CN106943279B

CN106943279B - Hand exoskeleton and two-hand follow-up rehabilitation device

Info

Publication number: CN106943279B
Application number: CN201710286286.8A
Authority: CN
Inventors: 肖锴; 张璞; 杨建宇; 周一方; 雒佳
Original assignee: Northeastern University China
Current assignee: Northeastern University China
Priority date: 2017-04-27
Filing date: 2017-04-27
Publication date: 2023-05-12
Anticipated expiration: 2037-04-27
Also published as: CN106943279A

Abstract

The invention relates to the technical field of rehabilitation robots, in particular to a hand exoskeleton and two-hand follow-up rehabilitation device. The device comprises a hand exoskeleton patient hand rehabilitation device, a hand exoskeleton healthy hand leading rehabilitation device, wherein the hand exoskeleton healthy hand leading rehabilitation device is placed on healthy hands, the hand exoskeleton healthy hand leading rehabilitation device is connected with a controller through a data signal wire, the controller is connected with the hand exoskeleton patient hand rehabilitation device through a control signal wire, the hand exoskeleton patient hand rehabilitation device comprises a finger part, a hand back part, gloves and a controller, the finger part comprises four finger mechanisms and a thumb mechanism, the four finger mechanisms are respectively an index finger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism, the mechanisms of the four finger mechanisms are identical, and a first angle sensor and a first power source of each finger mechanism are connected with the controller. The whole device can better realize autonomous targeted rehabilitation training and improve the effect of the rehabilitation training.

Description

Hand exoskeleton and two-hand follow-up rehabilitation device

Technical Field

The invention relates to the technical field of rehabilitation robots, in particular to a hand exoskeleton and two-hand follow-up rehabilitation device for hands and wrists.

Background

The hand is one of the most important parts of the human body, and not only can the hand complete a lot of heavy work, but also can engage in various fine activities closely related to daily life, and the normal movement ability of the hand is very important for people. Hand dyskinesias can greatly affect people's daily life. Unfortunately, a significant portion of the human population is injured by the joints, bones and nerves of the hand due to disease or accidents, and the typical injury treatment requires long-time braking of the finger, but the long-time braking can cause fibrosis due to joint tendon blood stasis, and cause adhesion of the finger joints and tendons and atrophy of muscles. In addition, hemiplegia due to cardiovascular diseases such as joint diseases, stroke and the like can also cause finger joint tendon fibrosis and spasmodic atrophy of muscles and ligaments, thereby causing hand movement dysfunction.

Clinical researches and practices show that the passive rehabilitation training is helpful for recovering the movement function of the affected limb of the patient with limb movement dysfunction, and after continuous high-strength repeated training, the strength of the hand muscle of the patient is improved to a certain extent, so that the recovery of the hand function is facilitated. The forced exercise therapy, motor imagery therapy, task guidance training and the like for hemiplegic stroke patients occurring from the 80 th century of the 20 th century have certain advantages compared with the traditional rehabilitation therapy method, but the high manual consumption and the complexity of operation are still difficult to avoid. In addition, the patient can habitually rely on healthy one-hand life in the long-term rehabilitation process, and the patient can avoid using the sick hand in daily life and is more unfavorable for the functional recovery of the sick hand.

The human hand is an organ with extremely fine anatomical structure and has more freedom of fingers, so that high requirements are put on the design of the exoskeleton. Through the document retrieval of the prior art, the research on the hand exoskeleton in China is still in the starting stage, and the research developed in the field mainly comprises the university of Qinghai, shanghai university of transportation, the university of double denier, the university of Harbin industry, zhejiang university and the like. There are no few excellent works of research but these problems are faced in general:

(1) The hand exoskeleton rehabilitation device is not light enough and lacks portability, and cannot assist the sick hand in daily life actions in various occasions.

(2) There is little corresponding effective rehabilitation mechanism for the thumb, but the thumb is essential for many hand daily activities such as grasping.

(3) Patients have difficulty in performing autonomous targeted rehabilitation training.

Disclosure of Invention

The invention aims at solving the problems of the hand exoskeleton rehabilitation device in the prior art, and provides a hand exoskeleton double-hand follow-up rehabilitation device which comprises the hand exoskeleton double-hand follow-up rehabilitation device. The hand exoskeleton double-hand follow-up rehabilitation device comprises a hand exoskeleton affected hand rehabilitation device and a normal hand exoskeleton leading rehabilitation device.

The technical scheme of the invention is as follows:

the hand exoskeleton and two-hand follow-up rehabilitation device comprises a hand exoskeleton affected hand rehabilitation device and a hand exoskeleton healthy and hand leading rehabilitation device, wherein the hand exoskeleton healthy and hand leading rehabilitation device is placed on a healthy hand, the hand exoskeleton healthy and hand leading rehabilitation device is connected with a controller through a data signal wire, and the controller is connected with the hand exoskeleton affected hand rehabilitation device through a control signal wire;

the hand exoskeleton affected hand rehabilitation device comprises a finger part, a hand back part and a controller; the finger part comprises four finger mechanisms and a thumb mechanism, wherein the four finger mechanisms are an index finger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism respectively, the mechanisms of the four finger mechanisms are the same in composition, each finger mechanism comprises three finger sleeves, a first cable, a second cable, a first power source, a first angle sensor and a first gear, and a knuckle connecting piece is arranged at the bottom of each finger sleeve;

the three finger sleeves are respectively a first finger sleeve, a second finger sleeve and a third finger sleeve, the first finger sleeve is rotationally connected with the second finger sleeve, the second finger sleeve is rotationally connected with the third finger sleeve, the third finger sleeve is rotationally connected with the back of the hand, a first wire wheel is arranged on the first finger sleeve and is positioned at the joint of the first finger sleeve and the second finger sleeve, a second wire wheel is arranged on the third finger sleeve and is positioned at the joint of the third finger sleeve and the second finger sleeve, one end of a first cable is fixed on the first wire wheel, the other end of the first cable is fixed on the second wire wheel, one end of the second cable is fixed on the first wire wheel, the other end of the second cable is fixed on the second wire wheel, the first cable is crossed with the second cable, the first power source is installed on the third finger sleeve, the output shaft of the first power source sequentially penetrates through the first angle sensor and the first gear, the side face of the second finger sleeve is provided with a matched gear which is meshed with the first gear, and the first angle sensor and the first power source of each finger mechanism and the back of the controller are connected with the hand.

