CN107158660A - The wire saws formula finger rehabilitation training device and method of marmem driving - Google Patents
The wire saws formula finger rehabilitation training device and method of marmem driving Download PDFInfo
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- CN107158660A CN107158660A CN201710547906.9A CN201710547906A CN107158660A CN 107158660 A CN107158660 A CN 107158660A CN 201710547906 A CN201710547906 A CN 201710547906A CN 107158660 A CN107158660 A CN 107158660A
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- 238000012549 training Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 26
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 89
- 239000010959 steel Substances 0.000 claims abstract description 89
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 51
- 210000003811 finger Anatomy 0.000 claims description 134
- 238000013016 damping Methods 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 11
- 210000003813 thumb Anatomy 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000007704 transition Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 2
- 239000010931 gold Substances 0.000 claims description 2
- 229910052737 gold Inorganic materials 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims description 2
- 208000027418 Wounds and injury Diseases 0.000 abstract description 4
- 230000006378 damage Effects 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 208000006011 Stroke Diseases 0.000 description 8
- 229910000521 B alloy Inorganic materials 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 240000007711 Peperomia pellucida Species 0.000 description 1
- 230000002929 anti-fatigue Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or 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
- 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00189—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resistance provided by plastic deformable materials, e.g. lead bars or kneadable masses
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
-
- 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
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/18—Inclination, slope or curvature
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
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- Chemical & Material Sciences (AREA)
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- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of wire saws formula finger rehabilitation training device of marmem driving and method, device includes founding the framework to setting, fixed platform is provided with framework, framework inner top has first pulley, the 3rd pulley, guide ring, framework inner bottom part, which has in five second pulleys, framework, is rotatablely equipped with rotary shaft；Also include the fingerstall for being respectively fitted over the palm the five fingers, the upper steel wire rope of fingerstall connection bypasses first pulley, the 3rd pulley and is then passed through fixing after guide ring on the rotary shaft, is fixed on after the second pulley that the lower steel wire rope that fingerstall is connected is bypassed in the middle of rotary shaft；Framework side is provided with MR damper and belt wheel, MR damper is connected by inner rotator with rotary shaft, rotary shaft is connected with belt wheel by key, and steel wire rope is wound with belt wheel, and steel wire rope two ends are connected by shape-memory alloy wire and spring with base of frame respectively.The inventive method is applied to finger hemiplegic patient or the active/passive coordination rehabilitation training of injury of finger patient's the five fingers.
Description
Technical field
The present invention relates to finger rehabilitation training device field, specifically a kind of wire saws formula hand of marmem driving
Refer to device for healing and training and method.
Background technology
With the aging of China human mortality, the patient of the disease such as cerebral apoplexy, hemiplegia gradually increases, and this kind of disease can cause hand
Portion's muscular atrophy, if treating not in time, will influence the use of finger function.Workpeople when being engaged in various operations,
Need finger frequently to capture thing, if there is unexpected situation, finger will be damaged.Finger is the important portion of human body
Position, once damaging, the influence to live and work is very big, so as to bring burden to family and society.
In traditional finger rehabilitation exercise, being that doctor is man-to-man mostly teaches patient to carry out rehabilitation training, such
Rehabilitation training mode had both added the cost of patient, wasted the time of doctor.Its therapeutic effect and the experience and water of doctor
It is flat to have much relations, and lack the objective data for evaluating training parameter and rehabilitation efficacy relation, it is impossible to training parameter is carried out
Optimize to obtain optimal therapeutic scheme.Moreover in today of aging population, come to carry out one to patient without more doctors
Guidance to one.Therefore, the device for healing and training of exploitation assisted finger injured patient's motor function has huge practical application
Value.
Publication No. CN103735389B Chinese patent application discloses harmony training rehabilitation device between a kind of finger,
Publication No. CN103750980B Chinese patent application discloses a kind of auxiliary rehabilitation exercise for patient's hemiplegia finger and filled
Put, rehabilitation training of these devices to finger serves certain effect, but still suffers from some problems：（1）Above two device
All it is that, using motor driving, stability and security are poor, once breaking down, easily cause secondary injury to finger；（2）On
State two kinds of devices and rehabilitation training all is not carried out to all fingers of people, but rehabilitation instruction only is carried out to one or three fingers
Practice, training effect is simultaneously insufficient.Therefore, it is necessary to invent a kind of finger rehabilitation training device, it is set to meet single hand
The rehabilitation training of finger, can meet five finger coordination rehabilitation trainings again, while active training and passive exercise are organically combined, carry
The efficiency and effect of high rehabilitation training, and ensure the security of rehabilitation training.
