CN107397648B - A kind of hand convalescence device and system - Google Patents
A kind of hand convalescence device and system Download PDFInfo
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- CN107397648B CN107397648B CN201710523952.5A CN201710523952A CN107397648B CN 107397648 B CN107397648 B CN 107397648B CN 201710523952 A CN201710523952 A CN 201710523952A CN 107397648 B CN107397648 B CN 107397648B
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- 208000034657 Convalescence Diseases 0.000 title claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 202
- 230000005540 biological transmission Effects 0.000 claims abstract description 56
- 238000012549 training Methods 0.000 claims abstract description 53
- 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 19
- 210000001145 finger joint Anatomy 0.000 claims abstract description 3
- 210000003811 finger Anatomy 0.000 claims description 130
- 210000003813 thumb Anatomy 0.000 claims description 110
- 210000000988 bone and bone Anatomy 0.000 claims description 24
- 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
- 239000007787 solid Substances 0.000 claims description 2
- 230000035876 healing Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 18
- 238000009434 installation Methods 0.000 description 8
- 239000011148 porous material Substances 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 206010019468 Hemiplegia Diseases 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
- 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
- 238000001514 detection method Methods 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
- 238000012545 processing Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 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
- 230000000694 effects Effects 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
- 238000005457 optimization Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000001717 pathogenic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—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 fields, specifically provide a kind of hand convalescence device and system.It controls present invention seek to address that existing hand healing robot training mode is single, freedom degree is few, can not achieve the independent of each joint of each finger, the problem of training enthusiasm by rehabilitation object can not be improved.For this purpose, hand convalescence device of the invention includes hand exercise mechanism, provides power for hand exercise mechanism and realize the driving mechanism of the transmission of the power and the hand exercise mechanism is driven to realize by the transmission rope of the hand rehabilitation exercise motion of rehabilitation object, wherein, the hand exercise mechanism have with by the corresponding freedom degree of nine finger-joints of the hand of rehabilitation object；Wherein, the hand convalescence device further includes pedestal support mechanism, and the hand exercise mechanism and the driving mechanism are fixed on the pedestal support mechanism.Hand convalescence device of the invention improves the service 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 fields, specifically provide a kind of hand convalescence device and system.
Background technique
Cerebral apoplexy is the second largest lethal cause of disease of China, while being also the first big Pathogenic factors.Wherein, about 2/3
People will appear hemiplegia phenomenon in post-stroke, as the hand and/or arm of side will appear paralysis or partial paralysis.Hemiplegia phenomenon
The phenomenon that being a kind of insufficient prolonged locomitivity or missing, therefore can be brought to sufferers themselves and its household greatly not
Just.In order to restore or improve extremity motor function, hemiplegic patient needs to receive a large amount of rehabilitation training.Currently, being clinically directed to
The rehabilitation of hemiplegic patient relies primarily on traditional recovery training method, i.e. auxiliary of the patient in medical staff (such as Physical Therapist)
Lower completion training action.With the increasingly increase of patient populations, in addition the limitation in Physical Therapist's quantity and physical strength, patient is difficult to connect
By lasting and effective rehabilitation training.On this basis, healing robot comes into being.Machine provided by healing robot
Whole intervention of people's auxiliary rehabilitation exercise due to saving medical staff, compensates for traditional recovery training method not
Foot can make more patients enjoy rehabilitation training, and since robot can set corresponding health according to patient demand
Complex pattern, therefore optimize traditional rehabilitation exercise motion.
Correlative study is unfolded to healing robot in existing a large number of researchers both at home and abroad, and confirms the clinic of healing robot
Rehabilitation efficacy.But it is also less for the healing robot of hand rehabilitation at present.And hand is as the most common labour organ of the mankind
One of, the recovery of function is vital, therefore the rehabilitation training equipment designed for hand seems and is even more important.Still with
For the rehabilitation training of hand hemiplegia phenomenon, hand mainly includes five fingers, and main movement is each of each finger
The flexion and extension in a joint.Current hand healing robot mainly with for single finger training equipment based on, Er Qiexun
The training mode that white silk equipment provides is single, freedom degree is few, therefore can not realize the independent control in each joint of each finger.
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 field needs a kind of new hand convalescence device to solve the above problems.
Summary of the invention
In order to solve the above problem in the prior art, in order to solve existing hand healing robot training mode list
One, freedom degree is few, can not achieve the independent of each joint of each finger controls, 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, which includes hand exercise mechanism, is hand
Training institution, portion provides power and realizes the driving mechanism of the transmission of the power and the hand exercise mechanism is driven 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 corresponding freedom degree of nine finger-joints of the hand of elephant；Wherein, the hand convalescence device further includes pedestal load-bearing machine
Structure, the hand exercise mechanism and the driving mechanism are fixed on the pedestal support mechanism.