The hand exoskeleton double-hand follow-up rehabilitation device comprises a fixing plate, wherein three fingerstall control mechanisms and one thumb fingerstall control mechanism are arranged on the fixing plate side by side, the three fingerstall control mechanisms are respectively a first fingerstall control mechanism, a second fingerstall control mechanism and a third fingerstall control mechanism, the first fingerstall control mechanism is connected with the index finger mechanism, the second fingerstall control mechanism is connected with the middle finger mechanism, the third fingerstall control mechanism is respectively connected with the ring finger mechanism and the little finger mechanism, and the thumb fingerstall control mechanism is connected with the thumb mechanism;

the first fingerstall control mechanism, the second fingerstall control mechanism and the third fingerstall control mechanism all comprise a sliding rail support, a motor support, a small-sized rack, a second power source, a second angle sensor and a second gear, wherein the sliding rail support is arranged on a fixed plate, a micro guide rail is arranged on the sliding rail support, the motor support is arranged on the micro guide rail and can slide on the micro guide rail, the second power source is arranged on the motor support, an output shaft of the second power source sequentially passes through the second angle sensor and the second gear, the small-sized rack is arranged on the sliding rail support, and the second gear is meshed with the small-sized rack;

The first finger stall control mechanism and the second finger stall control mechanism also respectively comprise a connecting rod, one end of the connecting rod of the first finger stall control mechanism is arranged on the first motor support, the other end of the connecting rod of the first finger stall control mechanism is connected with the third finger stall of the index finger mechanism, one end of the connecting rod of the second finger stall control mechanism is arranged on the second motor support, and the other end of the connecting rod of the second finger stall control mechanism is connected with the third finger stall of the middle finger mechanism;

the third fingerstall control mechanism further comprises two connecting rods, one end of each of the two connecting rods of the third fingerstall control mechanism is arranged on the third motor support, and the other end of each of the two connecting rods of the third fingerstall control mechanism is sequentially connected with the third fingerstall of the ring finger mechanism and the small finger mechanism.

The thumb mechanism of the hand exoskeleton and two-hand follow-up rehabilitation device comprises a thumb first fingerstall, a thumb second fingerstall, a thumb third fingerstall mechanism, a thumb first cable, a thumb second cable, a thumb first angle sensor, a thumb first gear and a thumb first power source, wherein the thumb third fingerstall mechanism comprises a third knuckle wearing ring and a third knuckle gear;

the thumb first finger sleeve is rotationally connected with the thumb second finger sleeve, the thumb second finger sleeve is rotationally connected with a third knuckle gear in a thumb third finger sleeve, the third knuckle gear is fixedly connected with a third knuckle wearing ring, and the third knuckle wearing ring is rotationally connected with a small connecting rod of a thumb finger sleeve control mechanism in the back of the hand; the first thumb sleeve is provided with a first thumb wheel, the first thumb wheel is positioned at the joint of the first thumb sleeve and the second thumb sleeve, the third thumb sleeve is provided with a second thumb wheel, and the second thumb wheel is positioned at the joint of the third thumb sleeve and the second thumb sleeve and is coaxially and fixedly connected with the third knuckle gear, so that the first thumb wheel is considered as a part; one end of the first thumb cable is fixed on the first thumb wheel, the other end of the first thumb cable is fixed on the second thumb wheel, one end of the second thumb cable is fixed on the first thumb wheel, the other end of the second thumb cable is fixed on the second thumb wheel, the first thumb cable is crossed with the second thumb cable, the first thumb power source is arranged on the second thumb sleeve, an output shaft of the first thumb power source sequentially penetrates through the first thumb angle sensor and the first thumb gear, the third knuckle gear is meshed with the first thumb gear, and the first thumb angle sensor, the first thumb power source and the back of the hand are connected with the controller.

The thumb stall control mechanism of the hand back comprises an inner gear bending side link, a small connecting rod, a thumb motor support, a thumb second power source, a thumb second gear and a thumb second angle sensor; the thumb motor support is fixedly connected with the back hand plate, the thumb second power source is arranged on the thumb motor support, an output shaft of the thumb second power source sequentially penetrates through the thumb second angle sensor and the thumb second gear, the thumb second gear is meshed with the inner gear bending side link, and the small connecting rod is rotationally connected with the inner gear bending side link.

The hand exoskeleton double-hand follow-up rehabilitation device is characterized in that a rack mounting groove is formed in the sliding rail support, and a small rack is bonded in the rack mounting groove of the sliding rail support in a bonding mode.

The hand exoskeleton and two-hand follow-up rehabilitation device comprises a finger part and a back part, wherein the finger part of the hand exoskeleton healthy hand leading rehabilitation device comprises four finger mechanisms, namely a thumb mechanism, an index finger mechanism, a middle finger mechanism and a ring finger mechanism; the index finger mechanism, the middle finger mechanism and the ring finger mechanism all comprise a second knuckle fingerstall mechanism, a third knuckle fingerstall mechanism and an MCP joint connecting rod mechanism; the second knuckle fingerstall mechanism comprises a second knuckle fingerstall provided with a matched gear and a fingerstall connecting piece connected below the fingerstall; the third knuckle fingerstall mechanism comprises a third knuckle fingerstall, a pinion shaft, a third knuckle angle sensor and a fingerstall connecting piece, wherein the pinion shaft is arranged above the third knuckle fingerstall and is meshed with a matched gear on one side of the second knuckle fingerstall; the MCP joint link mechanism comprises MCP links, a side link and a MCP angle sensor, wherein the MCP angle sensor is arranged at the rotary joint of the MCP links and the side link.

The thumb mechanism of the hand exoskeleton double-hand follow-up rehabilitation device comprises a third knuckle wearing ring, a third knuckle gear piece, a thumb second knuckle fingerstall, a leading small connecting rod, a bending side link, a thumb leading angle sensor and a thumb leading second angle sensor, wherein the thumb leading second angle sensor is arranged at the rotation connection part of the bending side link and the hand backboard; the thumb leading angle sensor is arranged at the revolute pair of the thumb second knuckle finger sleeve and the third knuckle wearing ring, the third knuckle gear plate is fixedly connected with one side plane perpendicular to the rotation centers of the thumb front two joints at the third knuckle wearing ring, the center of the third knuckle gear plate is coincident with the rotation center of the thumb PIP joint and meshed with the pinion shaft, and the second angle sensor measures the rotation angle of the pinion shaft.

The second knuckle fingerstall mechanism is rotationally connected with the third knuckle fingerstall mechanism in the index finger mechanism, the middle finger mechanism and the ring finger mechanism of the hand exoskeleton double-hand follow-up rehabilitation device; in the third knuckle fingerstall mechanism, a gear shaft is rotationally connected with the fingerstall above the third knuckle fingerstall, and the third knuckle fingerstall mechanism is rotationally connected with the MCP joint link mechanism; wherein the MCP connecting rod and the side link in the MCP joint connecting rod mechanism form rotary connection; the side link of the MCP joint connecting rod mechanism is rotationally connected with the back of the hand; in the thumb mechanism, a thumb second knuckle finger sleeve is rotationally connected with a third knuckle wearing ring, the third knuckle wearing ring is rotationally connected with a leading small connecting rod, the leading small connecting rod is rotationally connected with a bending side link, and the bending side link is rotationally connected with the back of the hand.

The hand exoskeleton and two-hand follow-up rehabilitation device comprises a hand backboard and a palm connecting piece, wherein the back of the hand in the hand exoskeleton healthy hand leading rehabilitation device is provided with the hand backboard and the palm connecting piece, and two ends of the palm connecting piece are connected to the hand backboard.

