, refers on fixed floor 10.
As shown in Fig. 2 four finger mechanisms pass through four fingers including four both sides of casing 1 for being located at fixed exoskeleton manipulator side by side
Four finger fixed mechanisms and crank mechanism that fixed cant timber is fixed, four refer to fixed mechanisms refers to middle-end finger joint ectoskeleton 23 including four,
Four, which refer to middle-end finger joint ectoskeleton 23, includes linear arm and four finger middle-end finger joint arched arms 34；Crank mechanism includes four and refers to left knee
Ectoskeleton 25, four, which refer to left knee ectoskeleton 25, includes four finger left knee arched arms 27 and telescopic arm；Four refer to left knee arc
Shape arm 27 is connected with the linear arm of four finger middle-end finger joint ectoskeleton 23 by 1# straight pins 26, and four, which refer to left knee ectoskeleton 25, stretches
Four finger distal end finger joint ectoskeletons 33 on arm are connected with four finger middle-end finger joint arched arms 34 by 2# straight pins 31.
Wherein, the telescopic arm of four finger left knee ectoskeletons 25 includes the company being connected on four finger left knee arched arms 27
Extension bar 36, the threaded connection screw mandrel 35 of connecting rod 36, the side link 28 that screw mandrel 35 can be folded by cylinder pin connection, side link 28
It is connected with the push rod 29 socket-connected with four finger middle-end finger joint arched arms 34；Four finger distal end finger joint ectoskeletons are connected with push rod 29
33.Screw rod 35 is provided with external screw thread, and screw rod 35 and connecting rod 36 are connected through a screw thread to adjust length of fit, screw rod 35 and side link
28, by cylinder pin connection, the purpose of regulation finger motion scope are reached by the relative motion between chain bar.Four refer to left knee
The finger middle-end finger joint of arched arm 27 and four arched arm 34, which is provided with double arc track grooves, double arc track grooves, is respectively equipped with spacer pin；
It is located at the 1# straight pins 26 in the linear arm of four finger middle-end finger joint ectoskeleton 23, and the 2# being located on four finger distal end finger joint ectoskeletons 33
Straight pin 31 connects with the bearing in rail groove, and bearing can be rolled along along the rail groove of joint ectoskeleton.
The inner arc root of four finger middle-end finger joint arched arm 34 passes through VELCRO respectively with four finger distal end finger joint ectoskeleton 33 ends
It is connected with each joint of finger, refer to the inner arc root of middle-end finger joint arched arm 34 four distinguishes with four finger distal end finger joint ectoskeleton 33 ends
Provided with first pressure sensor 30 and second pressure sensor 32.
As shown in figure 3, thumb mechanism includes being located at the both sides of casing 1, being fixed on the fixation of casing 1 by thumb bolt group 38
Thumb proximal finger joint ectoskeleton 39 on floor (right side thumb fixes floor 2, left side thumb and fixes floor 16), thumb proximal refers to
Save ectoskeleton 39 and carry thumb proximal finger joint arched arm 42, thumb proximal finger joint arched arm 42 and four refers to left knee ectoskeleton 25
Four to refer to left knee 27 structures of arched arm identical, it is same that there are double arc track grooves, set respectively in double arc track groove ends
Limited location pin 43, prevents the mechanism blockage in motion process；Thumb proximal finger joint ectoskeleton 39 is by 2# straight pins 40 with being connected
The thumb middle-end finger joint ectoskeleton 37 of the lower end of first connecting rod 19 in connecting rod actuating system is connected, and 2# straight pins 40 connect with bearing
Connect, bearing can be rolled along along the rail groove of joint ectoskeleton.It is provided with the side of 39 thumb bolt group of thumb proximal finger joint ectoskeleton 38
The groove 44 being engaged with the groove 45 on cabinet exterior, by the cooperation of the two, reaches and adapts to different sizes and the mesh of position finger
's.
Thumb middle-end finger joint ectoskeleton 37 is provided with thumb pressure sensor 41 with finger junction.By angular transducer and
Pressure sensor feedback collection patient's training data.
