CN107397648A - A kind of hand convalescence device and system - Google Patents
A kind of hand convalescence device and system Download PDFInfo
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- CN107397648A CN107397648A CN201710523952.5A CN201710523952A CN107397648A CN 107397648 A CN107397648 A CN 107397648A CN 201710523952 A CN201710523952 A CN 201710523952A CN 107397648 A CN107397648 A CN 107397648A
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- 208000034657 Convalescence Diseases 0.000 title claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 203
- 230000005540 biological transmission Effects 0.000 claims abstract description 54
- 238000012549 training Methods 0.000 claims abstract description 54
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 210000001145 finger joint Anatomy 0.000 claims abstract description 3
- 210000003813 thumb Anatomy 0.000 claims description 110
- 210000003811 finger Anatomy 0.000 claims description 109
- 210000000988 bone and bone Anatomy 0.000 claims description 24
- 210000005224 forefinger Anatomy 0.000 claims description 21
- 238000010276 construction Methods 0.000 claims description 13
- 210000004932 little finger Anatomy 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 6
- 241000406668 Loxodonta cyclotis Species 0.000 claims description 2
- 230000035876 healing Effects 0.000 abstract description 8
- 238000009434 installation Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 239000011148 porous material Substances 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 4
- 206010019468 Hemiplegia Diseases 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 241000905957 Channa melasoma Species 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 231100000518 lethal Toxicity 0.000 description 1
- 230000001665 lethal effect Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000001717 pathogenic effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to medical instruments field, specifically provides a kind of hand convalescence device and system.Present invention seek to address that existing hand healing robot training mode is single, the free degree is few, can not realize the independent control in each joint of each finger, can not improve the problem of training enthusiasm by rehabilitation object.For this purpose, the hand convalescence device of the present invention provides power including hand exercise mechanism, for hand exercise mechanism and realizes the drive mechanism of the transmission of the power and drive the hand exercise mechanism to realize by the transmission rope of the hand rehabilitation exercise motion of rehabilitation object, wherein, the hand exercise mechanism has distinguishes the corresponding free degree with by nine finger-joints of the hand of rehabilitation object；Wherein, the hand convalescence device also includes pedestal support mechanism, and the hand exercise mechanism and the drive mechanism are fixed on the pedestal support mechanism.The hand convalescence device of the present invention improves the performance of hand convalescence device by the hand exercise mechanism of nine-degree of freedom.
Description
Technical field
The present invention relates to medical instruments field, specifically provides a kind of hand convalescence device and system.
Background technology
Cerebral apoplexy is the second largest lethal cause of disease of China, while is also the first big Pathogenic factors.Wherein, about 2/3
Hemiplegia phenomenon occurs in post-stroke in people, as paralysis or partial paralysis occurs in the hand and/or arm of side.Hemiplegia phenomenon
It is a kind of phenomenon of prolonged locomitivity deficiency or missing, therefore can be brought to sufferers themselves and its household greatly not
Just.In order to recover or improve extremity motor function, hemiplegic patient needs to receive substantial amounts of rehabilitation training.At present, clinically it is directed to
The rehabilitation of hemiplegic patient relies primarily on traditional recovery training method, i.e. auxiliary of the patient in medical personnel (such as Physical Therapist)
Lower completion training action.With the increasingly increase of patient populations, plus the limitation in Physical Therapist's quantity and muscle power, patient is difficult to connect
By lasting and effective rehabilitation training.On this basis, healing robot arises at the historic moment.The machine that healing robot is provided
People's auxiliary rehabilitation exercise compensate for traditional recovery training method not due to saving the whole intervention of medical personnel
Foot, more patients can be made to enjoy rehabilitation training, and because robot can set corresponding health according to patient demand
Complex pattern, therefore optimize traditional rehabilitation exercise motion.
Have a large number of researchers both at home and abroad and correlative study is deployed to healing robot, and confirm the clinic of healing robot
Rehabilitation efficacy.It is but also less currently for the healing robot of hand rehabilitation.And the work organ that hand is the most frequently used as the mankind
One of, the recovery of its function is vital, therefore the rehabilitation training equipment designed for hand seems and is even more important.Still with
Exemplified by the rehabilitation training of hand hemiplegia phenomenon, hand mainly includes five fingers, and its main movement is each of each finger
The flexion and extension in individual joint.Current hand healing robot is mainly based on the training equipment for single finger, Er Qiexun
Practice that equipment provides training mode is single, the free degree is few, therefore the independent control in each joint of each finger can not be realized.
Further, since training equipment, which belongs to, only provides output parameter not to the passive type equipment of patient feedback's relevant information, therefore can not
Improve the training enthusiasm of patient.
Correspondingly, this area needs a kind of new hand convalescence device to solve the above problems.
The content of the invention
It has been the existing hand healing robot training mode list of solution to solve above mentioned problem of the prior art
First, the free degree is few, can not realize the independent control in each joint of each finger, can not improve by the training enthusiasm of rehabilitation object
The problem of, one aspect of the present invention provides a kind of hand convalescence device, and the hand convalescence device includes hand exercise mechanism, is hand
Training institution of portion provides power and realizes the drive mechanism of the transmission of the power and drive the hand exercise mechanism to realize
By more transmission ropes of the hand rehabilitation exercise motion of rehabilitation object, wherein, the hand exercise mechanism have with by rehabilitation pair
The free degree corresponding to nine finger-joints difference of the hand of elephant；Wherein, the hand convalescence device also includes pedestal load-bearing machine
Structure, the hand exercise mechanism and the drive mechanism are fixed on the pedestal support mechanism.
In the optimal technical scheme of above-mentioned hand convalescence device, the drive mechanism includes the first separate driving
Mechanism and the second drive mechanism, wherein, first drive mechanism includes a driver element, and second drive mechanism is set
There are separate four corresponding to forefinger, middle finger, the third finger, little finger singly to refer to drive mechanism, each singly refer to drive mechanism
Including two separate driver elements；And each driver element is fixed with two transmission ropes.
