CN109045624A - Finger active-passive rehabilitation training device and its training method - Google Patents
Finger active-passive rehabilitation training device and its training method Download PDFInfo
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- CN109045624A CN109045624A CN201810890822.XA CN201810890822A CN109045624A CN 109045624 A CN109045624 A CN 109045624A CN 201810890822 A CN201810890822 A CN 201810890822A CN 109045624 A CN109045624 A CN 109045624A
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- sliding rail
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- slide bar
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- 238000012549 training Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 13
- 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 description 19
- 230000007246 mechanism Effects 0.000 claims description 8
- 210000000707 wrist Anatomy 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000009530 blood pressure measurement Methods 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 9
- 239000011888 foil Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000005057 finger movement Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000004153 renaturation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Electromagnetism (AREA)
- Physics & Mathematics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of finger active-passive rehabilitation training device and its training methods, training device passes through the mechanical structure of inner slide formula, slide bar carries out the movement of vertical direction in the frame of sliding rail, generate a linear DOF, the design of sliding rail bottom has circular hole, it can cover in the cylindrical crossbar between fan-shaped limiting slot, provide one using sliding rail bottom circular aperture as the rotary freedom of rotation center for slide bar sliding rail；Furthermore, direct current generator fixed link and MR damper fixed link are installed respectively in sliding rail two sides of the bottom, gear is installed on the axis of direct current generator and MR damper, it is matched respectively with two rack gears on slide bar inner wall, rack gear and slide bar are converted in the up and down motion of vertical direction, to support the aggressive mode and Passive Mode of finger rehabilitation exercise respectively by the rotary motion of axis.Apparatus of the present invention are compact-sized, patient can be assisted to carry out aggressive mode and the Passive Mode training of finger gymnastic, and can realize the real-time switching of active-passive rehabilitation training.
Description
Technical field
The present invention relates to a kind of finger active-passive rehabilitation training devices, belong to wearable finger rehabilitation device design neck
Domain.
Background technique
The diseases such as cerebral apoplexy, finger osteoarticular injury will lead to patient's finger movement and obstacle occur.It is flexible due to finger
Property, compared with other upper limb componental movement obstacles, the rehabilitation course of finger movement obstacle is more difficult, and Traditional Rehabilitation means
It is more expensive.If auxiliary patient carries out rehabilitation using mechanical device, go that patient is helped largely to be weighed by mechanical device
The rehabilitation training of renaturation can then substantially reduce consumption of both economy and time of the patient in terms of finger gymnastic, simultaneously also
Tool has a better effect.However mechanical device needs certain control method, if being designed not comprehensive, is likely to result in machinery
Device makes the case where patient injury.
Finger active-passive rehabilitation training device uses the mechanical structure of inner slide formula, utilizes MR damper and direct current
Initiative rehabilitation training mode and passive rehabilitation training mode are realized in cooperation between the working characteristics and rack-and-pinion of machine, and
Using the pressure signal that foil gauge obtains as feedback, the closed-loop control to MR damper and direct current generator, device tool are formed
There is highly-safe, compact-sized advantage.