In the optimal technical scheme of above-mentioned hand convalescence device, the driving mechanism includes mutually independent first driving
Mechanism and the second driving mechanism, wherein first driving mechanism includes a driving unit, the second driving mechanism setting
Have and singly refers to driving mechanism corresponding to index finger, middle finger, the third finger, mutually independent four of little finger, it is each singly to refer to driving mechanism
Including two mutually independent driving units；And each driving unit is fixed with two transmission ropes.
In the optimal technical scheme of above-mentioned hand convalescence device, the driving unit includes driving motor and orthogonal gear
Case, wherein the output shaft of the driving 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 separately with Left Drive wheel and right driving wheel, and the first end of two transmission ropes is solid respectively
Due in the race of the Left Drive wheel and the right driving wheel.
In the optimal technical scheme of above-mentioned hand convalescence device, first driving mechanism passes through the first driving motor branch
Frame is installed to the pedestal support mechanism, is provided with first crossbeam on the first driving motor bracket, on the first crossbeam
It is respectively provided in position corresponding with the Left Drive wheel of the driving unit of first driving mechanism and the right driving wheel
There is the wheel construction of trough of belt, the second end for the transmission rope connecting with first driving mechanism passes through first driving motor
It is connected to the hand exercise mechanism after the hole of the corresponding position of bracket, the wheel construction around the trough of belt of corresponding position,
Second driving mechanism is installed by the second driving motor bracket to pedestal support mechanism, on the second driving motor bracket
Four second cross beams are provided with, in the left biography of each driving unit with first driving mechanism on the second cross beam
Driving wheel and the corresponding position of the right driving wheel are provided with the wheel construction of trough of belt, the institute connecting with second driving mechanism
State hole of the second end across the corresponding position of the driving motor bracket of transmission rope, the wheel of the trough of belt around corresponding position
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 first ectoskeleton of thumb and thumb
Two ectoskeletons are provided with thumb connection sheet between the second ectoskeleton of first ectoskeleton of thumb and the thumb；Its
In, thumb in fingers out bone mechanism include singly refer to corresponding to index finger, middle finger, the third finger, mutually independent four of little finger it is outer
Bone mechanism, it is each it is described singly refer to exoskeleton mechanism include set gradually four refer to the first ectoskeletons, four refer to the second ectoskeletons and
Four refer to third ectoskeleton, are provided with the connection of four fingers first between the second ectoskeleton of four first ectoskeleton of finger and four finger
Piece is provided with four the second connection sheets of finger between four second ectoskeleton of finger and the four fingers third ectoskeleton.
In the optimal technical scheme of above-mentioned hand convalescence device, second ectoskeleton of thumb passes through thumb flexibility
Bar is fixed on the thumb flexible link fixing groove of the palm combining mechanism, and described four refer to that third 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, it is provided with capillary on the palm combining mechanism, institute
It states and is 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 diameter hole.
In the optimal technical scheme of above-mentioned hand convalescence device, hand load-bearing is provided on the pedestal support mechanism
Plate, during carrying out rehabilitation training, by the arm support of rehabilitation object in hand bearing plate, the hand by rehabilitation object is consolidated
Due to the hand exercise mechanism.
On the other hand, the present invention also provides a kind of hand rehabilitation system, which includes 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) it is based on the status information, adjusts control instruction；
2) the next machine controller is used for:
21) control instruction is received, and the execution rehabilitation training of hand convalescence device is controlled according to the control instruction and is moved
Make；
22) in rehabilitation training, acquisition hand convalescence device upload, by the rehabilitation exercise motion of rehabilitation object
The parameter information for including is generated based on the parameter information by the status information of rehabilitation object；
3) the hand convalescence device is the hand convalescence device of aforementioned any scheme.
It will be appreciated to those of skill in the art that in the inventive solutions, hand convalescence device is by being directed to
Configured with 9 freedom degrees, (two joints of thumb configure one degree of freedom to five fingers, remaining four each three joint configuration amount of finger
A freedom degree), the buckling and stretching in joint are controlled by transmission rope, can realize that hand is whole for by the five fingers of rehabilitation object
Rehabilitation training, and individual rehabilitation training can be carried out for 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, to transfer the training of patient
Enthusiasm；On the other hand can also make according to by the control algolithm of the status information optimization rehabilitation training of rehabilitation object by rehabilitation
Object can obtain the rehabilitation training closer to real demand, to improve the user experience of hand rehabilitation system.