In the optimal technical scheme of above-mentioned hand convalescence device, the driver element includes motor and orthogonal gear
Case, wherein, the output shaft of the motor is connected with the gear of the orthogonal gear case, a left side for the orthogonal gear case
The output shaft of gear and right gear is connected to Left Drive wheel and right drive, and the first end of two transmission ropes is solid respectively
Due in the race of the Left Drive wheel and the right drive.
In the optimal technical scheme of above-mentioned hand convalescence device, first drive mechanism passes through the first motor branch
Frame is attached to the pedestal support mechanism, is provided with first crossbeam on the first motor support, on the first crossbeam
It is respectively provided with the corresponding position of the Left Drive wheel of the driver element with first drive mechanism and the right drive
There is the wheel construction of trough of belt, the second end of the transmission rope being connected with first drive mechanism passes through first motor
The hand exercise mechanism is connected to after the hole of the relevant position of support, the wheel construction around the trough of belt of relevant position,
Second drive mechanism is attached to pedestal support mechanism by the second motor support, on the second motor support
Four second cross beams are provided with, in the left biography of each driver element with first drive mechanism on the second cross beam
Driving wheel and the corresponding position of the right drive are provided with the wheel construction of trough of belt, the institute being connected with second drive mechanism
State hole of second end through the relevant position of the motor support, the wheel of the trough of belt around relevant position of transmission rope
The hand exercise mechanism is connected to after structure.
In the optimal technical scheme of above-mentioned hand convalescence device, the hand exercise mechanism include palm combining mechanism and
Finger exoskeleton mechanism, the palm combining mechanism are fixed on the pedestal support mechanism, and the finger exoskeleton mechanism is fixed
In the palm combining mechanism.
In the optimal technical scheme of above-mentioned hand convalescence device, the finger exoskeleton mechanism includes thumb ectoskeleton
Mechanism and thumb in fingers out bone mechanism, wherein, the thumb exoskeleton mechanism includes the ectoskeleton of thumb first and thumb the
Two ectoskeletons, thumb connection sheet is provided between the ectoskeleton of thumb first and the thumb second ectoskeleton；Its
In, the thumb in fingers out bone mechanism includes singly referring to outside corresponding to separate four of forefinger, middle finger, the third finger, little finger
Bone mechanism, it is each it is described singly refer to that exoskeleton mechanism includes setting gradually four refer to the first ectoskeletons, four refer to the second ectoskeletons and
Four refer to the 3rd ectoskeleton, and being provided with four fingers first between the second ectoskeleton of four first ectoskeleton of finger and four finger connects
Piece, it is described four finger the second ectoskeleton and it is described four finger the 3rd ectoskeleton between be provided with four the second connection sheets of finger.
In the optimal technical scheme of above-mentioned hand convalescence device, the ectoskeleton of thumb second is flexible by thumb
Bar is fixed on the thumb flexible link fixing groove of the palm combining mechanism, and described four refer to the 3rd ectoskeleton refers to flexible link by four
Be fixed on the palm combining mechanism four refer to flexible link fixing groove.
In the optimal technical scheme of above-mentioned hand convalescence device, capillary is provided with the palm combining mechanism, institute
State and be provided with path aperture on finger exoskeleton mechanism, the transmission rope for laying out the wheel construction of trough of belt passes through the capillary and road
The finger exoskeleton mechanism is simultaneously fixed in footpath hole.
In the optimal technical scheme of above-mentioned hand convalescence device, hand load-bearing is provided with the pedestal support mechanism
Plate, during rehabilitation training is carried out, consolidated by the arm support of rehabilitation object in hand bearing plate, the hand by rehabilitation object
Due to the hand exercise mechanism.
On the other hand, present invention also offers a kind of hand rehabilitation system, the system to include hand convalescence device, computer
With the next machine controller；Wherein：
1) computer is used for：
11) status information by rehabilitation object that the next machine controller uploads is recorded in real time；
12) in rehabilitation training, visual feedback is provided to by rehabilitation object；
13) control instruction corresponding with rehabilitation training is sent to the next machine controller, and
14) status information is based on, adjusts control instruction；
2) the next machine controller is used for：
21) control instruction is received, and controls hand convalescence device to perform rehabilitation training according to the control instruction and moves
Make；
22) it is that collection hand convalescence device uploads, by the rehabilitation exercise motion of rehabilitation object in rehabilitation training
Comprising parameter information, based on the parameter information generate by the status information of rehabilitation object；
3) the hand convalescence device is the hand convalescence device of foregoing any scheme.
It will be appreciated to those of skill in the art that in the inventive solutions, hand convalescence device by for
Five fingers are configured with 9 frees degree (two joint configuration ones degree of freedom of thumb, remaining four each three joint configuration amount of finger
The individual free degree), flexing and the stretching in joint are controlled by transmission rope, can be directed to and realize hand entirety by the five fingers of rehabilitation object
Rehabilitation training, and can be directed to and single rehabilitation training is carried out by the single finger of rehabilitation object, improve rehabilitation training
Performance.In addition, on the one hand hand rehabilitation system can provide visual feedback to by rehabilitation object, so as to transfer the training of patient
Enthusiasm；On the other hand can also be made according to the control algolithm for being optimized rehabilitation training by the status information of rehabilitation object by rehabilitation
Object can obtain the rehabilitation training closer to real demand, so as to improve the Consumer's Experience of hand rehabilitation system.
Brief description of the drawings
Fig. 1 is the structured flowchart of the hand rehabilitation system of the present invention；
Fig. 2 is the general structure schematic diagram of the hand convalescence device of the present invention；
Fig. 3 is the structural representation of the pedestal support mechanism of the hand convalescence device of the present invention；
Fig. 4 is the structural representation of the drive mechanism of the hand convalescence device of the present invention；
Fig. 5 is the partial enlarged view at A in Fig. 4；
Fig. 6 is the structural representation of the hand exercise mechanism of the hand convalescence device of the present invention；
Fig. 7 is the structural representation (thumb) of the first exoskeleton mechanism of the finger exoskeleton mechanism of the present invention；
Fig. 8 is the structural representation (forefinger) of the second exoskeleton mechanism of the finger exoskeleton mechanism of the present invention；
Fig. 9 is the structural representation of the path fixing hole of transmission rope in thumb exoskeleton mechanism of the invention；And
Figure 10 is the path schematic diagram of transmission rope in forefinger exoskeleton mechanism of the invention.