The invention has the advantages and beneficial effects that:

1. the line coupling and crank block hybrid driving scheme for the hand exoskeleton rehabilitation device, which is proposed by the inventor in the previously applied invention patent application (application number: 201710060563.3), has good portability and reliability, and provides possibility for assisting the patient to perform daily life actions in different occasions. Based on the hybrid driving scheme, the complete exoskeleton rehabilitation system provided by the invention is designed for the thumb rehabilitation and assistance, so that the rehabilitation device can realize further improvement of the freedom number of finger movement, and can more comprehensively help the patient hand to perform rehabilitation training and daily action assistance (and perform layout optimization design on the four-finger mechanism in the rehabilitation device in the prior patent number 201710060563.3). Meanwhile, the rehabilitation mechanism aiming at different knuckles is highly integrated on the back of hand mechanism, and the control system of the rehabilitation mechanism can be carried on the forearm of a person, so that the whole system is easy to wear and has high portability. Finally, after the whole device can perform passive rehabilitation training and daily hand movement assistance on a patient, an exoskeleton double-hand follow-up rehabilitation method and a normal hand exoskeleton master device except the patient hand rehabilitation exoskeleton device are added, so that autonomous targeted rehabilitation training can be better realized, and the effect of the rehabilitation training is improved.

2. According to the hand exoskeleton double-hand follow-up rehabilitation device, the first power source and the second power source are controlled simultaneously, and under the cooperation of the linear coupling motion of the first wire wheel and the second wire wheel, the hands of a patient can realize the motion of multiple degrees of freedom, so that the hand exoskeleton double-hand follow-up rehabilitation device can be used for effectively exercising. The device is properly coupled on the driving of the third knuckle of the ring finger and the little finger, and the degree of freedom of the device is driven by using one power source, so that the structure of the device is further simplified and the portability of the device is maintained on the premise of meeting the practicability; the device can reasonably set the radiuses of the first wire wheel and the second wire wheel according to the actual requirement of rehabilitation training, and when the shapes of the first wire wheel and the second wire wheel are round, the ratio of the radius of the first wire wheel to the radius of the second wire wheel can be selected to be 1-2.2 (the optimal value is 1.83), so that the device achieves different exercise effects; most parts of the device can be processed by a 3D printing technology, so that the device has better matching with a patient, and the best rehabilitation effect is achieved.

Drawings

FIG. 1 is a schematic diagram of a hand exoskeleton patient hand rehabilitation device of the present invention;

Fig. 2 is a schematic structural view of the hand exoskeleton healthy hand dominant rehabilitation device of the present invention.

Fig. 3-4 are schematic structural views of the thumb mechanism of the present invention. Wherein fig. 3 is a front view; fig. 4 is a perspective view.

Fig. 5-7 are schematic structural views of the first, second and third finger cuffs of the present invention. Wherein fig. 5 is a front view; FIG. 6 is an exploded perspective view; fig. 7 is a top exploded view.

Fig. 8 is a schematic diagram of a connection structure between the index finger mechanism and the first finger stall control mechanism.

Fig. 9 is an overall assembly schematic of the thumb mechanism provided by the present invention.

Fig. 10 is a schematic view of the thumb DIP joint, MCP joint and CMC joint of the present invention.

Fig. 11 is a schematic view of the bending process of the first finger cuff and the second finger cuff provided by the present invention.

FIG. 12 is a schematic view of a single-finger mechanism (e.g., index finger mechanism or middle finger mechanism) according to the present invention in a curved state.

Wherein: 1 an index finger mechanism; 2 a middle finger mechanism; 3, a ring finger mechanism; a 4 little finger mechanism; 5 a first finger stall; 6, a second finger sleeve; 7, a third finger stall; 8 a first cable; 9 a second cable; 10 a first power source; 11 a first angle sensor; 12 a first gear; 14 a first reel; 15 a second reel; 16 mating gears; 17 a fixing plate; 18 a first finger cuff control mechanism; 19 a second finger cuff control mechanism; a third finger cuff control mechanism 20; 21 slide rail support; 22 motor support; a 23-miniature rack; 24 a second power source; a second angle sensor 25; a second gear 26; a 27 connecting rod; 28 miniature guide rails; a 40 thumb stall control mechanism; 41 inner gear bending side link; 42 small connecting rods; 43 thumb motor support; 44 thumb secondary power source; 45 thumb second gear; 46 thumb second angle sensor; a 47 thumb mechanism; 48 thumb first finger stall; 49 thumb second finger cuff; a 50 thumb third finger cuff mechanism; 51 a third knuckle wear ring; 52 a third knuckle gear; 53 thumb first cable; 54 thumb second cable; a 55 thumb first angle sensor; 56 thumb first gear; 57 thumb primary power source; 58 thumb first reel; 59 thumb second reel; a 60 thumb mechanism; 61 index finger mechanism; 62 means; a 63 ring finger mechanism; a second knuckle finger cuff mechanism 64; 65 a third knuckle finger cuff mechanism; 66. MCP joint link mechanism; 67 mating gears; 68 second knuckle finger cuff; 70 a third knuckle finger cuff; 71 pinion shafts; a third knuckle angle sensor 72; 74. MCP links; 75 side frames; 76. an MCP angle sensor; 77 a third knuckle wear ring; 78 thumb second knuckle finger cuff; 79 dominant small connecting rod; 80 bending the side link; 81 thumb dominant angle sensor; 82 thumb dominant second angle sensor; 83 a hand backboard; third knuckle gear plate 84.

Detailed Description

In a specific implementation process, the invention provides a hand exoskeleton two-hand follow-up rehabilitation method, which comprises the following steps:

(1) The healthy hand (not limited to left and right hands) is measured in real time by the displacement sensing device when various daily actions (such as grasping) are performed on each finger joint.

(2) And transmitting the measured angular displacement data of each knuckle during the movement of the healthy hand to a hand exoskeleton device for rehabilitation training or assisting the patient hand.

(3) And the exoskeleton device is used for obtaining the angular displacement data of the healthy finger joints, and driving the affected hand by taking the angular displacement as a target position so as to enable the affected hand to make the same action as the healthy hand.

Wherein, when the displacement sensing device measures the real-time angular displacement of each finger joint of a healthy hand (not limited to left and right hands) in various daily actions (such as grasping) comprises:

i: the device for measuring the angle data (namely the hand exoskeleton healthy hand leading rehabilitation device) is worn on a healthy hand, and the rotation axis of each revolute pair joint of the exoskeleton is overlapped with the rotation axis of the revolute pair joint of the corresponding finger joint.

II: when the angular displacement of the MCP revolute joint is measured, the MCP joint can be regarded as a revolute pair connected to a fixed frame, the four-bar mechanism principle of the hand exoskeleton health hand leading rehabilitation device is utilized, the angular displacement of other revolute pairs except the MCP joint revolute pair is measured by an angle sensor, and the angular displacement data of the MCP joint is indirectly obtained through calculation.