There is provided the rope that a kind of marmem drives for above-mentioned the deficiencies in the prior art by the content of the invention present invention
Towed finger rehabilitation training device and method.
In order to achieve the above object, the technical solution adopted in the present invention is：
The wire saws formula finger rehabilitation training device of marmem driving, it is characterised in that：Including founding the framework to setting,
Horizontal dividing plate is provided with framework, using the dividing plate as the fixed platform of support palm, framework inner top is forward beyond fixed flat
Platform forward position is rotatablely equipped with five first pulleys, and five first pulleys are corresponded with the palm the five fingers respectively, wherein corresponding
Four first pulley rears of four fingers are positioned corresponding in the first pulley position of thumb, framework inner bottom part is forward beyond fixed flat
Platform forward position is rotatablely equipped with five second pulleys, and five second pulleys are corresponded with the palm the five fingers respectively, wherein corresponding
Four second pulley rears of four fingers are positioned corresponding in the second pulley position of thumb, and the framework inner top is located at each the
One pulley rear is also rotatablely equipped with the 3rd pulley respectively, and framework inner top is located at five the 3rd pulley rear left and right side difference
It is connected with guide ring, guide ring quantity totally five, framework and central shaft is installed along left and right water positioned at fixed platform rotated down
Square to setting rotary shaft；
Also include the fingerstall for being respectively fitted over the palm the five fingers, fingerstall upper end is connected with steel wire rope, and fingerstall lower end is connected with lower steel wire
Rope, the upper steel wire rope of each fingerstall upper end connection bypasses corresponding the backward again up around the corresponding first pulley of finger respectively
Three pulleys, five upper steel wire ropes for bypassing the 3rd pulley are corresponded again to be continued to extend downwardly and be fixed on rotation through after guide ring
In rotating shaft, five upper steel wire ropes are oriented to left and right sides to avoid arm by guide ring, and be separately fixed at five upper steel wire ropes
Left and right side in rotary shaft；The lower steel wire rope of each fingerstall lower end connection is bypassed after the corresponding second pulley of finger separately down, then
Extend respectively backward and be fixed in the middle of rotary shaft；
The framework side is provided with MR damper and belt wheel, and MR damper is connected by inner rotator with rotary shaft,
Rotary shaft is connected with belt wheel by key, and steel wire rope is wound with belt wheel, and steel wire rope one end passes through vertical shape-memory alloy wire
It is connected with base of frame, the steel wire rope other end is connected by vertical shape memory alloy spring with base of frame.
The wire saws formula finger rehabilitation training device of described marmem driving, it is characterised in that：Also include meter
Calculation machine, data collecting plate card, D/A converter, current controller, angular transducer and A/D converter, wherein angular transducer are pacified
On the rotary shaft, the signal output part of angular transducer and the input of A/D converter are connected dress, the output end of A/D converter
It is connected with data collecting plate card, data collecting plate card is connected with computer, input of the data collecting plate card also with D/A converter
Connection, the output end of D/A converter is connected with current controller, the output end of current controller respectively with MR damper,
Shape-memory alloy wire, shape memory alloy spring connection.
The wire saws formula finger rehabilitation training device of described marmem driving, it is characterised in that：Fixed platform
Front side correspondence thumb placement location is provided with a rectangular channel hollowed out, to prevent from hindering thumb rehabilitation training.
The wire saws formula finger rehabilitation training device of described marmem driving, it is characterised in that：With the five fingers pair
The first pulley answered is arranged on when the five fingers are stretched to level, the framework inner top position on each finger directly over fingerstall.
The wire saws formula finger rehabilitation training device of described marmem driving, it is characterised in that：With the five fingers pair
The second pulley answered is arranged on when the five fingers grasp and are in extreme lower position, the framework inner bottom part position on each finger below fingerstall
Put.