Reference numerals list
1st, hand convalescence device；11st, hand exercise mechanism；111st, palm combining mechanism；1111st, palm engagement plate；
1112nd, thumb flexible link fixing groove；1113rd, four refer to flexible link fixing groove；1114th, four refer to transmission rope fixed beam；112nd, finger
Exoskeleton mechanism；1121st, thumb exoskeleton mechanism；11211st, the ectoskeleton of thumb first；11212nd, thumb connection sheet；
11213rd, the ectoskeleton of thumb second；11214th, thumb end fixed plate；1122nd, thumb in fingers out bone mechanism；11221st, four refer to
First ectoskeleton；11222nd, four refer to the first connection sheet；11223rd, four refer to the second ectoskeleton；11224th, four refer to the second connection sheet；
11225th, four refer to the 3rd ectoskeleton；11226th, four refer to end fixed plate；113rd, thumb flexible link；114th, four refer to flexible link；12、
Drive mechanism；121st, four refer to drive mechanism；122nd, thumb drive mechanism；123rd, orthogonal gear case；1230th, bottom plate；
1231st, gear；1232nd, left gear；1233rd, right gear；1234th, lower gear；1235th, Left Drive wheel；1236th, right drive；
1237th, left fixed plate；1238th, right fixed plate；1239th, upper mounted plate；124th, motor；125th, the second motor support；
1251st, top panel；1253rd, left panel；1252nd, right panel；1254th, lower panel；1255th, trough of belt bearing；1256th, second cross beam；
13rd, pedestal support mechanism；131st, top plate；132nd, right plate；133rd, left plate；134th, drive mechanism bearing plate；135th, hand is held
Weight plate；136th, bottom plate；14th, transmission rope；2nd, computer；3rd, the next machine controller；4th, by rehabilitation object；41st, four refer to.
Embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the technical principle of the present invention, it is not intended that limit the scope of the invention.This area skill
Art personnel can make adjustment to it as needed, to adapt to specific application scenario.
It should be noted that in the description of the invention, term " " center ", " on ", " under ", "left", "right", " vertical ",
The term of the direction indication such as " level ", "front", "rear" or position relationship is to be based on direction shown in the drawings or position relationship, and this is only
Description is for only for ease of, rather than instruction or hint described device or element there must be specific orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second ", " the 3rd " are only used for
Purpose is described, and it is not intended that instruction or hint relative importance.
In addition it is also necessary to explanation, in the description of the invention, unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
Fig. 1 shows the structured flowchart of the hand rehabilitation system of the present invention, and the hand rehabilitation system is mainly used in by rehabilitation
Object 4 provides active hand rehabilitation training.As shown in figure 1, the hand rehabilitation system mainly includes hand convalescence device 1, meter
Calculation machine 2 and the next machine controller 3.Wherein：
Computer 2 is mainly used in：1) status information by rehabilitation object 4 that the next machine controller 3 uploads is recorded in real time；2)
Visual feedback is provided to by rehabilitation object 4, is such as drawn and to by the reality environment of rehabilitation object displaying hand rehabilitation state；
3) control instruction is sent to the next machine controller 3, objective appraisal is such as made to rehabilitation training according to the status information in 1), can
To refer to the evaluation, corresponding control algolithm is performed according to different rehabilitation training patterns.
The next machine controller 3 is mainly used in：1) after the control instruction of the transmission of computer 2 is received, control instruction is entered
Row decodes and extracts the power of each motor 124 (as shown in Figure 4) and the controlled quentity controlled variable of position of hand convalescence device 1
(such as torque, displacement, speed), and corresponding controlled quentity controlled variable is converted into control signal and is sent to hand convalescence device 1, so as to
The rehabilitation exercise motion for controlling hand convalescence device 1 to perform；2) quilt that the sensor in real time on collection hand convalescence device 1 uploads
The parameter information of the rehabilitation exercise motion of rehabilitation object 4, and status information is generated after parameter information is decoded, afterwards by shape
State information is sent to computer 2.
Hand convalescence device 1 is mainly used in：1) it will be fixed by the hand of rehabilitation object 4, and held by the hand of rehabilitation object 4
The row rehabilitation exercise motion corresponding with the control signal that the next machine controller 3 is sent；2) collection is instructed by the rehabilitation of rehabilitation object 4
Practice the parameter information of action, such as gathered by pressure sensor and flexibility sensor in rehabilitation training by rehabilitation object 4
The pressure and flexibility of finger.
As can be seen that the present invention hand rehabilitation system during to carrying out rehabilitation training by rehabilitation object 4, a side
Face, rehabilitation training, the opposing party are completed by computer 2 → 3 → hand of the next machine controller convalescence device 1 → by rehabilitation object 4
Face, by hand convalescence device 1 → 3 → computer of the next machine controller 2 → by rehabilitation object 4 to rehabilitation training provide feedback.
Controlled by the closed loop of interactive mode, enable the hand rehabilitation system of the present invention more have to provide one by rehabilitation object 4
The rehabilitation training of effect, improves Consumer's Experience.Wherein, feedback is provided to rehabilitation training to be mainly reflected in：1) by gathering by health
The rehabilitation exercise motion of multiple object 4, the control instruction that optimizing computer provides in rehabilitation training backward；2) by rehabilitation pair
During completing rehabilitation exercise motion as 4 or afterwards, to the visual feedback that report formula is provided by rehabilitation object 4.It is therein
Control instruction is optimized by the rehabilitation exercise motion of rehabilitation object 4 from technological layer, and visual feedback makes eaten by rehabilitation object 4
The right to know of current rehabilitation progress is obtained in power, very long rehabilitation training, can especially in the case of rehabilitation is strong
Improve by the training enthusiasm of rehabilitation object 4.