Summary of the invention
It can provide trained active and passive both of which the technical problem to be solved by the present invention is to a kind of, and according to
Finger pressure signal feeds back the finger rehabilitation training device to realize closed-loop control.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme:
A kind of finger active-passive rehabilitation training device, comprising:
One pedestal, side is equipped with the through-hole passed through for the wrist of people on the pedestal；
One vertical telescoping mechanism, is set on the base the other side of opposing through-bores, comprising:
One sliding rail is embedded inside sliding rail and is connected with a slide bar, and the top of slide bar is equipped with the finger ring of the finger socket for people, and slide bar exists
The movement that vertical direction is carried out in the frame of sliding rail, generates a linear DOF；The bottom of sliding rail be equipped with the first circular hole, first
Circular hole covers in the first cylindrical crossbar on pedestal, provides one using sliding rail bottom circular aperture as rotation for entire vertical telescoping mechanism
Turn the rotary freedom at center；
Finger active movement mechanism is used for finger active training, comprising: a MR damper, the MR damper are logical
The side that MR damper fixed link is fixed on sliding rail is crossed, the output shaft of MR damper is equipped with second gear, described
Slide bar is equipped with the second rack gear matched with the second gear；
Finger passive movement mechanism is used for finger passive exercise, comprising: a direct current generator, the direct current generator pass through direct current
Machine fixed link is fixed on the other side of sliding rail, and the output shaft of direct current generator is equipped with first gear, and the slide bar is equipped with and institute
State the first rack gear of first gear mating connection；
The upper end of the direct current generator fixed link is connect with direct current generator, and lower end is equipped with the second circular hole, and the second circular hole is covered in pedestal
On the second cylindrical crossbar on；
The upper end of the MR damper fixed link is connect with MR damper, and lower end is equipped with third circular hole, third circular hole
It covers in the third cylindrical crossbar on pedestal, wherein the first cylindrical crossbar, the second cylindrical crossbar and third are cylindrical
The axle center of cross bar is on the same line；
One force snesor is arranged between top end of sliding rod and finger ring, for detecting finger to the pressure size of device, and will test
Force signal be transferred to a controller；
The signal output end of the controller is connect with the direct current generator, MR damper respectively, to direct current generator and magnetic
The torque of rheological damper is adjusted.
The slide bar is a rectangle sliding sash, and rectangle sliding sash is embedded in sliding rail, symmetrically sets on two inner walls of rectangle sliding sash
There are two rack gears, is the first rack gear and the second rack gear respectively.
The bottom of the sliding rail is equipped with the first fan-shaped limiting slot, and it is cylindrical to be equipped with described first between the first fan-shaped limiting slot
Cross bar；The bottom of motor fixed link is equipped with the second fan-shaped limiting slot, and it is cylindrical to be equipped with described second between the second fan-shaped limiting slot
Cross bar；The bottom of MR damper fixed link is equipped with third sector limiting slot, and described the is equipped between third sector limiting slot
Three cylindrical crossbars.
The force snesor is foil gauge, and the top of the slide bar is equipped with baltimore groove, has a crossbeam, crossbeam in baltimore groove
Upper and lower faces post two pieces of foil gauges respectively, in the form of the pressure measurement for constituting full-bridge type, crossbeam upper end be equipped with vertical bar, erect
The fingerstall is installed at the top of bar.
The fingerstall is semiclossed fingerstall, and velcro is arranged in the barbed portion of semiclossed fingerstall.
The present invention further discloses a kind of finger active-passive rehabilitation training method, based on the passive health of finger master
Training device is answered, the finger ring at the top of slide bar covers on finger, when needing device to support the training of finger initiative rehabilitation, direct current generator
Obstructed electric current, and MR damper galvanization, provide damping force, and the movement of finger initiative rehabilitation is mobile come band by the second rack gear
Dynamic second gear rotation, damping force size is depending on actual needs；
When needing device to support finger passive rehabilitation training, the obstructed electric current of MR damper, and direct current generator galvanization, root
DC motor speed parameter is adjusted according to control command, first gear active rotation on axis drives the first rack gear to move up and down,
To make slide bar generate displacement in sliding rail, traction finger carries out rehabilitation training.
Further, when wrist has dressed pedestal, on finger-stall after finger ring, the pressing of hand indicator device, force snesor inspection
Finger is surveyed to the pressure size of device, and pressure signal is fed back into controller, controller determines magnetorheological according to pressure size
The working condition of damper and direct current generator.
The beneficial effects of the present invention are:
The first, the present invention relates to a kind of finger active-passive rehabilitation training devices, can be existed by the mechanical structure of inner slide formula, slide bar
The movement that vertical direction is carried out in the frame of sliding rail, generates a linear DOF, and the design of sliding rail bottom has circular hole, can cover and fan
In cylindrical crossbar between shape limiting slot, for slide bar sliding rail provide one using sliding rail bottom circular aperture as the rotation of rotation center from
By spending；In addition, fan-shaped limiting slot is arranged in sliding rail two sides of the bottom, it is respectively used to installation direct current generator and is fixed with MR damper
Gear is installed on the axis of bar, direct current generator and MR damper, is matched respectively with two rack gears on slide bar inner wall, by axis
Rotary motion be converted into rack gear and slide bar in the up and down motion of vertical direction, to support the active of finger rehabilitation exercise respectively
Mode and Passive Mode.