III: in the measurement of angular displacement of the PIP joint, the four-bar mechanism principle used in the measurement of angular displacement of the MCP joint can also be used, but the motor drives the second knuckle through the gear wheel in the prior patent application (application number 201710060563.3), so that the angular displacement of the PIP revolute pair is calculated by arranging an angle sensor on the gear wheel transmission shaft in the measurement of the angular displacement data of the PIP joint.

IV: in the measurement of angular displacement of the DIP joint, the two methods described above may be employed. Because the space around the DIP joint is enough, the angle sensor can be directly arranged on the side surface of the DIP joint, so that the rotation center of the angle sensor directly measures the angle displacement of the DIP through the rotation center of the DIP joint. However, in the invention, because the coupling relation between the DIP and the PIP joint is stronger when the human hand naturally moves, and the under-actuated linear coupling scheme is adopted in the DIP joint driving part of the hand exoskeleton patient hand rehabilitation device, the angular displacement data of the DIP joint can be directly obtained by calculating the coupling relation through the angular displacement of the PIP joint. In the present invention, the PIP angular displacement data is used to derive the angular displacement data of the DIP joint by calculating the kinematic coupling relationship of the DIP joint of the PIP joint, see the prior patent application (application number 201710060563.3).

V: the recording and transmission of the angle displacement data can be realized through a singlechip.

In a specific implementation process, in order to solve the problems of large volume, large weight, poor portability and more mechanical connecting rods of the whole device and complex structure of the hand exoskeleton rehabilitation device in the prior art, the invention also provides a hand exoskeleton and two-hand follow-up rehabilitation device, which comprises a hand exoskeleton suffering hand rehabilitation device and a hand exoskeleton healthy and hand leading rehabilitation device, wherein the hand exoskeleton healthy and hand leading rehabilitation device is placed on a healthy hand, the hand exoskeleton healthy and hand leading rehabilitation device is connected with a controller through a data signal wire, the controller is connected with the hand exoskeleton suffering hand rehabilitation device through a control signal wire, and the whole hand exoskeleton and two-hand follow-up rehabilitation device is wearable.

As shown in fig. 1, 3-9 and 12, the device for rehabilitation of diseased hand of exoskeleton of the present invention is provided with a finger part, a back part, a glove and a controller, and the structure mainly comprises: index finger mechanism 1, middle finger mechanism 2, ring finger mechanism 3, little finger mechanism 4, first finger 5, second finger 6, third finger 7, first cable 8, second cable 9, first power source 10, first angle sensor 11, first gear 12, first wheel 14, second wheel 15, mating gear 16, fixed plate 17, first finger control mechanism 18, second finger control mechanism 19, third finger control mechanism 20, slide mount 21, motor mount 22, small rack 23, second power source 24, second angle sensor 25, second gear 26, connecting rod 27, micro rail 28, thumb control mechanism 40, inner gear flex link 41, small connecting rod 42, thumb motor mount 43, thumb second power source 44, thumb second gear 45, thumb second angle sensor 46, thumb mechanism 47, first finger 48, second finger 49, thumb third finger mechanism 50 (thumb third finger mechanism 50 includes third knuckle 51 and third gear 52), first thumb cable 53, first thumb wheel 55, thumb sensor structure 55, thumb angle sensor 54, first thumb cable 54, second thumb structure, etc.:

The finger part of the hand exoskeleton affected hand rehabilitation device comprises four finger mechanisms (including an index finger mechanism 1, a middle finger mechanism 2, a ring finger mechanism 3, a little finger mechanism 4 and the like) and one thumb mechanism 47 (including a thumb stall control mechanism 40 and the like), and the finger mechanisms are different from the finger mechanisms of the hand exoskeleton healthy hand leading rehabilitation device. The four finger mechanisms are respectively an index finger mechanism 1, a middle finger mechanism 2, a ring finger mechanism 3 and a little finger mechanism 4, wherein the components of the index finger mechanism 1, the middle finger mechanism 2 and the ring finger mechanism 3 are the same, and the components of the little finger mechanism 4 are the same as the index finger mechanism 1, the middle finger mechanism 2 and the ring finger mechanism 3, but are changed into mirror images for placement for space arrangement convenience. Each finger mechanism comprises three finger stalls, a first cable 8, a second cable 9 (for wire coupling), a first power source 10, a first angle sensor 11 and a first gear 12, and one knuckle connector is mounted at the bottom of each finger stall.

As shown in fig. 3-7, the three finger cuffs are a first finger cuff 5, a second finger cuff 6 and a third finger cuff 7 respectively, the first finger cuff 5 is rotationally connected with the second finger cuff 6, the second finger cuff 6 is rotationally connected with the third finger cuff 7, the third finger cuff 7 is rotationally connected with the back of the hand, a first wheel 14 is arranged on the first finger cuff 5, the first wheel is positioned at the joint of the first finger cuff 5 and the second finger cuff 6, a second wheel 15 is arranged on the third finger cuff 7, the second wheel 15 is positioned at the joint of the third finger cuff 7 and the second finger cuff 6, one end of a first cable 8 is fixed on the first wheel 14, the other end of the first cable 8 is fixed on the second wheel 15, one end of a second cable 9 is fixed on the first wheel 14, the other end of the second cable 8 is crossed with the second cable 9, a first power source 10 is arranged on the third finger cuff 7, an output shaft of the first power source 10 sequentially penetrates through a first angle sensor 11 and a first gear 12, a first side gear 16 is matched with the first angle sensor 12, and the first power source 10 is matched with the first angle sensor 16 and the first angle sensor 16 is matched with the first angle sensor 16, and the first angle sensor is matched with the first angle sensor 16. In addition, the other side surface of the second finger sleeve 6 is provided with a double-side connecting piece 6-1, and the side surface of the third finger sleeve 7 is provided with a single-side connecting piece 7-1.

The back of the hand of the recovered device of hand exoskeleton suffering from hand includes the fixed plate 17, install three dactylotheca control mechanism plus a dactylotheca control mechanism side by side on the fixed plate 17, wherein three dactylotheca control mechanism are first dactylotheca control mechanism 18, second dactylotheca control mechanism 19 and third dactylotheca control mechanism 20 respectively, and first dactylotheca control mechanism 18 with index finger mechanism 1 is connected, second dactylotheca control mechanism 19 with middle finger mechanism 2 is connected, and third dactylotheca control mechanism 20 is connected with ring dactylotheca mechanism 3 and little dactylotheca mechanism 4 respectively, and the dactylotheca control mechanism is connected with the thumb mechanism.

As shown in fig. 1, 8 and 12, the first finger cuff control mechanism 18, the second finger cuff control mechanism 19 and the third finger cuff control mechanism 20 each include a slide rail support 21, a motor support 22 (wherein the first finger cuff control mechanism corresponds to a first motor support, the second finger cuff control mechanism corresponds to a second motor support, the third finger cuff control mechanism corresponds to a third motor support, and the shapes of the motor supports are slightly different), a small rack 23, a second power source 24, a second angle sensor 25 and a second gear 26. The sliding rail support 21 is installed on the fixed plate 17, the sliding rail support 21 is provided with a micro guide rail 28, the motor support 22 is installed on the micro guide rail 28 and can slide on the micro guide rail 28, the second power source 24 is installed on the motor support 22, an output shaft of the second power source 24 sequentially passes through the second angle sensor 25 and the second gear 26, the small-sized rack 23 is installed on the sliding rail support 21, and the second gear 26 is meshed with the small-sized rack 23. Specifically, a rack mounting groove may be provided on the slide rail support 21, and the small-sized rack 23 may be bonded in the rack mounting groove of the slide rail support 21 by bonding.