The wire saws formula finger rehabilitation training device of described marmem driving, it is characterised in that：In rotary shaft
There are ten open slots, each upper steel wire rope, the central axis upright of lower steel wire rope spatially with rotary shaft, upper and lower steel wire
Rope corresponds and moves into and be fixed in the open slot of rotary shaft, and upper steel wire rope, lower wirerope-winding enter the length of open slot
More than finger grip and the length of extension stroke.
A kind of training method of the wire saws formula finger rehabilitation training device of marmem driving, it is characterised in that：
Including passive exercise method and active training method, wherein：
Passive exercise method comprises the following steps：
Step one：System initialization is carried out, MR damper, shape-memory alloy wire and shape memory alloy spring are in
Power failure state, while sending instruction by computer opens sensing and control system；
Step 2：Instruction is sent to data collecting plate card output control signal from computer, the control electric current control after D/A converters
The output current of device processed, control electric current controller is powered to shape-memory alloy wire and reaches phase transition temperature, and shape memory is closed
Spun gold starts to shrink at pulling steel wire rope, and band movable belt pulley is rotated counterclockwise, and belt wheel drives rotary shaft to rotate counterclockwise, so that lower steel wire
The open slot that rope is moved into rotary shaft, upper steel wire rope lays out the open slot in rotary shaft, and lower rope belt, which starts to refer to, to be started downwards
Make grasp motion, while the angle signal that angular transducer collection rotary shaft is rotated；
Step 3：The angle signal gathered input data analog input card after A/D converter, magnetic current variable resistance is tried to achieve by computer
The current value of input is needed in Buddhist nun's device, the rotating speed of rotary shaft is adjusted；
Step 4：The MR damper control electric current value tried to achieve according to step 3, is exported from computer to data collecting plate card
Control signal, control electric current controller is to the output current of MR damper after D/A converters, and MR damper is to rotation
Rotating shaft provides damping force, to ensure that rotary shaft is rotated with constant angular speed；
Step 5：Repeat step three and step 4 cause finger grip process to be carried out with stable speed until grasp motion knot
Beam；
Step 6：Instruction is sent to data collecting plate card output control signal from computer, the control electric current control after D/A converters
Device processed, stops current controller and is passed through electric current to shape-memory alloy wire, shape-memory alloy wire is begun to cool down, and gradually recovers former
Shape, now shape memory alloy spring play bias spring, shape memory alloy spring pulls steel wire rope, and band movable belt pulley is made
Rotate clockwise, belt wheel drives rotary shaft to rotate clockwise, so that lower steel wire rope lays out the open slot in rotary shaft, upper steel wire rope
The open slot moved into rotary shaft, upper rope belt, which starts to refer to, to be started to be extended action upwards, while angular transducer collection rotation
The angle signal of axis of rotation；
Step 7：Repeat step three and step 4 cause digital extension to be carried out with stable speed until stretching knot
Beam；
Step 8：Two~step 7 of repeat step, until passive exercise terminates, halt instruction is sent by computer, sensing is closed
With control system, stop signal collection and data processing；
Active training method comprises the following steps：
Step one：System initialization is carried out, MR damper, shape-memory alloy wire and shape memory alloy spring are in
Power failure state, while sending instruction by computer opens sensing and control system；
Step 2：Instruction is sent by computer, to data collecting plate card output control signal, the control electric current after D/A converters
Controller, control electric current controller is powered to shape memory alloy spring and reaches phase transition temperature, shape memory alloy spring
Start elongation, the now connection of shape-memory alloy wire, steel wire rope and shape memory alloy spring three is generally in relaxation shape
State, in the active training stage, finger actuation mechanism does not work；
Step 3：Patient's finger starts actively to make grasp motion downwards, and finger drives upper steel wire rope to be laid out from rotary shaft, drives
Rotary shaft is rotated counterclockwise, so as to drive lower steel wire rope to be moved into from rotary shaft, angular transducer collection rotary shaft is rotated
Angle signal；
Step 4：The angle signal gathered input data analog input card after A/D converter, magnetic current variable resistance is tried to achieve by computer
The current value of input is needed in Buddhist nun's device so that finger experiences damping force during grasping, according to finger gymnastic effect, adjustment
Size of current is passed through until finger grip stroke terminates；
Step 5：Patient's finger starts actively to be extended action upwards, and finger drives lower steel wire rope to be laid out from rotary shaft, drives
Rotary shaft is rotated clockwise, so as to drive steel wire rope to be moved into from rotary shaft, angular transducer collection rotary shaft is rotated
Angle signal；
Step 6：The angle signal gathered input data analog input card after A/D converter, magnetic current variable resistance is tried to achieve by computer
The current value of input is needed in Buddhist nun's device so that finger experiences damping force during grasping, according to finger gymnastic effect, adjustment
Size of current is passed through until finger extension stroke terminates；
Step 7：Two~step 6 of repeat step, until active training terminates, halt instruction is sent by computer, sensing is closed
With control system, stop signal collection and data processing.