Detailed description of the invention
Fig. 1 is the structural block diagram of hand rehabilitation system of the invention；
Fig. 2 is the general structure schematic diagram of hand convalescence device of the invention；
Fig. 3 is the structural schematic diagram of the pedestal support mechanism of hand convalescence device of the invention；
Fig. 4 is the structural schematic diagram of the driving mechanism of hand convalescence device of the invention；
Fig. 5 is the partial enlarged view in Fig. 4 at A；
Fig. 6 is the structural schematic diagram of the hand exercise mechanism of hand convalescence device of the invention；
Fig. 7 is the structural schematic diagram (thumb) of the first exoskeleton mechanism of finger exoskeleton mechanism of the invention；
Fig. 8 is the structural schematic diagram (index finger) of the second exoskeleton mechanism of finger exoskeleton mechanism of the invention；
Fig. 9 is the structural schematic diagram of the path fixation hole of transmission rope in thumb exoskeleton mechanism of the invention；And
Figure 10 is the path schematic diagram of transmission rope in index finger exoskeleton mechanism of the invention.
Reference signs list
1, hand convalescence device；11, hand exercise mechanism；111, palm combining mechanism；1111, palm engagement plate；
1112, thumb flexible link fixing groove；1113, four refer to flexible link fixing groove；1114, four refer to transmission rope fixed beam；112, finger
Exoskeleton mechanism；1121, thumb exoskeleton mechanism；11211, the first ectoskeleton of thumb；11212, thumb connection sheet；
11213, the second ectoskeleton of thumb；11214, thumb end fixed plate；1122, thumb in fingers out bone mechanism；11221, four refer to
First ectoskeleton；11222, four refer to the first connection sheet；11223, four refer to the second ectoskeleton；11224, four refer to the second connection sheet；
11225, four refer to third ectoskeleton；11226, four refer to end fixed plate；113, thumb flexible link；114, four refer to flexible link；12,
Driving mechanism；121, four refer to driving mechanism；122, thumb driving mechanism；123, orthogonal gear case；1230, bottom plate；
1231, gear；1232, left gear；1233, right gear；1234, lower gear；1235, Left Drive wheel；1236, right driving wheel；
1237, left fixed plate；1238, right fixed plate；1239, upper mounted plate；124, driving motor；125, the second driving motor bracket；
1251, top panel；1253, left panel；1252, right panel；1254, lower panel；1255, trough of belt bearing；1256, second cross beam；
13, pedestal support mechanism；131, top plate；132, right side plate；133, left plate；134, driving mechanism bearing plate；135, hand is held
Weight plate；136, bottom plate；14, transmission rope；2, computer；3, the next machine controller；4, by rehabilitation object；41, four refer to.
Specific 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 technical principle of the invention, it is not intended that limit the scope of the invention.This field skill
Art personnel, which can according to need, makes adjustment to it, to adapt to specific application.
It should be noted that in the description of the present invention, term " center ", "upper", "lower", "left", "right", "vertical",
"horizontal", "front", "rear" etc. indicate that the term of direction or positional relationship is direction based on the figure or positional relationship, this is only
It is merely for convenience of describing, rather than indication or suggestion described device or element must have a particular orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second ", " third " are only used for
Purpose is described, relative importance is not understood to indicate or imply.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.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 structural block diagram of hand rehabilitation system of the invention, which is mainly used for 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 for: 1) recording the status information by rehabilitation object 4 that the next machine controller 3 uploads 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), it can
To refer to the evaluation, corresponding control algolithm is executed according to different rehabilitation training modes.
The next machine controller 3 is mainly used for: 1) receive computer 2 transmission control instruction after, to control instruction into
Row decodes and extracts the power of each driving motor 124 (as shown in Figure 4) of hand convalescence device 1 and the control amount of position
(such as torque, displacement, speed), and convert control signal for corresponding control amount and be sent to hand convalescence device 1, thus
Control the rehabilitation exercise motion that hand convalescence device 1 executes；2) quilt that the sensor in real time on acquisition 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, later by shape
State information is sent to computer 2.
Hand convalescence device 1 is mainly used for: 1) will be fixed by the hand of rehabilitation object 4, and held by the hand of rehabilitation object 4
Capable rehabilitation exercise motion corresponding with the control signal of the next transmission of machine controller 3；2) it acquires and is instructed by the rehabilitation of rehabilitation object 4
The parameter information for practicing movement, as acquired in rehabilitation training by pressure sensor and curvature sensor by rehabilitation object 4
The pressure and curvature of finger.
Hand rehabilitation system of the invention be can be seen that during to rehabilitation training is carried out by rehabilitation object 4, a side
Face, by computer 2 → bottom 3 → hand of machine controller convalescence device 1 → by rehabilitation object 4 complete rehabilitation training, another party
Face, by hand convalescence device 1 → bottom 3 → computer of machine controller 2 → by rehabilitation object 4 to rehabilitation training provide feedback.