The second, moreover, device has full-bridge foil gauge to detect finger to the pressure size of device, then passes through control
The torque of direct current generator and MR damper is adjusted in method processed, with accurate control action in the power on finger.
Third, finger active-passive rehabilitation training device pedestal are worn in wrist, devise semi-closed in top end of sliding rod
Type finger ring can meet the different requirement of finger size.
4th, the apparatus structure is compact, and patient can be assisted to carry out aggressive mode and the Passive Mode training of finger gymnastic, with
And can realize the real-time switching of active-passive rehabilitation training, for promoted finger rehabilitation exercise effect have important research significance with
Practical value.
Detailed description of the invention
Fig. 1 is finger active-passive rehabilitation training device overall structure diagram designed by the present invention；
Wherein, 1, pedestal；2, direct current generator fixed link；3, direct current generator；4-1, first gear；5, slide bar；6-2, the second rack gear；
7, crossbeam；8, finger ring；10, MR damper fixed link；11, MR damper；12, sliding rail；
Fig. 2 is the wearing effect picture of counter device set by the present invention；
Wherein, 4-2, second gear；
Fig. 3 is the structural schematic diagram of the base portion of counter device set by the present invention；
Wherein, 9-1, the first fan-shaped limiting slot；9-2, the second fan-shaped limiting slot；9-3, third sector limiting slot；13-1, the first circle
Cylindricality cross bar；13-2, the second cylindrical crossbar；13-3, third cylindrical crossbar；
Fig. 4 is the structural schematic diagram of MR damper and direct current generator part in counter device set by the present invention；
Wherein, 14-1, the second circular hole；14-2, third circular hole；15-1, the first annulus；15-2, the second annulus；
Fig. 5 is the structural schematic diagram of slide bar in counter device set by the present invention, sliding rail；
Wherein, 6-1, the first rack gear；16, the first circular hole.
Fig. 6 is the partial structurtes enlarged diagram of finger ring in Fig. 5；
Wherein, 17, baltimore groove；18, vertical bar.
Specific embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawings of the specification.
A kind of finger active-passive rehabilitation training device designed by the present invention, as shown in Figure 1, including the fan-shaped limit of pedestal 1, first
Position slot 9, MR damper 11 and MR damper fixed link 10, direct current generator 3 and direct current generator fixed link 2, the first tooth
Take turns 4-1, second gear 4-2, the first rack gear 6-1, the second rack gear 6-2, slide bar 5, sliding rail 12, crossbeam 7, finger ring 8；Wherein, first
Fan-shaped limiting slot 9 is located on 1 platform of pedestal；14 sets of circular hole of 10 lower end of MR damper fixed link are in the first fan-shaped limiting slot
In cylindrical crossbar 13 in 9, the fixed MR damper 11 of the annulus 15 of upper end；Second is installed on 11 axis of MR damper
Gear 4-2 is matched with the second rack gear 6-2 on 5 inner wall of slide bar；
14 sets of circular hole of 2 lower end of direct current generator fixed link are in the cylindrical crossbar in the second fan-shaped limiting slot, the annulus of upper end
15 fixed direct current generators 3；First gear 4-1 is installed on direct current generator 3, is matched with the first rack gear 6-1 on 5 inner wall of slide bar；
Vertically in sliding rail 12, the crossbeam 7 at the top of slide bar is connected by vertical bar with finger ring 8 slide bar 5.
In practical application, as shown in Fig. 2, wrist is passed through from the semi-circular through hole of pedestal 1, index finger is inserted in finger ring 8, with evil spirit
Art patch is fixed, and the aggressive mode and Passive Mode of finger rehabilitation exercise is realized by mechanical structure, by finger to device
As feedback signal, the closed-loop control to MR damper and direct current generator is realized, to the guaranteed premise of safe coefficient
Under, help is largely repeated with patient's progress of finger movement obstacle and effective rehabilitation training.Therefore, can be used for providing main quilt
The finger rehabilitation device of dynamic rehabilitation modality has significant application value.