Beneficial effects of the present invention are：
The present invention provides the wire saws formula finger rehabilitation training device and method of a kind of marmem driving, it is adaptable to finger
Hemiplegic patient or the active/passive coordination rehabilitation training of injury of finger patient's the five fingers.Have the advantages that：
（1）Marmem has " memory " function, and positioning precision is high, when finger grip and the stroke stretched will not be because of training
Between it is permanent and change, be effectively guaranteed the effect of finger rehabilitation exercise；
（2）Marmem have Unit Weight High power output, action noiseless, good anti-fatigue performance, long lifespan and
Easily controllable the advantages of, the driver being made of it, simple in construction, control is flexible, action is continuous soft, so that effective guarantee
The efficiency and security of finger rehabilitation exercise；
（3）MR damper has that power consumption is few, damping force big, fast response time, advantages of simple structure and simple.In passive rehabilitation instruction
When practicing, it is that rotary shaft provides damping force in real time by MR damper, measures rotary shaft in real time in combination with angular transducer and turn
Dynamic angle, a stable angular speed is provided for rotary shaft, so that drive finger smoothly to be grasped and stretching, this
Sample is conducive to the more preferable rehabilitation training of finger；When initiative rehabilitation is trained, provided by MR damper for finger active movement
Suitable damping force, trains the muscular strength intensity of finger, is conducive to improving finger rehabilitation exercise effect；
（4）Rope has compliance, and rehabilitation training, the finger gymnastic for the exoskeleton-type that compares are carried out using rope traction finger
Trainer, its inertia is small, simple in construction, lightweight, with more security；
（5）The device can meet the five fingers while carrying out the requirement of harmony rehabilitation training, improve rehabilitation training efficiency, shorten
Recovery period.
Brief description of the drawings
Fig. 1 is finger rehabilitation training device structure chart of the present invention.
Fig. 2 is finger rehabilitation training device front view of the present invention.
Fig. 3 is the finger rehabilitation training device structure chart that the present invention removes framework right support plate.
Fig. 4 is finger rehabilitation exercise control principle block diagram of the present invention.
Fig. 5 is finger passive rehabilitation training flow chart of the present invention.
Fig. 6 is finger initiative rehabilitation training flow chart of the present invention.
Embodiment
The embodiment of the present invention includes：
As shown in figure 1, a kind of wire saws formula finger rehabilitation training device of marmem driving, including found the frame to setting
Frame 1, the fixed platform 15 for supporting palm, finger actuation mechanism, finger rehabilitation exercise mechanism and sensing and control system,
Wherein：Framework 1 is fixed on work top, and fixed platform 15 is used to support palm, and the place that fixed platform 15 places thumb has
One rectangular channel hollowed out, to prevent from hindering thumb rehabilitation training.