It is controlled by interactive closed loop, enabling hand rehabilitation system of the invention is to provide one by rehabilitation object 4 more to have
The rehabilitation training of effect, the user experience is improved.Wherein, feedback major embodiment is provided to rehabilitation training are as follows: 1) by acquisition 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 later, the visual feedback of report formula is provided to by rehabilitation object 4.It is therein
Control instruction is optimized from technological layer by the rehabilitation exercise motion of rehabilitation object 4, and visual feedback makes eaten by rehabilitation object 4
The right to know that current rehabilitation progress is obtained in power, very long rehabilitation training can especially in the case of rehabilitation is strong
It improves by the training enthusiasm of rehabilitation object 4.
For above-mentioned hand convalescence device, the invention proposes one kind can be for the five fingers, equal for nine joints
Hand convalescence device with freedom degree can provide simultaneously the rehabilitation training for being directed to five fingers respectively to patient.Wherein, nine
The meaning of a freedom degree is that hand convalescence device of the invention can include " thumb one to being provided simultaneously by rehabilitation object 4
A freedom degree, remaining each two freedom degree of four fingers (index finger, middle finger, the third finger, little finger) " bends and stretches rehabilitation training.
Fig. 2 shows the general structure schematic diagrams of hand convalescence device of the invention.As shown in Fig. 2, hand convalescence device 1
It 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 for fixed hand exercise mechanism 11 and driving 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 schematic diagram of the pedestal support mechanism 13 of hand convalescence device.As shown in figure 3, pedestal load-bearing machine
Structure 13 includes mainly bottom plate 136, is separately mounted to 136 both ends of bottom plate and the left plate 133 and right side plate vertical with bottom plate 136
132, hand bearing plate 135 between left plate 133 and right side plate 132, setting gradually from bottom to top, driving mechanism are set
Bearing plate 134 and top plate 131.Wherein, such as power conversion module (not shown), hand can be installed on bottom plate 136
Bearing plate 135 is mainly used for the support in hand rehabilitation training, and, by the arm of rehabilitation object 4, driving mechanism bearing plate 134 is then led
It is used to install simultaneously support driving mechanism 12.In addition, in order to guarantee 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 driving mechanism load-bearing
On plate 134.
It will be appreciated by persons skilled in the art that the setting of the specific structure and all parts of pedestal support mechanism 13
Position can be adjusted flexibly, such as can by the space between driving mechanism bearing plate 134 and bottom plate 136 from left to right by every
Plate is divided into multiple spaces, and corresponding 136 part of bottom plate in one of space is as hand bearing plate 135.
With continued reference to Fig. 3, the main thumb driving mechanism roughly the same including driving principle and structure of driving mechanism 12
122 and four refer to driving mechanism 121, and wherein thumb driving mechanism 122 is provided with the (control of a driving unit just for thumb
Make bending and stretching for a joint), and four finger driving mechanisms 121 correspond to (index finger, middle finger, the third finger, little finger) and are respectively arranged with
Singly refer to driving mechanism accordingly, it is each singly to refer to that driving mechanism includes two driving units (bending and stretching for two joints of control).Below
Illustrate the structure of driving mechanism 12 by taking four finger driving mechanisms 121 as an example.
Fig. 4 shows the structural schematic diagram of four finger driving mechanisms 121.As shown in figure 4, four finger driving mechanisms 121 mainly include
Second driving motor bracket 125 and be mounted on it is on the upper surface of the second driving motor bracket 125 plate 1251, with " index finger, middle finger,
Corresponding four, four fingers of nameless, little finger " singly refer to driving mechanism, each singly to refer to that driving mechanism includes two drivings
Unit, each driving unit include driving motor 124, with the orthogonal gear case 123 of the output axis connection of driving motor 124 and
(left and right) driving wheel that the output shaft of (left and right) two sides of orthogonal gear case is separately connected.That is, four refer to driving mechanism
Eight orthogonal gear casees 123 are installed, every two is one group, each gear-box control on 121 the second driving motor bracket 125
One joint of single finger makes the finger realize that bending and the rehabilitation stretched are instructed by the main story of driving motor and reversion
Practice.In view of each finger there are three articulations digitorum manus, the bending in two joints far from palm and to stretch be to carry out reality by driving motor
It is existing, and close to palm compared with third joint then pass through four finger flexible links 114 and passively stretch and train.Second driving motor
Bracket 125 is one and encloses box-type knot made of setting as top panel 1251, left panel 1253, right panel 1252 and lower panel 1254
Structure, top panel 1251 are provided between left panel 1253 and right panel 1252 for installing above-mentioned eight orthogonal gear casees 123
Four second cross beams 1256, i.e., each driving unit 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 driving wheel 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., and every
The axially disposed wheel construction for having trough of belt, is mainly used for the vertical direction for exporting orthogonal gear case 123 on second cross beam 1256
Movement be changed into the flexion and extension of horizontal direction.The track that such as commutates can be the trough of belt bearing being set on second cross beam 1256
1255, crossbeam 1256 as previously described can be freely rotated between left panel 1253 and right panel 1252 or relatively fixed, band
Groove bearing 1255 can be freely rotated or relatively fixed on second cross beam 1256.