The first finger stall control mechanism 18 and the second finger stall control mechanism 19 also respectively comprise a connecting rod 27, one end of the connecting rod 27 of the first finger stall control mechanism 18 is arranged on the first motor support 22, the other end of the connecting rod 27 of the first finger stall control mechanism is connected with the third finger stall 7 of the index finger mechanism 1, one end of the connecting rod 27 of the second finger stall control mechanism 19 is arranged on the second motor support 22, and the other end of the connecting rod 27 of the second finger stall control mechanism is connected with the third finger stall 7 of the middle finger mechanism 2.

The third finger stall control mechanism 20 further comprises two connecting rods 27, one end of each of the two connecting rods 27 of the third finger stall control mechanism 20 is arranged on the third motor support 22, and the other end of each of the two connecting rods is sequentially connected with the third finger stall 7 of the ring finger mechanism 3 and the little finger mechanism 4.

The thumb stall control mechanism 40 of the back of the hand includes an inner gear curved side link 41, a small link 42, a thumb motor support 43, a thumb secondary power source 44, a thumb secondary gear 45, and a thumb secondary angle sensor 46. The thumb motor support 43 is fixedly connected with the back hand plate 17, the thumb second power source 44 is mounted on the thumb motor support 43, an output shaft of the thumb second power source 44 sequentially penetrates through the thumb second angle sensor 46 and the thumb second gear 45, the thumb second gear 45 is meshed with the inner gear bending side link 41, and the small connecting rod 42 is rotationally connected with the inner gear bending side link 41.

The thumb mechanism 47 of the exoskeleton-affected hand rehabilitation device comprises a thumb first finger cuff 48, a thumb second finger cuff 49, a thumb third finger cuff mechanism 50 (the thumb third finger cuff mechanism 50 comprises a third knuckle wearing ring 51 and a third knuckle gear 52), a thumb first cable 53, a thumb second cable 54, a thumb first angle sensor 55, a thumb first gear 56, and a thumb first power source 57.

The first finger sleeve 48 is rotatably connected with the second finger sleeve 49, the second finger sleeve 49 is rotatably connected with a third knuckle gear 52 in a third finger sleeve of the thumb, the third knuckle gear 52 is fixedly connected with a third knuckle wearing ring 51, and the third knuckle wearing ring 51 is rotatably connected with the small connecting rod 42 of the thumb finger sleeve control mechanism 40 in the back of the hand. The first thumb stall 48 is provided with a first thumb wheel 58 (see fig. 3-4 and 9), the first thumb wheel is located at the joint of the first thumb stall 48 and the second thumb stall 49, the third thumb stall 50 is provided with a second thumb wheel 59, the second thumb wheel 59 is located at the joint of the third thumb stall 50 and the second thumb stall 49, one end of the first thumb cable 53 is fixed on the first thumb wheel 58, the other end is fixed on the second thumb wheel 59, one end of the second thumb cable 54 is fixed on the first thumb wheel 58, the other end is fixed on the second thumb wheel 59, the first thumb cable 53 is intersected with the second thumb cable 54, the first thumb power 57 is mounted on the second thumb stall 49, the output shaft of the first thumb power 57 sequentially passes through the first thumb sensor 55 and the first thumb gear 56, the third thumb gear 52 is meshed with the first thumb gear 56, and both the first angle sensor 55 and the first thumb power 57 and the back are connected with the controller.

As shown in fig. 2, the hand exoskeleton healthy hand leading rehabilitation device is placed on a healthy hand for displacement data acquisition, the displacement data of the healthy hand is transmitted to a controller, and the controller sends out an instruction to drive the hand exoskeleton affected hand rehabilitation device. This healthy leading rehabilitation device of hand ectoskeleton sets up finger portion, back of the hand, and its structure includes: thumb mechanism 60, index finger mechanism 61, middle finger mechanism 62, ring finger mechanism 63 (for the fingers), second knuckle finger mechanism 64, third knuckle finger mechanism 65, MCP joint link mechanism 66, mating gear 67, second knuckle finger 68, finger cuff connector, third knuckle finger 70, pinion shaft 71, third knuckle angle sensor 72, MCP link 74, side link 75, MCP angle sensor 76, (thumb portion) third knuckle wear ring 77, thumb second knuckle finger 78, dominant small link 79, curved side link 80, thumb dominant angle sensor 81, thumb dominant second angle sensor 82, hand back 83, etc., the specific structure is as follows:

the finger part of the hand exoskeleton healthy hand leading rehabilitation device comprises four finger mechanisms, namely a thumb mechanism 60, an index finger mechanism 61, a middle finger mechanism 62 and a ring finger mechanism 63. Wherein the index finger mechanism 61, the middle finger mechanism 62 and the ring finger mechanism 63 are identical in component parts (only the dimensional differences in length, width and height and the same in motion principle) and comprise a second knuckle finger sleeve mechanism 64, a third knuckle finger sleeve mechanism 65 and an MCP joint link mechanism 66. The second knuckle finger cuff mechanism 64 includes a second knuckle finger cuff 68 provided with a mating gear 67 and a finger cuff connector connected below the finger cuff. Third knuckle finger cuff mechanism 65 includes a third knuckle finger cuff 70, a pinion shaft 71, a third knuckle angle sensor 72, and a finger cuff connector. The pinion shaft 71 is mounted above the third knuckle finger cuff 70 to be engaged with the mating gear 67 on one side of the second knuckle finger cuff 68, the third knuckle angle sensor 72 is mounted on the pinion shaft 71, and the finger cuff connector is connected below the third knuckle finger cuff 70. The MCP joint link mechanism 66 includes a MCP link 74, a side link 75, and a MCP angle sensor 76, the MCP angle sensor 76 being mounted at the rotational connection of the MCP link 74 and the side link 75.

The thumb mechanism of the hand exoskeleton healthy hand leading rehabilitation device comprises a third knuckle wearing ring 77, a third knuckle gear piece 84, a thumb second knuckle finger sleeve 78, a leading small connecting rod 79, a bending side link 80, a thumb leading angle sensor 81 and a thumb leading second angle sensor 82, wherein the thumb leading second angle sensor 82 is arranged at the rotation connection part of the bending side link 80 and a hand backboard 83. The thumb leading angle sensor 81 is installed at the revolute pair of the thumb second knuckle finger sleeve 68 and the third knuckle wearing ring 77, the third knuckle gear piece 84 is fixedly connected to a side plane of the third knuckle wearing ring 77 perpendicular to the rotation centers of the thumb front two joints, the center of the third knuckle gear piece 84 coincides with the rotation center of the thumb PIP joint and is meshed with the pinion shaft 71, and the second angle sensor 82 can measure the rotation angle of the pinion shaft 71.