For above-mentioned hand convalescence device, the present invention propose it is a kind of can be directed to the five fingers, it is equal for nine joints
Hand convalescence device with the free degree, it can be provided simultaneously respectively for the rehabilitation training of five fingers to patient.Wherein, nine
The implication of the individual free degree is that hand convalescence device of the invention can include " thumb one to being provided by rehabilitation object 4 simultaneously
The individual free degree, remaining each two free degree of four fingers (forefinger, middle finger, the third finger, little finger) " bends and stretches rehabilitation training.
Fig. 2 shows the general structure schematic diagram of the hand convalescence device of the present invention.As shown in Fig. 2, hand convalescence device 1
Mainly include hand exercise mechanism 11, for providing power for hand exercise mechanism 11 and realizing powerdriven driving machine
Structure 12, the pedestal support mechanism 13 for being mainly used in fixing hand exercise mechanism 11 and drive mechanism 12 and drive hand exercise machine
Structure 11 is realized by the transmission rope 14 of the hand rehabilitation exercise motion of rehabilitation object 4.
Fig. 3 shows the structural representation of the pedestal support mechanism 13 of hand convalescence device.As shown in figure 3, pedestal load-bearing machine
Structure 13 mainly includes bottom plate 136, is separately mounted to the both ends of bottom plate 136 and the left plate 133 vertical with bottom plate 136 and right plate
132nd, hand bearing plate 135 between left plate 133 and right plate 132, setting gradually from bottom to top, drive mechanism are arranged on
Bearing plate 134 and top plate 131.Wherein, such as power transfer module (not shown), hand can be installed on bottom plate 136
Bearing plate 135 is mainly used in supporting in hand rehabilitation training then to be led by the arm of rehabilitation object 4, drive mechanism bearing plate 134
It is used to install simultaneously support driving mechanism 12.In addition, in order to ensure the globality of hand convalescence device and for the ease of will be by
The hand of rehabilitation object 4 is fixed on hand exercise mechanism 11, and hand exercise mechanism 11 is also preferably mounted to drive mechanism load-bearing
On plate 134.
It will be appreciated by persons skilled in the art that the setting of the concrete structure and all parts of pedestal support mechanism 13
Position can be adjusted flexibly, such as can by the space between drive mechanism bearing plate 134 and bottom plate 136 from left to right by every
Plate is divided into multiple spaces, and the part of bottom plate 136 is as hand bearing plate 135 corresponding to one of space.
With continued reference to Fig. 3, drive mechanism 12 is mainly including the roughly the same thumb drive mechanism of driving principle and structure
122 and four refer to drive mechanism 121, and wherein thumb drive mechanism 122 is provided with the (control of a driver element just for thumb
Bend and stretch in one joint of system), and four finger drive mechanisms 121 are respectively arranged with corresponding to (forefinger, middle finger, the third finger, little finger)
Singly refer to drive mechanism accordingly, each singly referring to drive mechanism includes two driver elements (bending and stretching for two joints of control).Below
Illustrate the structure of drive mechanism 12 by taking four finger drive mechanisms 121 as an example.
Fig. 4 shows the structural representation of four finger drive mechanisms 121.As shown in figure 4, four finger drive mechanisms 121 mainly include
Second motor support 125 and on plate 1251 above the second motor support 125, with " forefinger, middle finger,
Four fingers of nameless, little finger " singly refer to drive mechanism for corresponding four respectively, and each singly referring to drive mechanism includes two drivings
Unit, each driver element include motor 124, with the orthogonal gear case 123 of the output axis connection of motor 124 and
(left and right) drive that the output shaft of (left and right) both sides of orthogonal gear case connects respectively.That is, four refer to drive mechanism
Eight orthogonal gear casees 123 are installed, each two is one group, each gear-box control on 121 the second motor support 125
One joint of single finger, i.e., the finger is set to realize that bending and the rehabilitation stretched are instructed by the main story and reversion of motor
Practice.In view of each finger has three articulations digitorum manus, the bending in two joints away from palm and to stretch be to carry out reality by motor
It is existing, and close to palm compared with the 3rd joint then carry out passive stretching by four finger flexible links 114 and train.Second motor
Support 125 is one and encloses the box-type knot set by top panel 1251, left panel 1253, right panel 1252 and lower panel 1254
Structure, top panel 1251 are used to install above-mentioned eight orthogonal gear casees 123, are provided between left panel 1253 and right panel 1252
Four second cross beams 1256, i.e., each driver element are corresponding with a second cross beam 1256, the both ends difference of second cross beam 1256
Be fixed on or it is movable be connected to left panel 1253 and right panel 1252, each orthogonal gear is corresponded on second cross beam 1256
The Left Drive wheel and right drive of the left and right sides of case 123 are respectively configured with the wheel construction (commutation track) of a trough of belt, i.e., every
The axially disposed wheel construction for having trough of belt on second cross beam 1256, is mainly used in the vertical direction for exporting orthogonal gear case 123
Motion be changed into the flexion and extension of horizontal direction.The trough of belt bearing that the track that such as commutates can be disposed on second cross beam 1256
1255, as previously described crossbeam 1256 freely can rotate or be relatively fixed, band between left panel 1253 and right panel 1252
Groove bearing 1255 freely can be rotated or be relatively fixed on second cross beam 1256.
It should be noted that for four refer to drive mechanism 121, because each finger is configured with one group i.e. two driving
Unit (i.e. two orthogonal gear casees), each orthogonal gear case are configured with two drives, and each drive is fixed with a biography
Running rope.Bypassed that is, every group of driver element can draw four transmission ropes corresponding to this group of driver element on second cross beam
Four trough of belt bearings 1255, so, eight driver elements are likely occurred movement interference between totally 16 transmission ropes.Enter one
Reference picture 4 is walked, according to orientation shown in Fig. 4, two orthogonal gear casees of every group of driver element are arranged along left and right, four groups of driver elements
Between it is front and rear parallel and adjacent to driver element between orthogonal gear be staggered.Due to first group of driver element and the 3rd group
The orthogonal gear of driver element substantially overlaps in the position of left and right directions, it is therefore more likely that there is first group of driver element and the 3rd
Phenomena such as intersection occurs when around the corresponding trough of belt bearing 1255 of second cross beam, knots, be twisted for the transmission rope of group driver element.