It should be noted that for four refer to driving mechanism 121, since each finger drives configured with one group i.e. two
Unit (i.e. two orthogonal gear casees), there are two driving wheel, each driving wheel is fixed with a biography for each orthogonal gear case configuration
Running rope.That is, every group of driving unit can draw four transmission ropes around on the corresponding second cross beam of this group of driving unit
Four trough of belt bearings 1255, so, eight driving units are likely occurred movement interference between totally 16 transmission ropes.Into one
Step is referring to Fig. 4, and according to orientation shown in Fig. 4, two orthogonal gear casees of every group of driving unit are along left and right arrangement, four groups of driving units
Between front and back parallel and adjacent to driving unit between orthogonal gear be staggered.Due to first group of driving unit and third group
The position of the orthogonal gear of driving unit in left and right directions substantially overlaps, it is therefore more likely that there is first group of driving unit and third
Phenomena such as intersection, knotting, knot, occurs when bypassing the corresponding trough of belt bearing 1255 of second cross beam for the transmission rope of group driving unit.
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)
It is first group, (second group, first group and second group of latter, rear two) interlaced arrangement upper along the vertical direction, is such as arranged in for first group
Higher position and the two are in same plane, and second group is arranged in lower position and the two is in same plane.
It will be appreciated by persons skilled in the art that the specific structure and all parts of the second driving motor bracket 125
Setting position can be adjusted flexibly, such as with further reference to Fig. 4, can be arranged in (left and right) panel between (upper and lower) panel
There is reinforcing rib.Similar with the second driving motor bracket, thumb driving mechanism 122 is configured with the first driving motor bracket (in figure
It does not mark).Similar with second cross beam 1256, the first driving motor bracket should also be as (not showing in figure configured with a first crossbeam
Out), corresponding to (left and right) the driving wheel configuration of driving unit, there are two the wheel constructions of trough of belt on first crossbeam.With further reference to
Fig. 3 can carry out Redundancy Design for the first driving mechanism, i.e., configure two driving units on the first driving motor bracket,
In one to be spare.
Fig. 5 shows the partial enlarged view in Fig. 4 at A.As shown in figure 5, orthogonal gear case 123 includes mainly 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 set to gear-box
The intracorporal gear set formed by gear 1231, left gear 1232, right gear 1233 and lower gear 1234 and output power
The right driving wheel 1236 of Left Drive wheel 1235.Wherein, driving motor 124 is mounted on the upside of upper mounted plate 1239, and its is defeated
Shaft passes through the downside that upper mounted plate 1239 extend out to upper mounted plate 1239, and gear 1231 is fixedly connected on driving motor 124
Output shaft on and with driving motor 124 rotate synchronously.Left gear 1232 is engaged with gear 1231 and its output shaft passes through a left side
Fixed plate 1237, right gear 1233 engaged with gear 1231 and its output shaft pass through right fixed plate 1238, lower gear 1234 with
Left gear 1232 and right gear 1233 engage respectively and lower gear 1234 is mounted on upside (such as bottom plate of bottom plate 1230
The rotation axis that can be freely rotated with respect to bottom plate 1230 is provided on 1230, lower gear 1234 is fixedly installed in the rotation axis
And synchronous).Left Drive wheel 1235 is mounted on left gear 1232 and stretches out on the gear shaft of left fixed plate 1237, i.e. Left Drive wheel
1235 follow left gear 1232 to rotate synchronously.Right driving wheel 1236 is mounted on the gear that right gear 1233 stretches out right fixed plate 1238
On axis, i.e., right driving wheel 1236 follows right gear 1233 to rotate synchronously.
The Left Drive wheel 1235 and right driving wheel 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 driving wheel 1236, and
Hole on the upper surface of the second driving motor bracket 125 across corresponding position plate 1251 is simultaneously surrounded to Left Drive wheel 1235 and right biography
On the corresponding trough of belt bearing 1255 of driving wheel 1236.It so, can be by transmission gear turning in vertical direction by transmission rope
Turn is changed to the flexion and extension in the horizontal direction of hand exercise mechanism.Specifically, driving motor 124 drives 1231 turns of gear
It is dynamic, since left gear 1232 and right gear 1233 are all engaged with gear 1231, left gear 1232 and right gear 1233
It turns to opposite.Correspondingly, the steering of Left Drive wheel 1235 and right driving wheel 1236 is also on the contrary, thus orthogonal gear case 123 or so
Only have one to be in tensional state in the transmission rope 14 of two sides, it is such to be arranged it is possible to prevente effectively from two transmission ropes 14 are suffered
Drawing force it is inconsistent when, hand exercise mechanism 11 is stuck.