Among the index finger mechanism 61, the middle finger mechanism 62 and the ring finger mechanism 63 of the hand exoskeleton healthy hand leading rehabilitation device, the second knuckle finger cuff mechanism 64 is rotationally connected with the third knuckle finger cuff mechanism 65; in the third knuckle finger cuff mechanism 65, the gear shaft 71 is rotatably connected to the finger cuff above the third knuckle finger cuff 70, and the third knuckle finger cuff mechanism 65 is rotatably connected to the MCP joint link mechanism 76; wherein the MCP links 74 and the side links 75 in the MCP joint link mechanism 76 form a rotational connection; the side link 75 of the MCP joint link mechanism is rotatably connected to the hand backplate 83. In the thumb mechanism, a thumb second knuckle finger sleeve 78 is rotationally connected with a third knuckle wearing ring 77, the third knuckle wearing ring 77 is rotationally connected with a main small connecting rod 79, the main small connecting rod 79 is rotationally connected with a bending side link 80, and the bending side link 80 is rotationally connected with a hand backboard 83.

The back of hand in the healthy leading rehabilitation device of hand ectoskeleton includes hand backplate 83 and palm connecting piece, and the both ends of palm connecting piece are connected on hand backplate 83.

It is worth mentioning that the complete version of the hand exoskeleton patient hand rehabilitation device of the invention is improved in the design of three finger stalls compared with the prior art (patent application number: 201710060563.3) (see fig. 5-7):

1: the gear originally attached to the second finger sleeve is changed into a patch type, meanwhile, the thickness of one side of the wire wheel of the second finger sleeve is reduced, and the patch type gear is attached to one side of the wire wheel through screws or other fixing modes;

2: the appearance design of the first fingerstall is optimized;

3: the design of the third finger stall is optimized.

The direct benefit of optimizing these locations results in a more compact device structure that does not interfere with each other when the four-finger mechanisms are performing their respective independent movements, and further increases patient comfort due to the reduced space occupied by the device between the fingers.

4: in the aspect of fingerstall control mechanism, the control aspect of ring finger and little finger has also been improved, has all been connected the connecting rod of the fingerstall of the third knuckle of ring finger to have been connected on a motor support, because the motion coupling relation of ring finger little finger is stronger in actual daily life motion, so share a controller and jointly drive this kind of mode can make the device more small and exquisite compactness on the premise of satisfying the practicality on the contrary, increase portability, see fig. 1.

In the invention, the thumb structure and other four-finger mechanisms are different in design:

(1) The first knuckle of the thumb is connected with the second knuckle finger sleeve only through the rotary joint on one side;

(2) The design of the thumb second knuckle finger sleeve is different from the placement of the thumb second knuckle power source and other four-finger mechanisms, and the difference is that the power source for driving the thumb second knuckle is placed on the thumb second knuckle finger sleeve, and the motor groove on the thumb second knuckle finger sleeve corresponds to the power source. And the other four-finger mechanism drives the power source of the second knuckle to be placed on the third knuckle finger stall, and the motor groove of the third knuckle finger stall corresponds to the power source. Meanwhile, in order to drive the second knuckle fingerstall by matching with the thumb second knuckle power source, a third knuckle gear is fixedly connected to the third knuckle wearing ring. However, in other four-finger mechanisms, a gear patch coupled to a second knuckle finger cuff is used in conjunction with a second knuckle power source to drive the second knuckle finger cuff.

(3) The third knuckle mechanism of the thumb has two parts: a third knuckle wear ring and a third knuckle gear 52. While the third knuckle in the four-finger mechanism has only one piece.

The back of the hand part of the hand exoskeleton recovery device is formed by a back board, and the motor support and the back board can be fixedly connected together in various modes, and can also be integrally formed by 3D printing.

The hand exoskeleton double-hand follow-up rehabilitation device for the hands and the wrists is used according to the following process and principle:

and (3) a step of: the wearing mode of the finger: the fixing plate 17 at the back of the hand can be connected with the finger sleeves through the knuckle connecting piece (can be nylon buckles), the nylon buckles can penetrate through the fixing grooves on the finger sleeves and are connected with the finger sleeves through stitching, when the device is required to be used for rehabilitation training, the glove can be taken, at the moment, the back of the hand of the device is positioned on the back of a patient, the nylon hook strips and the nylon velvet strips of the nylon buckles are torn, the first finger sleeve 5 of the device is clamped on the far-end finger section of the hand, the second finger sleeve 6 is clamped on the middle-end finger section of the hand, the third finger sleeve 7 is clamped on the near-end finger section of the hand, and the nylon hook strips and the nylon velvet strips of the nylon buckles at the bottom of each finger sleeve are bonded together again, so that the hand exoskeleton follow-up rehabilitation device and the hand are fixed together, and the wearing of the hand exoskeleton health rehabilitation device is also the same for the hand exoskeleton health rehabilitation device.

And II: design principle of thumb mechanism

The movement of the thumb is indispensable for most activities of daily living, such as grasping, and even plays a decisive role. Because, for the integrity and practicality of the whole mechanism, a thumb rehabilitation mechanism is designed.

As shown in fig. 10, when the thumb movement was analyzed, the thumb was found to have a kinematic relationship different from that of the other fingers:

i: the root joint of the thumb, the CMC joint, is capable of performing 3D range of motion, corresponding to the ball pair.

II: the thumb, when performing a pivoting motion about the CMC joint, will move about an axis that passes through the center of the CMC joint and is parallel to the middle finger. In particular, when the thumb is extended, the third joint of the thumb moves along a conical surface (this kinematic description of the thumb is also called "thumb method"), which is most of the time sufficient to achieve the main function of the thumb, although in practice the trajectory of the thumb becomes more complex when performing various movements.

III: the DIP joint and the MCP joint at the front end of the thumb can only realize single-degree-of-freedom rotary motion.

For the kinematic case of the thumb, the following exoskeleton solution is decided to be adopted:

i: a set of four bar mechanisms is used to drive the third knuckle of the thumb.

II: the first two joints (DIP, MCP joints) of the thumb are driven with a wire coupling scheme.

After the preliminary kinematic experiments of the thumbs are carried out, the device can meet the basic thumb movement requirements and can finish actions such as palm alignment, stretching and the like.