In consideration of it, four second cross beams can be staggeredly arranged, such as it is divided into two groups from by four second cross beams, wherein (previous, the first two)
For first group, (latter, rear second group, first group and second group of two) interlaced arrangement upper along the vertical direction, such as first group is arranged in
Higher position and the two be in same plane, second group is arranged in relatively low position and the two is in same plane.
It will be appreciated by persons skilled in the art that the concrete structure and all parts of the second motor support 125
Set location can be adjusted flexibly, such as with further reference to Fig. 4, can be set in (left and right) panel between (upper and lower) panel
There is reinforcement.Similar with the second motor support, thumb drive mechanism 122 is configured with the first motor support (in figure
Do not mark).Similar with second cross beam 1256, the first motor support should also be as being configured with a first crossbeam (not to be shown in figure
Go out), (left and right) drive that driver element is corresponded on first crossbeam is configured with the wheel construction of two troughs of belt.With further reference to
Fig. 3, it can be that the first drive mechanism carries out Redundancy Design, i.e., two driver elements are configured on the first motor support, its
In one to be standby.
Fig. 5 shows the partial enlarged view at A in Fig. 4.As shown in figure 5, orthogonal gear case 123 mainly includes by upper fixation
Plate 1239, left fixed plate 1237, right fixed plate 1238 and bottom plate 1230 enclose the gear housing being set as, are arranged at gear-box
The internal gear train formed by gear 1231, left gear 1232, right gear 1233 and lower gear 1234 and output power
The right drive 1236 of Left Drive wheel 1235.Wherein, motor 124 is arranged on the upside of upper mounted plate 1239, and its is defeated
Shaft extend out to the downside of upper mounted plate 1239 through upper mounted plate 1239, and gear 1231 is fixedly connected on motor 124
Output shaft on and with the synchronous axial system of motor 124.Left gear 1232 engages with gear 1231 and its output shaft passes through a left side
Fixed plate 1237, right gear 1233 engages with gear 1231 and its output shaft passes through right fixed plate 1238, lower gear 1234 with
Left gear 1232 and right gear 1233 engage respectively and lower gear 1234 is arranged on upside (such as bottom plate of bottom plate 1230
The rotary shaft that can be freely rotated relative to bottom plate 1230 is provided with 1230, lower gear 1234 is fixedly installed in the rotary shaft
And synchronous).Left Drive wheel 1235 is stretched out on the gear shaft of left fixed plate 1237 installed in left gear 1232, i.e. Left Drive wheel
1235 follow the synchronous axial system of left gear 1232.Right drive 1236 is arranged on the gear that right gear 1233 stretches out right fixed plate 1238
On axle, i.e., right drive 1236 follows the synchronous axial system of right gear 1233.
The Left Drive wheel 1235 and right drive 1236 of the left and right sides of orthogonal gear case 123 are respectively configured with a transmission
Rope 14, and the transmission rope 14 of corresponding side is separately fixed in the hole of the race of Left Drive wheel 1235 and right drive 1236, and
Hole above through the second motor support 125 of relevant position on plate 1251 is simultaneously surrounded to Left Drive wheel 1235 and right biography
Corresponding to driving wheel 1236 on trough of belt bearing 1255.So, travelling gear can be turned in vertical direction by transmission rope
Turn is changed to the flexion and extension of hand exercise mechanism in the horizontal direction.Specifically, motor 124 drives 1231 turns of gear
It is dynamic, because left gear 1232 and right gear 1233 all engage with gear 1231, therefore left gear 1232 and right gear 1233
Turn to opposite.Correspondingly, the steering of Left Drive wheel 1235 and right drive 1236 is also on the contrary, thus orthogonal gear case 123 or so
Only have one to be in extended state in the transmission rope 14 of both sides, it is such to set it is possible to prevente effectively from two transmission ropes 14 are suffered
Tensile force it is inconsistent when, hand exercise mechanism 11 is stuck.
Fig. 6 shows the structural representation of hand exercise mechanism.As shown in fig. 6, hand exercise mechanism 11 mainly includes palm
Combining mechanism 111 and finger exoskeleton mechanism 112, finger exoskeleton mechanism 112 are fixed on palm combining mechanism 111, palm rank
Connection mechanism 111 is fixed on drive mechanism bearing plate 134.Wherein, finger exoskeleton mechanism 112 includes providing rehabilitation to thumb
The first exoskeleton mechanism (referred to hereinafter as thumb exoskeleton mechanism 1121) of training and second to the offer rehabilitation trainings of four finger 41
Exoskeleton mechanism (referred to hereinafter as thumb in fingers out bone mechanism 1122), wherein thumb in fingers out bone mechanism 1122 includes principle and structure substantially
Identical forefinger exoskeleton mechanism, middle finger exoskeleton mechanism, nameless exoskeleton mechanism and little finger exoskeleton mechanism.Thumb
Exoskeleton mechanism 1121 and four limbs exoskeleton mechanism 1122 pass through thumb flexible link 113 and four four finger flexible links respectively
114 are fixed on palm combining mechanism 111.Specifically, one end of thumb flexible link 113 is connected to palm combining mechanism 111
On thumb 1112 in, the other end is connected on thumb exoskeleton mechanism 1121.Each four one end for referring to flexible link 114 connect
Corresponding four be connected on palm combining mechanism 111 refer in flexible link fixing groove 1113, and the other end is then connected to corresponding four and referred to
On exoskeleton mechanism 1122.Palm combining mechanism 111 includes palm engagement plate 1111, is pasted onto on palm engagement plate 1111
For the capillary (not shown) and foregoing thumb 1112 and four four finger flexibilities in the path for determining transmission rope 14
Bar fixing groove 1113, the both sides of each four fingers flexible link fixing groove 1113 are respectively arranged with four finger transmission rope fixed beams 1114, and four
Refer to the hole for being provided with transmission rope fixed beam and allowing transmission rope to pass through, be mainly used in preventing transmission rope during rehabilitation training is carried out
There is the phenomenon of position sideslip.It is of course also possible to identical functions or similar knot are also configured in the both sides of thumb flexible link 113
The transmission rope fixed beam of structure.Preferably, the finger flexible link of thumb 1112 and four fixing groove 1113 uses flexible rubber material system
Into.Because every finger configures two motors just for the joint away from palm, but every finger is close to palm
Joint its should be also activity, therefore can ensure that every finger can also have one by the setting of flexible rubber material
Individual passive freedom of movement.