Such as Fig. 1 and as shown in Fig. 2 finger actuation mechanism includes belt wheel 13, steel cable 5, a shape memory
B alloy wire 11, a shape memory alloy spring 12.Belt wheel 13 is in rotary shaft 14, and steel wire rope 5 bypasses the groove of belt wheel 13, shape
Shape memory alloys 11 one end connecting steel wire ropes 5 of silk, the other end of shape-memory alloy wire 11 is fixed on the bottom of framework 1, shape note
Recall one end connecting steel wire ropes 5 of alloy spring 12, the other end of shape memory alloy spring 12 is fixed on the bottom of framework 1, shape note
Recall alloy spring 12 and be initially located in former length；
As Fig. 1 and as shown in figure 3, finger rehabilitation exercise mechanism include upper steel wire rope 5-1, lower steel wire rope 5-2, for binding finger
Fingerstall 7（Upper and lower ends have the aperture of connection rope）, first pulley 2, second pulley 3, the 3rd pulley 4, guide ring 17, rotation
Axle 14 and MR damper 10.Wherein：Upper steel wire rope 5-1, lower steel wire rope 5-2, first pulley 2, second pulley the 3, the 3rd
Pulley 4, guide ring 17, the quantity of fingerstall 7 are five, rotary shaft 14 1, MR damper 10 1；Each finger
6 corresponding first pulleys 2 are arranged on when finger 6 is stretched to level, the top of framework 1 directly over each fingerstall 7；Each finger
6 corresponding second pulleys 3 are arranged on the bottom of the corresponding framework 1 when it is extreme lower position that finger 6, which is grasped,；The guide ring 17 is consolidated
The top of framework 1 is scheduled on, the both sides of the upper steel wire rope 5-1 guide frames 1 for pulling on each finger 6 prevent from touching with arm 19
Touch；Corresponding 3rd pulley 4 of each finger 6 is arranged on the top of framework 1, between first pulley 2 and guide ring 17；Rotary shaft
14 are arranged on framework 1 by roller bearing 8, there is ten open slots 9 in rotary shaft 14, each upper steel wire rope 5-1, lower steel wire rope
5-2 is spatially vertical with the axis of rotary shaft 14, and correctly can move into and lay out corresponding open slot 9, so ensures
Upper steel wire rope 5-1, lower steel wire rope 5-2 naturally can move into and lay out open slot 9；Upper steel wire rope 5-1 one end connection
At the aperture above fingerstall 7, upper steel wire rope 5-1 sequentially passes through small above first pulley 2, the 3rd pulley 4 and guide ring 17
In hole, the open slot 9 of upper steel wire rope 5-1 other end wound clockwise in rotary shaft 14；Lower steel wire rope 5-2 one end connection
At the aperture below fingerstall 7, lower steel wire rope 5-2 is through the aperture wrapped anti-clockwise above second pulley 3 in rotary shaft 14
Open slot 9 in；Upper steel wire rope 5-1, lower steel wire rope 5-2 are in tensioning state, and upper steel wire rope 5-1, lower steel wire rope 5-2 are twined
The length for moving into open slot 9 is more than the length of the grasping of finger 6 and extension stroke；MR damper 10 is in rotary shaft 14.
As Fig. 2 and as shown in figure 4, sensing with control system including angular transducer 18, current controller, D/A converter,
A/D converter, data collecting plate card and computer.Angular transducer 18 is mounted in one end of rotary shaft 14.
A kind of wire saws formula finger rehabilitation exercise method of marmem driving, including passive exercise method and active
Training method.Wherein：
As shown in figure 5, the passive exercise method, specific implementation step is as follows：
Step one：Carry out system initialization, MR damper 10, shape-memory alloy wire 11 and shape memory alloy spring 12
Power failure state is in, while sending instruction by computer opens sensing and control system；
Step 2：Instruction is sent to data collecting plate card output control signal from computer, the control electric current control after D/A converters
The output current of device processed, control electric current controller is powered to shape-memory alloy wire 11 and reaches phase transition temperature, shape memory
B alloy wire 11 starts to shrink at pulling steel wire rope 5, and band movable belt pulley 13 is rotated counterclockwise, and belt wheel 13 drives rotary shaft 14 to turn counterclockwise
It is dynamic, so that the open slot 9 that lower steel wire rope 5-2 is moved into rotary shaft 14, upper steel wire rope 5-1 lays out the open slot 9 in rotary shaft 14,
Lower steel wire rope 5-2 drives finger 6 to start to make grasp motion downwards, while the angle that the collection rotary shaft 14 of angular transducer 18 is rotated
Signal；
Step 3：The angle signal gathered input data analog input card after A/D converter, magnetic current variable resistance is tried to achieve by computer