Fig. 6 shows the structural schematic diagram 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 driving mechanism bearing plate 134.Wherein, finger exoskeleton mechanism 112 includes providing rehabilitation to thumb
Trained the first exoskeleton mechanism (referred to hereinafter as thumb exoskeleton mechanism 1121) and refer to that 41 provide the second of rehabilitation trainings to four
Exoskeleton mechanism (referred to hereinafter as thumb in fingers out bone mechanism 1122), wherein thumb in fingers out bone mechanism 1122 include principle and structure substantially
Identical index finger 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 refer to that one end of flexible link 114 connects
Corresponding four connect on palm combining mechanism 111 refer in flexible link fixing groove 1113 that the other end is then connected to corresponding four and refers to
On exoskeleton mechanism 1122.Palm combining mechanism 111 includes palm engagement plate 1111, is pasted on palm engagement plate 1111
For determine the path of transmission rope 14 capillary (not shown) and thumb above-mentioned 1112 and four four fingers it is flexible
The two sides of bar fixing groove 1113, 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 in transmission rope fixed beam and transmission rope being allowed to pass through, is mainly used for preventing transmission rope during carrying out rehabilitation training
The phenomenon that appearance position sideslip.It is of course also possible to also configure identical functions or similar knot in the two sides of thumb flexible link 113
The transmission rope fixed beam of structure.Preferably, thumb 1112 and four finger flexible link fixing grooves 1113 are all made of flexible rubber material system
At.This is because every finger configures two driving motors just for the joint far from palm, but every finger is close to palm
Joint its should be also movable, therefore can guarantee that every finger can also have one by the setting of flexible rubber material
A passively freedom of movement.
Fig. 7 shows the structural schematic diagram of the thumb exoskeleton mechanism in finger exoskeleton mechanism.As shown in fig. 7, big thumb
Refer to exoskeleton mechanism 1121 mainly include positioned at 1121 end of thumb exoskeleton mechanism the first ectoskeleton of thumb 11211,
Close to palm the second ectoskeleton of thumb 11213 and be mounted on 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
Left and right side position difference for body, between the first ectoskeleton of thumb 11211 and the second ectoskeleton of thumb 11213
It is provided with thumb connection sheet 11212, is provided with mounting hole in thumb connection sheet 11212.In addition, the first ectoskeleton of thumb
11211 and the second ectoskeleton of thumb 11213 left side and right side be provided with series installation hole, preferably equidistantly
Mounting hole, it is corresponding with the mounting hole in thumb connection sheet 11212, by selecting different mounting hole to be pacified accordingly
It fills 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 and form a closed ring after the first ectoskeleton 11211 is connect with thumb end fixed plate 11214, for fixed by health
The end of the thumb of multiple object 4.The installation position for installing relevant sensor is provided on closed ring, such as thumb
There are four cylindrical protrusions for the upper surface setting of one ectoskeleton 11211, can be used for installing detection by the thumb of rehabilitation object 4
Rehabilitation training parameter curvature sensor and pressure sensor etc..The upper surface of the second ectoskeleton of thumb 11213 is arranged
There is the fixation bracket 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 index finger exoskeleton mechanism in thumb in fingers out bone mechanism 1122 as an example below
1122 principle and structure.Fig. 8 shows the index finger 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 1122 end of thumb in fingers out bone mechanism
Four finger the second ectoskeletons 11223, close to palm four finger third ectoskeletons 11225 and be separately mounted to (four refer to first outside
Bone 11221, four refers to the second ectoskeleton 11223) and (four refer to the second ectoskeletons 11223, four finger third ectoskeleton 11225) between
Four refer to that the first connection sheets 11222 and four 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 and right side position be respectively arranged with four the first connection sheets of finger 11222, refer to that the second ectoskeletons 11223 and four refer to four
Left and right side position between third ectoskeleton 11225 is respectively arranged with four the second connection sheets of finger 11224, and four refer to the first connection
Mounting hole is provided in piece 11222 and four the second connection sheets 11224 of finger.Four refer to that the first ectoskeleton 11221, four refers to the second dermoskeleton
Bone 11223, four refers to that the left side of third ectoskeleton 11225 and right side are provided with a series of mounting hole, preferably equidistantly
Hole, refer to that the first connection sheets 11222 and four refer to that the mounting hole in the second connection sheets 11224 is corresponding with four, it is different to pass through selection
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 a closed ring after connecting with four finger end fixed plates 11226,
End for the fixed index finger by rehabilitation object 4.The installation position for installing relevant sensor is provided on closed ring,
As the upper surface setting of four the first ectoskeletons 11221 of finger is used to install relevant sensor, Ke Yiyong there are four cylindrical protrusions
In installation detection by the curvature sensor of the rehabilitation training parameter of the index finger of rehabilitation object 4 and pressure sensor etc..Four refer to the
The upper surface of three ectoskeletons 11225 is provided with the fixation bracket for connecting four finger flexible links 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 third ectoskeleton 11225.But the structure in U-shaped band hole is a kind of specific connection type, and four refer to
Flexible link 114 can also be referred to by realizing the connection for referring to third ectoskeletons 11225 with four, such as referring to Fig.1 0 for his mode four
The structure for being similarly used for four cylindrical protrusions of installation sensor is also equipped on third ectoskeleton 11225, four refer to flexible link
Four pore structures that connection can be matched with four cylindrical protrusions are provided on 114.