Fig. 7 shows the structural representation of the thumb exoskeleton mechanism in finger exoskeleton mechanism.As shown in fig. 7, big thumb
Main the first ectoskeleton of thumb 11211 including positioned at the end of thumb exoskeleton mechanism 1121 of finger exoskeleton mechanism 1121,
Close to the second ectoskeleton of thumb 11213 of palm and outside the first ectoskeleton of thumb 11211 and thumb second
Big thumb between bone 11213, for connecting the first ectoskeleton of thumb 11211 and the second ectoskeleton of thumb 11213
Refer to connection sheet 11212, the terminal position of the first ectoskeleton of thumb 11211 is additionally provided with thumb end fixed plate 11214.Tool
For body, left side and right positions difference between the first ectoskeleton of thumb 11211 and the second ectoskeleton of thumb 11213
Thumb connection sheet 11212 is provided with, mounting hole is provided with thumb connection sheet 11212.In addition, the ectoskeleton of thumb first
11211 and the left surface and right flank of the second ectoskeleton of thumb 11213 be provided with series installation hole, be preferably equidistant
Mounting hole, it is corresponding with the mounting hole in thumb connection sheet 11212, by selecting different mounting holes to be pacified accordingly
Fill to change the length of thumb exoskeleton mechanism 1121, to adapt to the length of the different thumbs by rehabilitation object 4.Big thumb
Refer to the ring that a closing is formed after the first ectoskeleton 11211 is connected with thumb end fixed plate 11214, for fixed by health
The end of the thumb of multiple object 4.The installation position of the sensor for installing correlation is provided with the ring of closing, such as thumb the
The upper surface of one ectoskeleton 11211 is provided with four cylindrical protrusions, can be used for installation detection by the thumb of rehabilitation object 4
Rehabilitation training parameter flexibility sensor and pressure sensor etc..The upper surface of the second ectoskeleton of thumb 11213 is set
There is the fixed support for connecting thumb flexible link 113, support bracket fastened both ends as shown in Figure 7 are the structure in U-shaped band hole,
Thumb flexible link 113 is realized and the second ectoskeleton of thumb 11213 by the installation axle to match with the structure in U-shaped band hole
Pivotable connection.
Illustrate thumb in fingers out bone mechanism by taking the forefinger exoskeleton mechanism in thumb in fingers out bone mechanism 1122 as an example below
1122 principle and structure.Fig. 8 shows the forefinger exoskeleton mechanism schematic diagram of thumb in fingers out bone mechanism.As shown in figure 8, thumb in fingers out
Bone mechanism 1122 mainly includes referring to the first ectoskeleton 11221, positioned at centre positioned at the four of the end of thumb in fingers out bone mechanism 1122
Four finger the second ectoskeletons 11223, close to palm four finger the 3rd ectoskeletons 11225 and be separately mounted to (four refer to first outside
Bone 11221, four refers to the second ectoskeleton 11223) between (four, which refer to the second ectoskeleton 11223, four, refers to the 3rd ectoskeleton 11225)
Four refer to the first connection sheets 11222 and four and refer to the second connection sheets 11224.The terminal position of four the first ectoskeletons 11221 of finger is also set
It is equipped with four finger end fixed plates 11226.Specifically, four refer to the first ectoskeletons 11221 and four refer to the second ectoskeletons 11223 it
Between left side and right positions be respectively arranged with four the first connection sheets of finger 11222, referring to the second ectoskeletons 11223 and four four refers to
Left side and right positions between 3rd ectoskeleton 11225 are respectively arranged with four the second connection sheets of finger 11224, and four refer to the first connection
Piece 11222 and four refers to is provided with mounting hole in the second connection sheet 11224.Four, which refer to the first ectoskeleton 11221, four, refers to the second dermoskeleton
Bone 11223, four refers to the left surface of the 3rd ectoskeleton 11225 and right flank is provided with a series of mounting hole, is preferably equidistant
Hole, refer to the first connection sheets 11222 with four and four to refer to mounting hole in the second connection sheets 11224 corresponding, pass through select it is different
Mounting hole carry out corresponding installation to change the length of thumb in fingers out bone mechanism 1122, it is different by rehabilitation object 4 to adapt to
Four refer to length.Four the first ectoskeletons 11221 of finger form the ring of a closing after being connected with four finger end fixed plates 11226,
End for the fixed forefinger by rehabilitation object 4.The installation position of the sensor for installing correlation is provided with the ring of closing,
Upper surface such as four the first ectoskeletons 11221 of finger is provided with the sensor that four cylindrical protrusions are used to install correlation, Ke Yiyong
In installation detection by the flexibility sensor of the rehabilitation training parameter of the forefinger of rehabilitation object 4 and pressure sensor etc..Four refer to the
The upper surface of three ectoskeletons 11225 is provided with for connecting four fixed supports for referring to flexible link 114, fixed branch as shown in Figure 8
The both ends of frame are the structure in U-shaped band hole, four finger flexible links 114 by the installation axle that matches with the structure in U-shaped band hole realize with
Four refer to the pivotable connection of the 3rd ectoskeleton 11225.But the structure in U-shaped band hole is a kind of specific connected mode, and four refer to
Flexible link 114, such as reference picture 10, can also be referred to by realizing the connections with four the 3rd ectoskeletons 11225 of finger for his mode four
It is also equipped with being similarly used for the structure of four cylindrical protrusions of install sensor on 3rd ectoskeleton 11225, four refer to flexible link
Four pore structures of connection can be matched with four cylindrical protrusions by being provided with 114.