As shown in figure 3, design is suitable according to from left to right there are three fan-shaped limiting slot on 1 upper half circle chain-wales of pedestal
Sequence, to fixed MR damper fixed link 10, sliding rail 12, direct current generator fixed link 2.
Due to finger towards interior palm flexure operation not in a perpendicular parallel with palmar aspect, it is therefore desirable to
Make the part being connected with finger that there is certain swing ability, is rotary freedom for mechanical configuration aspects.By
This designs a cylindrical crossbar 13 in each fan-shaped limiting slot, and the axle center of every cylindrical crossbar 13 is on the same line.
Correspondingly, the circular hole 14 of same diameter is designed in MR damper fixed link 10, sliding rail 12,2 bottom end of direct current generator fixed link,
It can be installed on cylindrical crossbar 13, therefore three is provided with rotary freedom, synchronous rotary motion is kept, in rotation
Point is the center of circular hole of bottom.
As shown in figure 4, being marked with magnetic rheological liquid in MR damper 11, two conducting wires are stretched out in shell, connect electricity respectively
The positive and negative anodes in source.In obstructed electric current, axis is free to rotate, and if be passed through different size of electric current, MR damper 11
A certain size resistance can be generated to the rotation of its axis.
And after 2 galvanization of direct current generator fixed link, its revolving speed can be controlled by different parameters signal.
10 upper end of MR damper fixed link be one with MR damper 11 with the big ring of diameter, lower end has one
Circular hole 14, for being mounted on the crossbeam 13 of third sector limiting slot.Similar, 2 upper end of direct current generator fixed link is also one
With direct current generator with the annulus 15 of diameter, lower end design has the circular hole being mounted in the cylindrical crossbar of the first fan-shaped limiting slot.
After installing gear respectively on 3 axis of MR damper 11 and direct current generator, due to the design of fixed link, gear
Relative position will be kept constant with sliding rail 12, and first gear 4-1 and the first rack gear 6-1 of the inside of slide bar 5 are matched, by the
The translating rotation of one gear 4-1 is displacement of the slide bar 5 in sliding rail 12.
As shown in figure 5, slide bar 5 moves in sliding rail in practical application, 16 sets of 12 the first circular hole of lower end of sliding rail in the first fan
In the first cylindrical crossbar 13 in shape limiting slot 9, sliding rail 12 and slide bar 5 are with 16 center of the first circular hole is the fixed center of circle and is turned
It is dynamic, therefore resistance sense when can reduce digital flexion, improve device comfort level.
5 opposing sides of slide bar is by hollow out, and in two sides, inner wall respectively posts a rack gear, respectively with MR damper 11 and
3 axis gear of direct current generator matches, to support the initiative rehabilitation mode and passive rehabilitation mode of finger training.Wherein, actively
The working principle of rehabilitation modality is the obstructed electric current of direct current generator 3, and MR damper 11 is made to be powered, and finger band moving slide-bar 5 is transported
Dynamic, the second rack gear 6-2 of 5 inner wall side of slide bar drives second gear 4-2 rotation, and the torque of second gear 4-2 can be with
In MR damper 11 variation of size of current and change, thus to provide different damping senses when finger active movement.
On the other hand, the working principle of passive rehabilitation mode is the obstructed electric current of MR damper 11, and direct current generator 3 is logical
Electric current, the first gear 4-1 on direct current arbor drives the first rack gear 6-1 to generate straight-line displacement, and the first rack gear 6-1 and slide bar
5 are fixed together, therefore slide bar 5 is just made to generate displacement in sliding rail 12.
The parameter of direct current generator 3 or the electric current of MR damper 11 are adjusted according to control method, can realize finger health
Refreshment generates different tractive force or damping sense during practicing.