The current value of input is needed in Buddhist nun's device 10, the rotating speed of rotary shaft 14 is adjusted；
Step 4：The control electric current value of MR damper 10 tried to achieve according to step 3, it is defeated from computer to data collecting plate card
Go out control signal, control electric current controller is to the output current of MR damper 10, MR damper after D/A converters
10 provide damping force to rotary shaft 14, to ensure that rotary shaft 14 is rotated with constant angular speed；
Step 5：Repeat step three and step 4 cause the grasping process of finger 6 to be carried out with stable speed until grasp motion knot
Beam；
Step 6：Instruction is sent to data collecting plate card output control signal from computer, the control electric current control after D/A converters
Device processed, stops current controller and is passed through electric current to shape-memory alloy wire 11, shape-memory alloy wire 11 is begun to cool down, gradually extensive
Shape is restored, now shape memory alloy spring 12 plays bias spring, shape memory alloy spring 12 pulls steel wire rope 5,
Band movable belt pulley 13 is rotated clockwise, and belt wheel 13 drives rotary shaft 14 to rotate clockwise, so that lower steel wire rope 5-2 lays out rotary shaft
Open slot 9 on 14, the open slot 9 that upper steel wire rope 5-1 is moved into rotary shaft 14, upper steel wire rope 5-1 drives finger 6 to start upwards
Action is extended, while the angle signal that the collection rotary shaft 14 of angular transducer 18 is rotated；
Step 7：Repeat step three and step 4 cause the stretching process of finger 6 to be carried out with stable speed until stretching knot
Beam；
Step 8：Two~step 7 of repeat step, until passive exercise terminates, halt instruction is sent by computer, sensing is closed
With control system, stop signal collection and data processing.
As shown in fig. 6, the active training method, specific implementation step is as follows：
Step one：Carry out system initialization, MR damper 10, shape-memory alloy wire 11 and shape memory alloy spring 12
Power failure state is in, while sending instruction by computer opens sensing and control system；
Step 2：Instruction is sent by computer, to data collecting plate card output control signal, the control electric current after D/A converters
Controller, control electric current controller is powered to shape memory alloy spring 12 and reaches phase transition temperature, marmem bullet
Spring 12 starts elongation, and now shape-memory alloy wire 11, the connection of steel wire rope 5 and the three of shape memory alloy spring 12 is integrally located
In relaxed state, in the active training stage, finger actuation mechanism does not work；
Step 3：Patient's finger 6 starts actively to make grasp motion downwards, finger 6 drive upper steel wire rope 5-1 from rotary shaft 14 around
Go out, drive rotary shaft 14 to rotate counterclockwise, so that drive lower steel wire rope 5-2 to be moved into from rotary shaft 14, angular transducer 18
Gather the angle signal that rotary shaft 14 is rotated；
Step 4：The angle signal gathered input data analog input card after A/D converter, magnetic current variable resistance is tried to achieve by computer
The current value of input is needed in Buddhist nun's device 10 so that finger 6 experiences damping force during grasping, according to finger gymnastic effect,
Adjustment is passed through size of current until finger grip stroke terminates；
Step 5：Patient's finger 6 starts actively to be extended action upwards, finger 6 drive steel wire rope 5-2 from rotary shaft 14 around
Go out, drive rotary shaft 14 to rotate clockwise, so that drive steel wire rope 5-1 to be moved into from rotary shaft 14, angular transducer 18
Gather the angle signal that rotary shaft 14 is rotated；
Step 6：The angle signal gathered input data analog input card after A/D converter, magnetic current variable resistance is tried to achieve by computer
The current value of input is needed in Buddhist nun's device 10 so that finger 6 experiences damping force during grasping, according to finger gymnastic effect,
Adjustment is passed through size of current until finger extension stroke terminates；
Step 7：Two~step 6 of repeat step, until active training terminates, halt instruction is sent by computer, sensing is closed
With control system, stop signal collection and data processing.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (7)
1. the wire saws formula finger rehabilitation training device of marmem driving, it is characterised in that：Including founding the frame to setting
Horizontal dividing plate is provided with frame, framework, using the dividing plate as the fixed platform of support palm, framework inner top is forward beyond fixation