Fig. 9 shows the structural representation of the path aperture of transmission rope in thumb exoskeleton mechanism.As shown in Figure 9 and continue to join
Fig. 7 is read, two sides of the first ectoskeleton of thumb 11211 are provided with perpendicular to the side of the first ectoskeleton of thumb 11211
Plate, the rope fixing hole H4 that can make the flexion and extension of thumb exoskeleton mechanism 1121 is provided with the side plate, side plate is away from finger tip
One end be arranged to arcuate structure (as substantially semicircle).Illustrate transmission rope so that arcuate structure is semicircular structure as an example below
14 path aperture.The outer rim of semicircular structure is provided with semi-circular recesses H7, and the both-side ends of semicircular structure have each extended over
Upper through hole H6 and lower through-hole H5, and upper through hole H6 and lower through-hole H5 are respectively connecting to the fixing hole H4 that restricts.The ectoskeleton of thumb second
Access apertures H2 is provided with 11213 both sides end face.The ectoskeleton of close thumb second of thumb connection sheet 11212
Lateral aperture H1 is provided with 11213 end face, is correspondingly provided with to connect with lateral aperture H1 in thumb connection sheet 11212
Transitional pore H3.In assembled state, transitional pore H3 axis is crossed the tangent line of the point with semi-circular recesses H7 and overlapped, so that
Second end of transmission rope 14 through after hole (H2, H3) can just around to semi-circular recesses H7, after reached simultaneously through lower through-hole H5
It is fixed on H4.After the first end of transmission rope 14 is worn out out of thumb access apertures H2, by being pasted onto palm combining mechanism 111
On capillary loop around to trough of belt bearing 1255, passed afterwards from the aperture above the first motor support on plate, it is fixed
Mounting hole onto the Left Drive wheel 1235 or right drive 1236 of the first drive mechanism.
Certainly, foregoing path aperture is only disposed on the structure in thumb exoskeleton mechanism unilateral (left side), at another
(right side) is also equipped with same structure.But, otherwise varied, in opposite side, transmission rope 14 is successively through being passed through
Hole H2 and transitional pore H4 directly reaches rope fixing hole H4 through upper through hole H6, thus the requirement for transitional pore H3 be not axis with
Tangent line overlaps, but, axis overlaps with upper through hole H6.The path of the transmission rope 14 of both sides is arranged to pass through uplink and downlink respectively
Mode the reasons why being fixed on rope fixing hole H4 it is as follows, steering corresponding to the left and right drive of same motor on the contrary,
Only by such setting, by same motor same articulations digitorum manus could be driven to realize the rehabilitation training bent and stretched.
Figure 10 shows the path schematic diagram of transmission rope in forefinger exoskeleton mechanism.As shown in Figure 10 and with continued reference to Fig. 8,
Forefinger exoskeleton mechanism is provided with two groups of path apertures, structure design and the thumb dermoskeleton of single group path aperture corresponding to two joints
Bone mechanism is similar, will not be repeated here.Because thumb only has a joint for needing to control by transmission rope, therefore through hole H2
Only need processing one.And four refer to then with two joints needed by transmission rope control, therefore reference picture 10 can be seen that
H2 needs two.Processing and requirement easy to assembly are but considered, thumb and four articulation structures referred to are as far as possible consistent, i.e.,
Thumb the second ectoskeleton through hole H2 is also configured as two, and only only a H2 is active path hole.Under the premise of herein, still
So that arcuate structure is semicircular structure as an example, the path of transmission rope 14 is illustrated with further reference to Figure 10.First thumb in fingers out bone
A driver element is each configured with the second thumb in fingers out bone, is fixed on the Left Drive wheel of same motor and right transmission
Circular trough of belt bearing entrance is pasted onto after the first end of two transmission ropes 14 on wheel is each passed through the second motor support
Capillary on palm combining mechanism 111, enter forefinger ectoskeleton machine through the hole in four finger transmission rope fixed beams 1114 afterwards
Structure.Afterwards, corresponding to the first thumb in fingers out bone driver element left side road of the transmission rope 14 on forefinger exoskeleton mechanism
Footpath is：H2 → H3 → H7 → H5 → H4, the path of the transmission rope 14 on right side on forefinger exoskeleton mechanism are： H2→H1→H3
→H6→H4.Similarly, corresponding to the second thumb in fingers out bone driver element left side transmission rope 14 in forefinger ectoskeleton machine
Path on structure is：H2 → H3 → H7 → H5 → H4, the path of the transmission rope 14 on right side on forefinger exoskeleton mechanism are：H2→
H3→H6→H4。
It will be appreciated to those of skill in the art that in view of by the usage experience of rehabilitation object and hand convalescence device
Processing technology, the present invention in hand convalescence device in, the first ectoskeleton of thumb 11211, it is each four refer to (first, second)
Ectoskeleton can be designed to same structure；The second ectoskeleton of thumb 11213 and each four refers to the 3rd ectoskeleton 11225
Same structure can be designed to；Thumb connection sheet 11212 and each four fingers (first, second) connection sheet can design
Into same structure.In view of assembly technology, ten driver elements can be designed to identical, the orthogonal gear of driver element
The specification of each gear in case is designed to consistent identical with connected mode.
So far, combined preferred embodiment shown in the drawings describes technical scheme, still, this area
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these embodiments.Without departing from this
On the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to correlation technique feature, these
Technical scheme after changing or replacing it is fallen within protection scope of the present invention.
Claims (10)
1. a kind of hand convalescence device, it is characterised in that the hand convalescence device includes hand exercise mechanism, is hand exercise machine
Structure provides power and realizes the drive mechanism of the transmission of the power and drive the hand exercise mechanism to realize by rehabilitation pair
More transmission ropes of the hand rehabilitation exercise motion of elephant,
Wherein, the hand exercise mechanism has corresponding free respectively with by nine finger-joints of the hand of rehabilitation object
Degree；
Wherein, the hand convalescence device also includes pedestal support mechanism, and the hand exercise mechanism and the drive mechanism are consolidated
Due to the pedestal support mechanism.