In concrete application, finger is acquired to the pressure of device, using pressure signal as feedback signal, according to certain control
Method is subject to closed-loop control to the aggressive mode and Passive Mode of rehabilitation training.Designing in baltimore groove 17 at the top of slide bar has
A piece crossbeam 7, the upper and lower faces of crossbeam 7 post two pieces of foil gauges, constitute full-bridge type pressure detecting module, using pressure as
Feedback signal submits to control method.There is vertical bar 18 on crossbeam, semi-closed fingerstall 8 is installed, barbed portion is pasted on pillar
Velcro can be adjusted according to the finger size of wearer, improve the comfort of device.
Finger active-passive rehabilitation training device designed by above-mentioned technical proposal, can be sliding by the mechanical structure of inner slide formula
Bar 5 carries out the movement of vertical direction in the frame of sliding rail 12, generates a linear DOF, and the design of 12 bottom of sliding rail has first
Circular hole 16 can cover in the first cylindrical crossbar 13 between the first fan-shaped limiting slot 9, provide one for slide bar 5 and sliding rail 12
It is the rotary freedom of rotation center with 12 the first circular hole of bottom 16 of sliding rail；In addition, in the second fan of 12 two sides of the bottom of sliding rail setting
Shape limiting slot and third sector limiting slot are respectively used to installation MR damper fixed link 10 and direct current generator fixed link
2, gear is installed respectively on the axis of MR damper fixed link 10 and direct current generator fixed link 2, respectively and on 5 inner wall of slide bar
Two rack gears match, and convert rack gear and slide bar 5 in the upper and lower movement of vertical direction, to respectively for the rotary motion of axis
The Passive Mode and aggressive mode of finger rehabilitation exercise are provided.
Moreover, there is a crossbeam 7 in the baltimore groove 17 at 5 top of slide bar, full-bridge foil gauge is mounted on crossbeam 7, is used
In detection finger to the pressure size of device, MR damper 11 is controlled by control method and the force of direct current generator 3 is big
It is small, in 7 tip designs of crossbeam semi-closure mould assembly finger ring 8, to meet the different requirement of finger size.
Finger active-passive rehabilitation training device pedestal is worn in wrist, compact-sized, and patient can be assisted to carry out finger
Aggressive mode and the Passive Mode training of rehabilitation, and can realize the real-time switching of active-passive rehabilitation training, for promoting finger
Rehabilitation training effect has important research significance and practical value.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode within the knowledge of a person skilled in the art can also be without departing from the purpose of the present invention
It makes a variety of changes.
Claims (7)
1. a kind of finger active-passive rehabilitation training device, it is characterised in that: include:
One pedestal, side is equipped with the through-hole passed through for the wrist of people on the pedestal；
One vertical telescoping mechanism, is set on the base the other side of opposing through-bores, comprising:
One sliding rail is embedded inside sliding rail and is connected with a slide bar, and the top of slide bar is equipped with the finger ring of the finger socket for people, and slide bar exists
The movement that vertical direction is carried out in the frame of sliding rail, generates a linear DOF；The bottom of sliding rail be equipped with the first circular hole, first
Circular hole covers in the first cylindrical crossbar on pedestal, provides one using sliding rail bottom circular aperture as rotation for entire vertical telescoping mechanism
Turn the rotary freedom at center；
Finger active movement mechanism is used for finger active training, comprising: a MR damper, the MR damper are logical
The side that MR damper fixed link is fixed on sliding rail is crossed, the output shaft of MR damper is equipped with second gear, described
Slide bar is equipped with the second rack gear matched with the second gear；
Finger passive movement mechanism is used for finger passive exercise, comprising: a direct current generator, the direct current generator pass through direct current
Machine fixed link is fixed on the other side of sliding rail, and the output shaft of direct current generator is equipped with first gear, and the slide bar is equipped with and institute
State the first rack gear of first gear mating connection；
The upper end of the direct current generator fixed link is connect with direct current generator, and lower end is equipped with the second circular hole, and the second circular hole is covered in pedestal
On the second cylindrical crossbar on；
The upper end of the MR damper fixed link is connect with MR damper, and lower end is equipped with third circular hole, third circular hole
It covers in the third cylindrical crossbar on pedestal, wherein the first cylindrical crossbar, the second cylindrical crossbar and third are cylindrical
The axle center of cross bar is on the same line；
One force snesor is arranged between top end of sliding rod and finger ring, for detecting finger to the pressure size of device, and will test
Force signal be transferred to a controller；
The signal output end of the controller is connect with the direct current generator, MR damper respectively, to direct current generator and magnetic
The torque of rheological damper is adjusted.