Platform forward position is rotatablely equipped with five first pulleys, and five first pulleys are corresponded with the palm the five fingers respectively, wherein right
Four first pulley rears of four fingers should be positioned corresponding in the first pulley position of thumb, framework inner bottom part is forward beyond fixation
Platform forward position is rotatablely equipped with five second pulleys, and five second pulleys are corresponded with the palm the five fingers respectively, wherein right
Four second pulley rears of four fingers should be positioned corresponding in the second pulley position of thumb, the framework inner top is located at each
First pulley rear is also rotatablely equipped with the 3rd pulley respectively, and framework inner top is located at five the 3rd pulley rear left and right sides point
It is not connected with guide ring, guide ring quantity totally five, framework and central shaft is installed along left and right positioned at fixed platform rotated down
Horizontally arranged rotary shaft；
Also include the fingerstall for being respectively fitted over the palm the five fingers, fingerstall upper end is connected with steel wire rope, and fingerstall lower end is connected with lower steel wire
Rope, the upper steel wire rope of each fingerstall upper end connection bypasses corresponding the backward again up around the corresponding first pulley of finger respectively
Three pulleys, five upper steel wire ropes for bypassing the 3rd pulley are corresponded again to be continued to extend downwardly and be fixed on rotation through after guide ring
In rotating shaft, five upper steel wire ropes are oriented to left and right sides to avoid arm by guide ring, and be separately fixed at five upper steel wire ropes
Left and right side in rotary shaft；The lower steel wire rope of each fingerstall lower end connection is bypassed after the corresponding second pulley of finger separately down, then
Extend respectively backward and be fixed in the middle of rotary shaft；
The framework side is provided with MR damper and belt wheel, and MR damper is connected by inner rotator with rotary shaft,
Rotary shaft is connected with belt wheel by key, and steel wire rope is wound with belt wheel, and steel wire rope one end passes through vertical shape-memory alloy wire
It is connected with base of frame, the steel wire rope other end is connected by vertical shape memory alloy spring with base of frame.
2. the wire saws formula finger rehabilitation training device of marmem driving according to claim 1, its feature exists
In：Also include computer, data collecting plate card, D/A converter, current controller, angular transducer and A/D converter, wherein
Angular transducer is installed on the rotary shaft, and the signal output part of angular transducer and the input of A/D converter are connected, and A/D turns
The output end of parallel operation is connected with data collecting plate card, and data collecting plate card is connected with computer, and data collecting plate card also turns with D/A
The input connection of parallel operation, the output end of D/A converter is connected with current controller, the output end of current controller respectively with magnetic
Rheological damper, shape-memory alloy wire, shape memory alloy spring connection.
3. the wire saws formula finger rehabilitation training device of marmem driving according to claim 1, its feature exists
In：Correspondence thumb placement location is provided with a rectangular channel hollowed out on front side of fixed platform, to prevent from hindering thumb rehabilitation training.
4. the wire saws formula finger rehabilitation training device of marmem driving according to claim 1, its feature exists
In：First pulley corresponding with the five fingers is arranged on when the five fingers are stretched to level, in the framework on each finger directly over fingerstall
Tip position.
5. the wire saws formula finger rehabilitation training device of marmem driving according to claim 1, its feature exists
In：Second pulley corresponding with the five fingers is arranged on when the five fingers grasp and are in extreme lower position, the frame on each finger below fingerstall
Frame inner bottom part position.
6. the wire saws formula finger rehabilitation training device of marmem driving according to claim 1, its feature exists
In：There are ten open slots in rotary shaft, each the central axis of upper steel wire rope, lower steel wire rope spatially with rotary shaft hangs down
Directly, upper and lower steel wire rope corresponds and moves into and be fixed in the open slot of rotary shaft, and upper steel wire rope, lower wirerope-winding enter
The length of open slot is more than the length of finger grip and extension stroke.