As shown in figure 4, connecting rod actuating system includes the first connecting rod 19 being located in casing 1, the termination of first connecting rod 19 and the right side
The four finger middle-end finger joint ectoskeletons 23 or thumb middle-end finger joint ectoskeleton 37 that side four refers to mechanism are connected by screw, first connecting rod 19
The other end be connected with the quadric chain 18 of the piston rod 17 being hinged, the elongated end of quadric chain 18 is connected with cross bar 22,
The end of cross bar 22 has been respectively articulated with fix bar 21 and second connecting rod 20, and fix bar 21, by cylinder pin connection, is fixed with casing 1
Bar 21 can be rotated around straight pin, and the termination of second connecting rod 20 refers to mechanism four with relatively right left side four and refers to middle-end finger joint ectoskeleton 23 or thumb
Refer to middle-end finger joint ectoskeleton 37 and pass through cylinder pin connection.Due to the invertibity that connecting rod actuating system is moved, the side of main motion was both
Can be that left hand can also be the right hand.
As shown in figure 5, casing 1 is front opening rear closure structure, by cabinet rear panel 46, bin enclosure portion top panel
47th, box side and box inside plate constitute closed box.Illustrate connecting rod power transmission of the present invention by taking thumb connecting rod actuating system as an example
Link position of the system in casing.Connecting rod actuating system is located in the closed box；Casing is provided with casing front opening
Opening portion top panel 48 and casing front panel 49.Thumb rehabilitation system, four finger rehabilitation systems and level crossing 9 are located at casing 1 and are open
Place, connecting rod actuating system is located at the closing of casing 1；Box opening portion is run through in the upper end of piston rod 17 of the connecting rod actuating system of thumb
The hole of the side wall of top panel 48 is slided up and down；The fix bar 21 of the connecting rod actuating system of thumb is connected on casing front panel 49.
The course of work of the present invention is as follows：
The patient being damaged with hand movement function has dressed healing hand function trainer of the invention, patient's healthy side hand
When finger does grasp motion, by taking forefinger as an example, the forefinger ectoskeleton motion that forefinger bending in side drives device for healing and training is good for, i.e., four refer to
Middle-end finger joint ectoskeleton 23 and four refers to distal end finger joint ectoskeleton 33 and moved respectively in deep-slotted chip breaker, so as to promote first connecting rod 19 to transport
It is dynamic, by quadric chain 18, cross bar 22, fix bar 21, second connecting rod 20, power is acted on Ipsilateral hand ectoskeleton, entered
And drive four to refer to middle-end finger joint ectoskeleton 23 and moved along the deep-slotted chip breaker on four finger left knee ectoskeletons 25, that is, drive trouble to refer to nearly finger
Hold arthrogryposis.In four finger left knee ectoskeletons 25 and the relative movement of four finger middle-end finger joint ectoskeleton 23, indirect belt
Finger tip arthrogryposis in dynamic patient, in the case where connecting rod 36, screw rod 35, side link 28, push rod 29 drive, four refer to distal end finger joint dermoskeleton
Bone 33 is moved in the deep-slotted chip breaker along four finger middle-end finger joint ectoskeletons 23, that is, drives trouble to refer to remote finger tip arthrogryposis, and then control to suffer from
The bending of finger.Patient's healthy side hand, which refers to, does stretching, you can realize the stretching routine of each finger of Ipsilateral.In addition, referring to carrying out trouble
Rehabilitation training in, patient can observe the rehabilitation training campaign of homonymy each finger by level crossing 9.The present invention is adopted
With " mirror therapy ", acted on using mirror image, patient is constantly taken exercises with the right hand of health against mirror, it is a kind of to brain in patients
Impaired left hand so contributes to the recovery or remodeling in related impaired brain motor function region in the illusion of motion, so that
Reach the effect of healing hand function training.As long as mirror angle requirement in mirror it can be seen that the motion of the right hand, together
Shi Jingzi shelters from left hand.
Whole trainer is absolute construction, can be placed on different occasions and carry out rehabilitation.
The technical concept and feature of examples detailed above only to illustrate the invention, can not limit the protection model of the present invention with this
Enclose.For those skilled in the art, every equivalent transformation done according to spirit of the invention or modification are improved, all
It should be included within the scope of the present invention.