Fig. 9 shows the structural schematic diagram 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 the side perpendicular to the first ectoskeleton of thumb 11211
Plate is provided with the rope fixation hole H4 that can make 1121 flexion and extension of thumb exoskeleton mechanism on the side plate, and side plate is far 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 connected to rope fixation hole H4.The second ectoskeleton of thumb
Access apertures H2 is provided in 11213 both sides of the face.The second ectoskeleton of close thumb of thumb connection sheet 11212
Lateral aperture H1 is provided in 11213 end face, being correspondingly provided in thumb connection sheet 11212 can be connected to lateral aperture H1
Transitional pore H3.In assembled state, the axis of transitional pore H3 is overlapped with the semi-circular recesses H7 tangent line for crossing the point, so that
The 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, be pierced by later from the aperture on the upper surface of the first driving motor bracket plate, it is fixed
Mounting hole onto the Left Drive wheel 1235 or right driving wheel 1236 of the first driving mechanism.
Certainly, path aperture above-mentioned is to be set to the structure in thumb exoskeleton mechanism unilateral (left side), at another
(right side) is also equipped with same structure.But, different from, in the other side, transmission rope 14 is successively through being passed through
Hole H2 and transitional pore H4 directly reaches rope fixation hole H4 through upper through-hole H6, thus the requirement for transitional pore H3 be not axis with
Tangent line is overlapped, but, axis is overlapped with upper through-hole H6.The path of the transmission rope 14 of two sides is set as passing through uplink and downlink respectively
Mode the reasons why being fixed on rope fixation hole H4 it is as follows, the steering of the left and right driving wheel corresponding to the same driving motor on the contrary,
Setting only in this way could drive same articulations digitorum manus to realize the rehabilitation training bent and stretched by the same driving motor.
Figure 10 shows the path schematic diagram of transmission rope in index finger exoskeleton mechanism.As shown in Figure 10 and with continued reference to Fig. 8,
Index finger exoskeleton mechanism corresponds to two joints and is provided with two groups of path apertures, structure design and the thumb dermoskeleton of single group path aperture
Bone mechanism is similar, and details are not described herein.Due to thumb, only one needs the joint controlled by transmission rope, through-hole H2
It only needs to process one.And four refer to that then there are two the joints for needing to control by transmission rope for tool, therefore 0 can be seen that referring to Fig.1
There are two H2 needs.But in view of processing and requirement easy to assembly, the joint structure that thumb refers to four is consistent as far as possible, i.e.,
Thumb the second ectoskeleton through-hole H2 is also configured as two, and only only one H2 is active path hole.Under the premise of herein, still
By taking 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
Be each configured with a driving unit with the second thumb in fingers out bone, be fixed on the same driving motor Left Drive wheel 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 driving motor bracket
Capillary on palm combining mechanism 111, the hole passed through in four finger transmission rope fixed beams 1114 later enter index finger ectoskeleton machine
Structure.Later, road of the transmission rope 14 on index finger exoskeleton mechanism corresponding to the left side of the driving unit of the first thumb in fingers out bone
Diameter are as follows: H2 → H3 → H7 → H5 → H4, path of the transmission rope 14 on right side on index finger exoskeleton mechanism are as follows: H2 → H1 → H3
→H6→H4.Similarly, the transmission rope 14 corresponding to the left side of the driving unit of the second thumb in fingers out bone is in index finger ectoskeleton machine
Path on structure are as follows: H2 → H3 → H7 → H5 → H4, path of the transmission rope 14 on right side on index finger exoskeleton mechanism are as follows: 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 third ectoskeleton 11225
It can be designed to same structure；Thumb connection sheet 11212 and each four fingers (first, second) connection sheet can design
At same structure.In view of assembly technology, ten driving units can be designed to identical, the orthogonal gear of driving unit
The specification of each gear in case is designed to consistent identical with connection type.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (8)
1. a kind of hand convalescence device, which is characterized in that the hand convalescence device includes hand exercise mechanism, is hand exercise machine
Structure provides power and realizes the driving mechanism of the transmission of the power and the hand exercise mechanism is driven to realize by rehabilitation pair
More transmission ropes of the hand rehabilitation exercise motion of elephant,
Wherein, the driving mechanism includes mutually independent first driving mechanism and the second driving mechanism, first driving machine
Structure include a driving unit, second driving mechanism be provided with corresponding to index finger, middle finger, the third finger, little finger it is mutual
Independent four singly refer to driving mechanism, each singly to refer to that driving mechanism includes two mutually independent driving units, and each institute
It states driving unit and is fixed with two transmission ropes,
The driving unit includes driving motor and orthogonal gear case, the output shaft of the driving motor and the orthogonal gear case
Gear be connected, the left gear of the orthogonal gear case and the output shaft of right gear are connected separately with Left Drive wheel and right biography
Driving wheel, the first end of two transmission ropes are individually fixed in the race of the Left Drive wheel and the right driving wheel；
Wherein, the hand exercise mechanism have with by the corresponding freedom of nine finger-joints of the hand of rehabilitation object
Degree；
Wherein, the hand convalescence device further includes pedestal support mechanism, and the hand exercise mechanism and the driving mechanism are solid
Due to the pedestal support mechanism.