7. the training method for the wire saws formula finger rehabilitation training device that marmem described in a kind of claim 1 drives,
It is characterized in that：Including passive exercise method and active training method, wherein：
Passive exercise method comprises the following steps：
Step one：System initialization is carried out, MR damper, shape-memory alloy wire and shape memory alloy spring are in
Power failure state, while sending instruction by computer opens sensing and control system；
Step 2：Instruction is sent to data collecting plate card output control signal from computer, the control electric current control after D/A converters
The output current of device processed, control electric current controller is powered to shape-memory alloy wire and reaches phase transition temperature, and shape memory is closed
Spun gold starts to shrink at pulling steel wire rope, and band movable belt pulley is rotated counterclockwise, and belt wheel drives rotary shaft to rotate counterclockwise, so that lower steel wire
The open slot that rope is moved into rotary shaft, upper steel wire rope lays out the open slot in rotary shaft, and lower rope belt, which starts to refer to, to be started downwards
Make grasp motion, while the angle signal that angular transducer collection rotary shaft is rotated；
Step 3：The angle signal gathered input data analog input card after A/D converter, magnetic current variable resistance is tried to achieve by computer
The current value of input is needed in Buddhist nun's device, the rotating speed of rotary shaft is adjusted；
Step 4：The MR damper control electric current value tried to achieve according to step 3, is exported from computer to data collecting plate card
Control signal, control electric current controller is to the output current of MR damper after D/A converters, and MR damper is to rotation
Rotating shaft provides damping force, to ensure that rotary shaft is rotated with constant angular speed；
Step 5：Repeat step three and step 4 cause finger grip process to be carried out with stable speed until grasp motion knot
Beam；
Step 6：Instruction is sent to data collecting plate card output control signal from computer, the control electric current control after D/A converters
Device processed, stops current controller and is passed through electric current to shape-memory alloy wire, shape-memory alloy wire is begun to cool down, and gradually recovers former
Shape, now shape memory alloy spring play bias spring, shape memory alloy spring pulls steel wire rope, and band movable belt pulley is made
Rotate clockwise, belt wheel drives rotary shaft to rotate clockwise, so that lower steel wire rope lays out the open slot in rotary shaft, upper steel wire rope
The open slot moved into rotary shaft, upper rope belt, which starts to refer to, to be started to be extended action upwards, while angular transducer collection rotation
The angle signal of axis of rotation；
Step 7：Repeat step three and step 4 cause digital extension to be carried out with stable speed until stretching knot
Beam；
Step 8：Two~step 7 of repeat step, until passive exercise terminates, halt instruction is sent by computer, sensing is closed
With control system, stop signal collection and data processing；
Active training method comprises the following steps：
Step one：System initialization is carried out, MR damper, shape-memory alloy wire and shape memory alloy spring are in
Power failure state, while sending instruction by computer opens sensing and control system；
Step 2：Instruction is sent by computer, to data collecting plate card output control signal, the control electric current after D/A converters
Controller, control electric current controller is powered to shape memory alloy spring and reaches phase transition temperature, shape memory alloy spring
Start elongation, the now connection of shape-memory alloy wire, steel wire rope and shape memory alloy spring three is generally in relaxation shape
State, in the active training stage, finger actuation mechanism does not work；
Step 3：Patient's finger starts actively to make grasp motion downwards, and finger drives upper steel wire rope to be laid out from rotary shaft, drives
Rotary shaft is rotated counterclockwise, so as to drive lower steel wire rope to be moved into from rotary shaft, angular transducer collection rotary shaft is rotated
Angle signal；
Step 4：The angle signal gathered input data analog input card after A/D converter, magnetic current variable resistance is tried to achieve by computer
The current value of input is needed in Buddhist nun's device so that finger experiences damping force during grasping, according to finger gymnastic effect, adjustment
Size of current is passed through until finger grip stroke terminates；
Step 5：Patient's finger starts actively to be extended action upwards, and finger drives lower steel wire rope to be laid out from rotary shaft, drives
Rotary shaft is rotated clockwise, so as to drive steel wire rope to be moved into from rotary shaft, angular transducer collection rotary shaft is rotated
Angle signal；
Step 6：The angle signal gathered input data analog input card after A/D converter, magnetic current variable resistance is tried to achieve by computer
The current value of input is needed in Buddhist nun's device so that finger experiences damping force during grasping, according to finger gymnastic effect, adjustment
Size of current is passed through until finger extension stroke terminates；
Step 7：Two~step 6 of repeat step, until active training terminates, halt instruction is sent by computer, sensing is closed
With control system, stop signal collection and data processing.
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