Claims (8)
1. a kind of healing hand function trainer, it is characterised in that include casing (1), the Yi Jifen of fixed exoskeleton manipulator
The thumb rehabilitation system and four for not being erected at casing (1) left and right sides refer to rehabilitation system, and thumb rehabilitation system and four refer to rehabilitation system
System is connected by connecting rod actuating system with static housing (1)；Level crossing (9) is located at the thumb rehabilitation system and four and refers to rehabilitation system
In casing (1) between system, the thumb rehabilitation system and four finger rehabilitation systems are connected with each joint of finger respectively, and connected end is set
There is pressure sensor, be worn by thumb rehabilitation system and four and refer to the exoskeleton manipulator motion of side after rehabilitation system, by even
Bar actuating system transmits power to drive opposite side exoskeleton manipulator to be synchronized with the movement, and then realizes that Ipsilateral ectoskeleton drives Ipsilateral
Finger synchronizes rehabilitation exercise；
The thumb rehabilitation system includes thumb mechanism and thumb fixes floor；Described four, which refer to rehabilitation system, is included by connecting
The four finger mechanisms that four fingers of bar actuating system and forefinger, middle finger, the third finger and little finger of toe are respectively connected with, and the fixed floor of four fingers；
The connecting rod actuating system includes two interconnection being connected respectively with four finger middle-end finger joint ectoskeletons of thumb mechanism, four finger mechanisms
Connecting rod, provided with the piston rod and fix bar being connected with casing between two connecting rods；
The connecting rod actuating system includes the first connecting rod (19) being located in casing (1), first connecting rod (19) termination and right side four
The four finger middle-end finger joint ectoskeletons (23) or thumb middle-end finger joint ectoskeleton (37) for referring to mechanism are connected by screw, first connecting rod
(19) the other end is connected with the quadric chain (18) for the piston rod (17) being hinged, the elongated end connection of quadric chain (18)
There is cross bar (22), the end of cross bar (22) has been respectively articulated with fix bar (21) and second connecting rod (20), fix bar (21) and casing
(1) it is connected, second connecting rod (20) termination refers to the finger middle-end finger joint ectoskeleton of mechanism four (23) with opposing left four or thumb middle-end refers to
Section ectoskeleton (37) passes through cylinder pin connection.
2. a kind of healing hand function trainer according to claim 1, it is characterised in that described four, which refer to mechanism, includes four
Individual casing (1) both sides that are located at side by side are fixed on four finger fixed mechanisms and song that four fingers are fixed on floor by four finger bolt groups (24)
Handle mechanism, four, which refer to fixed mechanism, includes four finger middle-end finger joint ectoskeletons (23), and the four finger middle-end finger joint ectoskeleton (23) includes
Linear arm and four refers to middle-end finger joint arched arm (34)；Crank mechanism includes four and refers to left knee ectoskeleton (25), and described four refer to closely
Hold finger joint ectoskeleton (25) to include four and refer to left knee arched arm (27) and telescopic arm；Described four refer to left knee arched arm (27)
It is connected with four finger middle-end finger joint ectoskeleton (23) linear arms by 1# straight pins (26), described four refer to left knee ectoskeleton (25)
Telescopic arm is connected with four finger middle-end finger joint arched arms (34) by 2# straight pins (31).
3. a kind of healing hand function trainer according to claim 2, it is characterised in that described four refer to outside left knee
The telescopic arm of bone (25) includes the connecting rod (36) being connected on four finger left knee arched arms (27), connecting rod (36) screw thread
Connection wire rod (35), the side link (28) that screw mandrel (35) can be folded by cylinder pin connection, side link (28) is connected with and four
Refer to the push rod (29) that middle-end finger joint arched arm (34) socket-connects；Four finger distal end finger joint ectoskeletons (33) are connected with push rod (29).
4. a kind of healing hand function trainer according to claim 3, it is characterised in that described four refer to left knee arc
Shape arm (27) and four refer to middle-end finger joint arched arms (34) be provided with double arc track grooves, double arc track grooves be respectively equipped with it is spacing
Pin；The 1# straight pins (26) in four finger middle-end finger joint ectoskeleton (23) linear arms are located at, and are located at four finger distal end finger joint ectoskeletons
(33) the 2# straight pins (31) on connect with the bearing in rail groove, and bearing can be rolled along along the rail groove of joint ectoskeleton.
5. a kind of healing hand function trainer according to claim 3, it is characterised in that described four refer to middle-end finger joint arc
Shape arm (34) inner arc root is connected by each joint of VELCRO and finger respectively with four finger distal end finger joint ectoskeleton (33) ends,
Four finger middle-end finger joint arched arm (34) inner arc roots are respectively equipped with first pressure biography with four finger distal end finger joint ectoskeleton (33) ends
Sensor (30) and second pressure sensor (32).
6. a kind of healing hand function trainer according to claim 1, it is characterised in that the thumb mechanism includes setting
In casing (1) both sides, the thumb proximal finger joint ectoskeleton (39) being fixed on by thumb bolt group (38) on fixed floor, thumb
Left knee ectoskeleton (39) carries thumb proximal finger joint arched arm (42), and thumb proximal finger joint arched arm (42) has double arcs
Rail groove, spacer pin (43) is respectively equipped with double arc track groove ends；Thumb proximal finger joint ectoskeleton (39) passes through 2# cylinders
Pin (40) is connected with the thumb middle-end finger joint ectoskeleton (37) of first connecting rod (19) lower end being connected in connecting rod actuating system, axle
Holding can roll along along the rail groove of joint ectoskeleton.