2. a kind of hand convalescence device according to claim 1, which is characterized in that first driving mechanism passes through first
Driving motor bracket is installed to the pedestal support mechanism, is provided with first crossbeam on the first driving motor bracket, described
Corresponding with the Left Drive wheel of the driving unit of first driving mechanism and the right driving wheel on first crossbeam
Position is provided with the wheel construction of trough of belt, and the second end of the transmission rope connecting with first driving mechanism passes through described the
The hand is connected to after the hole of the corresponding position of one driving motor bracket, the wheel construction around the trough of belt of corresponding position
Training institution,
Second driving mechanism is installed by the second driving motor bracket to pedestal support mechanism, the second driving motor branch
Be provided with four second cross beams on frame, on the second cross beam with described in each driving unit of first driving mechanism
Left Drive wheel and the corresponding position of the right driving wheel are provided with the wheel construction of trough of belt, connect with second driving mechanism
The second end of the transmission rope pass through the hole of corresponding position of the driving motor bracket, the trough of belt around corresponding position
Wheel construction after be connected to the hand exercise mechanism.
3. a kind of hand convalescence device according to claim 2, which is characterized 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.
4. a kind of hand convalescence device according to claim 3, which is characterized 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 second ectoskeleton of the first ectoskeleton of thumb and thumb, the big thumb
Refer to and is provided with thumb connection sheet between the second ectoskeleton of the first ectoskeleton and the thumb；
Wherein, thumb in fingers out bone mechanism includes corresponding to index finger, middle finger, the third finger, mutually independent four of little finger
Singly refer to exoskeleton mechanism, it is each described singly to refer to that exoskeleton mechanism includes that four set gradually refer to that the first ectoskeletons, four refer to outside second
Bone and four refers to third ectoskeleton, is provided with four fingers first between the second ectoskeleton of four first ectoskeleton of finger and four finger
Connection sheet is provided with four the second connection sheets of finger between four second ectoskeleton of finger and the four fingers third ectoskeleton.
5. a kind of hand convalescence device according to claim 4, which is characterized in that second ectoskeleton of thumb passes through
Thumb flexible link is fixed on the thumb flexible link fixing groove of the palm combining mechanism, and the four fingers third ectoskeleton passes through
Four finger flexible links are fixed on the four of the palm combining mechanism and refer to flexible link fixing groove.
6. a kind of hand convalescence device according to claim 5, which is characterized in that be provided on the palm combining mechanism
Capillary is provided with path aperture on the finger exoskeleton mechanism, lay out the wheel construction of trough of belt the transmission rope pass through it is described
Capillary and path aperture are simultaneously fixed on the finger exoskeleton mechanism.
7. a kind of hand convalescence device according to any one of claim 1 to 6, which is characterized in that the pedestal load-bearing
Hand bearing plate is provided in mechanism,
During carrying out rehabilitation training, by the arm support of rehabilitation object in hand bearing plate, the hand by rehabilitation object
It is fixed on the hand exercise mechanism.
8. 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) it is based on the status information, adjusts control instruction；
2) the next machine controller is used for:
21) control instruction is received, and hand convalescence device is controlled according to the control instruction and executes rehabilitation exercise motion；
22) in rehabilitation training, acquisition hand convalescence device upload, included in the rehabilitation exercise motion of rehabilitation object
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 as described in any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108743215B (en) * | 2018-04-11 | 2020-05-26 | 刘春龙 | Rehabilitation training system based on flexible rehabilitation 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 |
| CN113345551B (en) * | 2020-03-02 | 2023-12-05 | 京东科技信息技术有限公司 | Finger Exoskeleton and Glove Exoskeleton |
| 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 |
| CN114734426B (en) * | 2022-03-11 | 2024-05-24 | 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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