2. finger active-passive rehabilitation training device according to claim 1, which is characterized in that the slide bar is sliding for a rectangle
Frame, rectangle sliding sash are embedded in sliding rail, are symmetrically arranged with two rack gears on two inner walls of rectangle sliding sash, be respectively the first rack gear and
Second rack gear.
3. finger active-passive rehabilitation training device according to claim 1, which is characterized in that the bottom of the sliding rail is equipped with
First fan-shaped limiting slot is equipped with first cylindrical crossbar between the first fan-shaped limiting slot；The bottom of motor fixed link is equipped with
Second fan-shaped limiting slot is equipped with second cylindrical crossbar between the second fan-shaped limiting slot；MR damper fixed link
Bottom is equipped with third sector limiting slot, is equipped with the third cylindrical crossbar between third sector limiting slot.
4. finger active-passive rehabilitation training device according to claim 1, which is characterized in that the force snesor is strain
Piece, the top of the slide bar are equipped with baltimore groove, have a crossbeam in baltimore groove, the upper and lower faces of crossbeam post two pieces respectively and answer
Become piece, in the form of the pressure measurement for constituting full-bridge type, crossbeam upper end is equipped with vertical bar, is equipped with the fingerstall at the top of vertical bar.
5. finger active-passive rehabilitation training device according to claim 4, which is characterized in that the fingerstall is semiclossed
Velcro is arranged in the barbed portion of fingerstall, semiclossed fingerstall.
6. a kind of finger active-passive rehabilitation training method, based on the finger active-passive rehabilitation as described in any in claim 1 ~ 5
Training device, it is characterised in that:
Finger ring at the top of slide bar covers on finger, when needing device to support the training of finger initiative rehabilitation, direct current generator no power
Stream, and MR damper galvanization, provide damping force, the movement of finger initiative rehabilitation, and finger overcomes the resistance of MR damper
Power carries out initiative rehabilitation training, specifically: finger active movement, and the second rack gear is mobile to drive second gear rotation, and damping force is big
It is small depending on actual needs；
When needing device to support finger passive rehabilitation training, the obstructed electric current of MR damper, and direct current generator galvanization, root
DC motor speed parameter is adjusted according to control command, first gear active rotation on axis drives the first rack gear to move up and down,
To make slide bar generate displacement in sliding rail, traction finger carries out rehabilitation training.
7. finger active-passive rehabilitation training method according to claim 6, it is characterised in that: when wrist has dressed pedestal,
On finger-stall after finger ring, hand indicator device pressing, force snesor detects finger to the pressure size of device, and by pressure signal
Controller is fed back to, controller determines the working condition of MR damper and direct current generator according to pressure size.
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| CN201810890822.XA CN109045624B (en) | 2018-08-07 | 2018-08-07 | Finger active and passive rehabilitation training device and training method thereof |
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| CN111921169A (en) * | 2020-07-22 | 2020-11-13 | 昆明医科大学第二附属医院 | Rehabilitation training device used after finger burn |
| CN113082641A (en) * | 2021-04-02 | 2021-07-09 | 河南科技大学第一附属医院 | Finger exercise device with counting function for neurology |
| CN113662811A (en) * | 2021-09-01 | 2021-11-19 | 安徽工程大学 | Finger rehabilitation training device |
| CN113926153A (en) * | 2021-09-01 | 2022-01-14 | 四川大学华西医院 | Recovered device of taking exercise of finger for orthopedics |
| CN114949785A (en) * | 2022-05-26 | 2022-08-30 | 郑州大学第一附属医院 | Rehabilitation training traction device for multiple fracture patients |
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| CN114949785A (en) * | 2022-05-26 | 2022-08-30 | 郑州大学第一附属医院 | Rehabilitation training traction device for multiple fracture patients |
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