The principle of measuring the angle of a thumb four-bar mechanism is as follows: the parallelogram principle;

in the present invention, the principle of wire coupling is referred to in chinese patent application (application No. 201710060563.3), when the patient wears the hand exoskeleton and two-hand follow-up rehabilitation device of the present invention, the axis of the first wire wheel 14 coincides with the rotation axis of DIP joint (Distal Interphalangeal Point, distal interphalangeal joint) of the human hand, and the axis of the second wire wheel 15 coincides with the rotation axis of PIP joint (Proximal Interphalangeal Point, proximal interphalangeal joint) of the human hand. As shown in fig. 1, 8 and 12, the principle of the rotation and bending of the first finger cuff 5 and the second finger cuff 6 of each finger mechanism is the same, and the index finger mechanism 1 is taken as an example for illustration, and reference may be made to fig. 8, 11 and 12, and the principle of the rotation of the second finger cuff 6 around the third finger cuff 7 and the rotation of the first finger cuff 5 around the second finger cuff 6 is as follows:

the output shaft of the first power source 10 drives the first gear 12 to rotate, and the first gear 12 is meshed with the matching gear 16 on the second finger cuff 6, so that the matching gear 16 is driven to rotate through gear transmission, referring to fig. 8, if the first gear 12 in fig. 8 rotates clockwise, the matching gear 16 rotates in the direction of the solid arrow in fig. 8, and the second finger cuff 6 and the first finger cuff 5 both rotate a certain angle relative to the third finger cuff 7 due to the integral structure of the matching gear 16 and the second finger cuff 6. As shown in fig. 11, the first finger cuff 5 and the second finger cuff 6 are changed from the straightened state to the bent state, that is, the M state in fig. 11 is changed to the N state, and the middle finger knuckle and the distal finger knuckle of the patient can be bent at a certain angle; when the first finger cuff 5 rotates relative to the third finger cuff 7, the first finger cuff 5 rotates at an angle relative to the second finger cuff 6 due to the wire coupling movement of the first wire wheel 14, the second wire wheel 15, the first wire 8 and the second wire 9. Referring to fig. 11, (1) and (2) are two fixing points on the second wire wheel 15, (3) and (4) are two fixing points on the first wire wheel 14, the first wire 8 and the second wire 9 may be wire ropes, two ends of the first wire 8 are respectively fixed on the fixing point (2) and the fixing point (3), two ends of the second wire 9 are respectively fixed on the fixing point (1) and the fixing point (4), the first wire 8 and the second wire 9 cross, and when the first finger cuff 5 rotates relative to the third finger cuff 7, the first wire wheel 14 rotates around the second wire wheel 15. As shown in fig. 11, since both ends of the first cable 8 and the second cable 9 are fixed, the first cable 8 is wound around the first reel 14, and the second cable 9 is wound around the second reel 15, so that the first finger cuff 5 can be rotated by a certain angle with respect to the second finger cuff 6, that is, the distal knuckle of the patient can be rotated around the DIP joint, the first power source 10 continues to drive the first gear 12 to rotate, and the first finger cuff 5 and the second finger cuff 6 are converted from the N state to the L state, so that in the present invention, only one first power source 10 is used to drive, and then the second finger cuff 6 can be rotated by a certain angle around the third finger cuff 7 and the first finger cuff 5 can be rotated by a certain angle around the second finger cuff 6 by means of the wire coupling motion, so that there is no need to set a mechanical link at each finger joint, a large number of mechanical links is omitted, the structure of the apparatus is greatly simplified, and the weight is reduced.

In the present invention, the first and

second reels

14 and 15 may have a circular shape, and the radius of the first reel 14 may be the same as that of the second reel 15, i.e., the structures shown in fig. 1 and 11. At this time, the angular velocity at which the first finger cuff 5 rotates around the second finger cuff 6 is the same as the angular velocity at which the second finger cuff 6 rotates around the third finger cuff 7, i.e., the transmission ratio of the line coupling is 1; when the radius of the first reel 14 and the radius of the second reel 15 are different, the angular speed at which the first finger cuff 5 rotates around the second finger cuff 6 is different from the angular speed at which the second finger cuff 6 rotates around the third finger cuff 7, if the radius of the first reel 14 is twice the radius of the second reel 15. At this time, the angular velocity at which the first finger cuff 5 rotates around the second finger cuff 6 is 1/2 of the angular velocity at which the second finger cuff 6 rotates around the third finger cuff 7, i.e., the transmission ratio of the line coupling is 2; when the first reel 14 and the second reel 15 are both circular in shape, the transmission ratio of the wire coupling is a fixed transmission ratio. In the present invention, the transmission ratio of the wire coupling may also be a variable transmission ratio, i.e. the first wire wheel 14 and the second wire wheel 15 are designed as gradual radius wire wheels, the radius of which is not constant. When the first and

second reels

14, 15 are of gradual radius, the angular velocity at which the first finger cuff 5 rotates about the second finger cuff 6 is continuously variable with respect to the angular velocity at which the second finger cuff 6 rotates about the third finger cuff 7. However, the relative angular velocity of the DIP joint to the PIP joint also varies continuously in a natural stretch or flexion motion sequence of the human hand. Therefore, the gradual change radius line wheel can enable the human finger to achieve a natural motion sequence, and the rehabilitation effect is more favorable. However, the shape of the first and

second reels

14, 15 may be appropriately designed according to the actual condition of the patient or the consideration of actual manufacturing.

In the present invention, the principle of the first finger cuff control mechanism 18 controlling the third finger cuff 7 of the index finger mechanism 1 to rotate around the back of the hand is the same as the principle of the second finger cuff control mechanism 19 controlling the third finger cuff 7 of the middle finger mechanism 2 to rotate around the back of the hand, taking the first finger cuff control mechanism 18 as an example for explanation, referring to fig. 8, 12 and 1, the output shaft of the second power source 24 drives the second gear 26 to rotate, the second gear 26 moves horizontally on the small rack 23, so that the motor support 22 slides on the micro rail 28, the proximal knuckle of the index finger of the patient and the third finger cuff 7 of the index finger mechanism 1 are fixed by the knuckle connector, and can be regarded as an integral connecting rod, and the integral connecting rod and the first finger cuff control mechanism 18 form a crank-slider mechanism, when the motor support 22 slides on the micro rail 28, and the third finger cuff 7 is fixed with the proximal knuckle of the patient, thus the third finger cuff 7 rotates around the back of the hand, that is, the proximal knuckle of the third finger 7 drives the patient to bend around the finger joint (Metacarpophalangeal Point).

Thirdly,: in the invention, the controller is composed of a Programmable Logic Controller (PLC) Programmable Logic Controller, a single chip microcomputer or an arduino microcontroller and a motor driving module, and the controller is not shown in the figure; the first power source and the second power source can be micro motors, the micro motors can be gear motors with the model number of GA12YN20-380, the speed reduction ratio is 1:380, the rotating speed of the gear motors is 34R/min, the first angle sensor and the second angle sensor can be rotating angle sensors with the model number of SV01A103AEA01R00, and other types of motors and angle sensors can be selected according to actual conditions. In the aspect of control program, the program mainly comprises a data acquisition filter part, a PID control part and the like.

In the aspect of filtering, the feedback sensor adopts a village SV01A103AEA01R00 rotation angle sensor, the resistance gradually increases from zero during rotation, and the resistance returns to zero after one complete revolution, so that the sensor has obvious fluctuation and noise. Therefore, the input signal is processed by adding intermediate parameters, using methods such as amplitude limiting filtering and the like, so that a stable continuous waveform is obtained, and the control is stable and reliable.

In the aspect of PID control, long-time debugging is performed on a prototype, and a group of more proper parameters are selected through analysis of jitter waveforms. The 9 gear motors on the prototype can respectively receive PID control signals about every 10ms, so that more accurate control can be realized.