2. a kind of hand convalescence device according to claim 1, it is characterised in that the drive mechanism includes separate
The first drive mechanism and the second drive mechanism,
Wherein, first drive mechanism includes a driver element, second drive mechanism be provided with corresponding to forefinger, in
Finger, the third finger, separate four of little finger singly refer to drive mechanism, and each singly referring to drive mechanism includes two independently of each other
Driver element；And
Each driver element is fixed with two transmission ropes.
3. a kind of hand convalescence device according to claim 2, it is characterised in that the driver element includes motor
With orthogonal gear case,
Wherein, the output shaft of the motor is connected with the gear of the orthogonal gear case, the orthogonal gear case
The output shaft of left gear and right gear is connected to Left Drive wheel and right drive, the first end difference of two transmission ropes
It is fixed in the race of the Left Drive wheel and the right drive.
4. a kind of hand convalescence device according to claim 3, it is characterised in that first drive mechanism passes through first
Motor support is attached to the pedestal support mechanism, and first crossbeam is provided with the first motor support, described
It is corresponding in the Left Drive wheel of the driver element with first drive mechanism and the right drive on first crossbeam
Position is provided with the wheel construction of trough of belt, and the second end of the transmission rope being connected with first drive mechanism is through described the
The hand is connected to after the hole of the relevant position of one motor support, the wheel construction around the trough of belt of relevant position
Training institution,
Second drive mechanism is attached to pedestal support mechanism, the second motor branch by the second motor support
Be provided with four second cross beams on frame, on the second cross beam with described in each driver element of first drive mechanism
Left Drive wheel and the corresponding position of the right drive are provided with the wheel construction of trough of belt, are connected with second drive mechanism
The transmission rope the second end through the hole of relevant position of the motor support, the trough of belt around relevant position
Wheel construction after be connected to the hand exercise mechanism.
5. a kind of hand convalescence device according to claim 4, it is characterised in that the hand exercise mechanism includes palm
Combining mechanism and finger exoskeleton mechanism, the palm combining mechanism are fixed on the pedestal support mechanism, the finger dermoskeleton
Bone mechanism is fixed on the palm combining mechanism.
6. a kind of hand convalescence device according to claim 5, it is characterised in that the finger exoskeleton mechanism includes big
Thumb exoskeleton mechanism and thumb in fingers out bone mechanism,
Wherein, the thumb exoskeleton mechanism includes the ectoskeleton of thumb first and the ectoskeleton of thumb second, the big thumb
Refer to and be provided with thumb connection sheet between the first ectoskeleton and the ectoskeleton of the thumb second.
Wherein, the thumb in fingers out bone mechanism includes corresponding to separate four of forefinger, middle finger, the third finger, little finger
Singly refer to exoskeleton mechanism, it is each it is described singly refer to that exoskeleton mechanism includes setting gradually four refer to the first ectoskeletons, four refer to outside second
Bone and four refers to the 3rd ectoskeleton, and four fingers first are provided between the second ectoskeleton of four first ectoskeleton of finger and four finger
Connection sheet, it is described four finger the second ectoskeleton and it is described four finger the 3rd ectoskeleton between be provided with four the second connection sheets of finger.
7. a kind of hand convalescence device according to claim 6, it is characterised in that the ectoskeleton of thumb second passes through
Thumb flexible link is fixed on the thumb flexible link fixing groove of the palm combining mechanism, and the 3rd ectoskeleton of four finger passes through
Four finger flexible links are fixed on the four of the palm combining mechanism and refer to flexible link fixing groove.
8. a kind of hand convalescence device according to claim 7, it is characterised in that be provided with the palm combining mechanism
Capillary, path aperture is provided with the finger exoskeleton mechanism, lay out the transmission rope of wheel construction of trough of belt through described
Capillary and path aperture are simultaneously fixed on the finger exoskeleton mechanism.
A kind of 9. hand convalescence device according to any one of claim 1 to 8, it is characterised in that the pedestal load-bearing
Hand bearing plate is provided with mechanism,
During rehabilitation training is carried out, by the arm support of rehabilitation object in hand bearing plate, the hand by rehabilitation object
It is fixed on the hand exercise mechanism.
10. a kind of hand rehabilitation system, including hand convalescence device, computer and the next machine controller；Wherein：
1) computer is used for：
11) status information by rehabilitation object that the next machine controller uploads is recorded in real time；
12) in rehabilitation training, visual feedback is provided to by rehabilitation object；
13) control instruction corresponding with rehabilitation training is sent to the next machine controller, and
14) status information is based on, adjusts control instruction；
2) the next machine controller is used for：
21) control instruction is received, and controls hand convalescence device to perform rehabilitation exercise motion according to the control instruction；
22) it is that collection hand convalescence device uploads, included in the rehabilitation exercise motion of rehabilitation object in rehabilitation training
Parameter information, based on the parameter information generate by the status information of rehabilitation object；
3) the hand convalescence device is hand convalescence device as claimed in any one of claims 1-9 wherein.
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| CN108743215A (en) * | 2018-04-11 | 2018-11-06 | 刘春龙 | A kind of rehabilitation training system based on flexible restoring gloves |
| CN110742774A (en) * | 2019-09-19 | 2020-02-04 | 深圳睿瀚医疗科技有限公司 | Healthy affected side is hand training system in coordination based on Leap Motion |
| CN113345551A (en) * | 2020-03-02 | 2021-09-03 | 北京海益同展信息科技有限公司 | Exoskeleton finger and exoskeleton glove |
| CN114272078A (en) * | 2021-12-24 | 2022-04-05 | 法罗适(上海)医疗技术有限公司 | A line drives device and line and drives recovered gloves for line drives recovered gloves |
| CN114734426A (en) * | 2022-03-11 | 2022-07-12 | 中国科学院自动化研究所 | Hand exoskeleton structure control method and device, electronic equipment and storage medium |
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