7. a kind of healing hand function trainer according to claim 6, it is characterised in that outside the thumb middle-end finger joint
Bone (37) is provided with thumb pressure sensor (41) with finger junction.
8. a kind of healing hand function trainer according to claim 1, it is characterised in that the casing (1) is front portion
Open rear section enclosed construction, thumb rehabilitation system, four finger rehabilitation systems and level crossing (9) are located at casing (1) opening, and connecting rod is passed
Force system is located at casing (1) closing；Done through the areole of casing piston rod (17) upper end of the connecting rod actuating system
Lower slider；The fix bar (21) of connecting rod actuating system is connected on wall box.
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| CN201610243165.0A CN105853146B (en) | 2016-04-19 | 2016-04-19 | A kind of healing hand function trainer |
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| CN201610243165.0A CN105853146B (en) | 2016-04-19 | 2016-04-19 | A kind of healing hand function trainer |
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| CN105853146B true CN105853146B (en) | 2017-09-12 |
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| US11246786B2 (en) * | 2016-12-22 | 2022-02-15 | Rehab-Robotcs Company Ltd. | Power assistive device for hand rehabilitation and a method of using the same |
| CN106726349A (en) * | 2016-12-27 | 2017-05-31 | 安徽相王医疗健康股份有限公司 | A kind of finger recovering training device |
| CN106625603B (en) * | 2016-12-30 | 2019-04-30 | 东南大学 | Exoskeleton mechanism based on fan-shaped track |
| CN106943279B (en) * | 2017-04-27 | 2023-05-12 | 东北大学 | Hand exoskeleton and two-hand follow-up rehabilitation device |
| CN107174478B (en) * | 2017-05-23 | 2019-05-28 | 山东揽盛机器人研究院 | A kind of rehabilitation hand equipment taken exercise based on belt wheel all-directional |
| CN107198641B (en) * | 2017-05-23 | 2019-07-12 | 山东海天智能工程有限公司 | A kind of rehabilitation hand equipment based on the unpowered input of belt wheel transmission |
| CN109718051B (en) * | 2017-06-20 | 2021-03-26 | 孙静洁 | Finger training device |
| CN107184371B (en) * | 2017-07-12 | 2023-03-21 | 合肥工业大学 | Hand knuckle rehabilitation training mechanism |
| CN108814898B (en) * | 2018-05-08 | 2023-10-31 | 合肥工业大学 | Hand function rehabilitation training system |
| CN108992306B (en) * | 2018-08-08 | 2021-03-16 | 苏州睿智瀚医疗科技有限公司 | Multi freedom desktop formula thumb rehabilitation device |
| CN109199790B (en) * | 2018-10-23 | 2019-09-27 | 燕山大学 | A kind of towed finger recovering training device |
| CN111166609A (en) * | 2020-01-06 | 2020-05-19 | 河南牛帕力学工程研究院 | Finger joint rehabilitation device |
| CN111249111B (en) * | 2020-02-25 | 2021-04-30 | 燕山大学 | Tail end traction type finger rehabilitation robot |
| CN113101131B (en) * | 2021-03-26 | 2023-02-10 | 上海大学 | Finger joint of under-actuated rehabilitation robot |
| CN114209547B (en) * | 2021-12-23 | 2023-08-22 | 国家康复辅具研究中心 | Wearable exoskeleton hand rehabilitation training device |
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| DE3917938A1 (en) * | 1989-06-01 | 1990-12-06 | Max Pasbrig | Finger joints exercising appts. - incorporates thimble to receive tips of patient's fingers |
| US8574178B2 (en) * | 2009-05-26 | 2013-11-05 | The Hong Kong Polytechnic University | Wearable power assistive device for helping a user to move their hand |
| EP2480290A4 (en) * | 2009-09-22 | 2016-06-01 | Mirrored Motion Works Llc | Rehabilitative training devices for use by stroke patients |
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Effective date of registration: 20171107 Address after: Buji street Longgang District of Shenzhen City, Guangdong province 518000 Beijing Road South Huating C1403 Patentee after: Shenzhen Medical Technology Co., Ltd. Address before: 710049 Shaanxi province Xi'an Beilin District Xianning Road No. 28, Xi'an Jiao Tong University School of Instrument Science and precision machinery manufacturing department Patentee before: Wang Jing |