In addition, the materials of the parts of the device can be plastic or light metal according to actual conditions.

The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

1. The hand exoskeleton and two-hand follow-up rehabilitation device is characterized by comprising a hand exoskeleton affected hand rehabilitation device and a hand exoskeleton healthy hand leading rehabilitation device, wherein the hand exoskeleton healthy hand leading rehabilitation device is placed on a healthy hand, the hand exoskeleton healthy hand leading rehabilitation device is connected with a controller through a data signal wire, and the controller is connected with the hand exoskeleton affected hand rehabilitation device through a control signal wire;

the three finger sleeves are respectively a first finger sleeve, a second finger sleeve and a third finger sleeve, the first finger sleeve is rotationally connected with the second finger sleeve, the second finger sleeve is rotationally connected with the third finger sleeve, the third finger sleeve is rotationally connected with the back of the hand, a first wire wheel is arranged on the first finger sleeve, the first wire wheel is positioned at the joint of the first finger sleeve and the second finger sleeve, a second wire wheel is arranged on the third finger sleeve, the second wire wheel is positioned at the joint of the third finger sleeve and the second finger sleeve, one end of a first cable is fixed on the first wire wheel, the other end of the second cable is fixed on the second wire wheel, the first cable is intersected with the second cable, the first power source is arranged on the third finger sleeve, the output shaft of the first power source sequentially penetrates through a first angle sensor and a first gear, the side face of the second finger sleeve is provided with a matched gear which is meshed with the first gear, and the first angle sensor and the first power source of each finger mechanism and the back of the controller are connected with the hand; the first wire wheel and the second wire wheel are circular in shape, and the ratio of the radius of the first wire wheel to the radius of the second wire wheel is 1-2.2;

The back of the hand includes the fixed plate, install three dactylotheca control mechanisms plus one thumb dactylotheca control mechanism side by side on the fixed plate, wherein three dactylotheca control mechanisms are first dactylotheca control mechanism, second dactylotheca control mechanism and third dactylotheca control mechanism respectively, first dactylotheca control mechanism is connected with said index finger mechanism, second dactylotheca control mechanism is connected with said middle dactylotheca mechanism, third dactylotheca control mechanism is connected with said ring dactylotheca mechanism and said little dactylotheca mechanism respectively, the dactylotheca control mechanism is connected with said thumb mechanism;

2. The hand exoskeleton two-hand follow-up rehabilitation device of claim 1, wherein the thumb mechanism of the hand exoskeleton affected hand rehabilitation device comprises a thumb first finger cuff, a thumb second finger cuff, a thumb third finger cuff, a thumb first cable, a thumb second cable, a thumb first angle sensor, a thumb first gear, a thumb first power source, the thumb third finger cuff comprising a third knuckle wearing ring and a third knuckle gear;

3. The hand exoskeleton two-hand follow-up rehabilitation device according to claim 1, wherein the thumb stall control mechanism of the back of hand comprises an inner gear bending side link, a small connecting rod, a thumb motor support, a thumb second power source, a thumb second gear and a thumb second angle sensor; the thumb motor support is fixedly connected with the fixing plate, the thumb second power source is arranged on the thumb motor support, an output shaft of the thumb second power source sequentially penetrates through the thumb second angle sensor and the thumb second gear, the thumb second gear is meshed with the inner gear bending side link, and the small connecting rod is rotationally connected with the inner gear bending side link.

4. The hand exoskeleton two-hand follow-up rehabilitation device according to claim 1, wherein a rack mounting groove is formed in the slide rail support, and the small-sized rack is bonded in the rack mounting groove of the slide rail support in a bonding manner.

5. The hand exoskeleton two-hand follow-up rehabilitation device according to claim 1, wherein the finger part of the hand exoskeleton healthy hand leading rehabilitation device comprises four finger mechanisms, namely a thumb mechanism, an index finger mechanism, a middle finger mechanism and a ring finger mechanism; the index finger mechanism, the middle finger mechanism and the ring finger mechanism all comprise a second knuckle fingerstall mechanism, a third knuckle fingerstall mechanism and an MCP joint connecting rod mechanism; the second knuckle fingerstall mechanism comprises a second knuckle fingerstall provided with a matched gear and a fingerstall connecting piece connected below the second knuckle fingerstall; the third knuckle fingerstall mechanism comprises a third knuckle fingerstall, a pinion shaft, a third knuckle angle sensor and a fingerstall connecting piece, wherein the pinion shaft is arranged above the third knuckle fingerstall and is meshed with a matched gear on one side of the second knuckle fingerstall; the MCP joint link mechanism comprises MCP links, a side link and a MCP angle sensor, wherein the MCP angle sensor is arranged at the rotary joint of the MCP links and the side link.

6. The hand exoskeleton two-hand follow-up rehabilitation device according to claim 5, wherein the thumb mechanism of the hand exoskeleton healthy hand dominant rehabilitation device comprises a third knuckle wearing ring, a third knuckle gear piece, a thumb second knuckle finger sleeve, a dominant small connecting rod, a curved side link, a thumb dominant angle sensor and a thumb dominant second angle sensor, wherein the thumb dominant second angle sensor is arranged at a rotation connection part of the curved side link and the hand backboard; the thumb leading angle sensor is arranged at the revolute pair of the thumb second knuckle finger sleeve and the third knuckle wearing ring, the third knuckle gear plate is fixedly connected with one side plane perpendicular to the rotation centers of the thumb front two joints at the third knuckle wearing ring, the center of the third knuckle gear plate is coincident with the rotation center of the thumb PIP joint and meshed with the pinion shaft, and the thumb leading second angle sensor measures the rotation angle of the pinion shaft.

7. The hand exoskeleton two-hand follow-up rehabilitation device according to claim 5, wherein in the index finger mechanism, the middle finger mechanism and the ring finger mechanism of the hand exoskeleton healthy hand leading rehabilitation device, the second knuckle finger cuff mechanism is rotationally connected with the third knuckle finger cuff mechanism; in the third knuckle fingerstall mechanism, a pinion shaft is rotationally connected with the third knuckle fingerstall above the third knuckle fingerstall, and the third knuckle fingerstall mechanism is rotationally connected with the MCP joint connecting rod mechanism; wherein the MCP connecting rod and the side link in the MCP joint connecting rod mechanism form rotary connection; the side link of the MCP joint connecting rod mechanism is rotationally connected with the back of the hand; in the thumb mechanism, a thumb second knuckle finger sleeve is rotationally connected with a third knuckle wearing ring, the third knuckle wearing ring is rotationally connected with a leading small connecting rod, the leading small connecting rod is rotationally connected with a bending side link, and the bending side link is rotationally connected with the back of the hand.

8. The hand exoskeleton two-hand follow-up rehabilitation device according to claim 5, wherein the back of the hand in the hand exoskeleton healthy hand leading rehabilitation device comprises a hand backboard and a palm connecting piece, and two ends of the palm connecting piece are connected to the hand backboard.