CN109045624B - Finger active and passive rehabilitation training device and training method thereof - Google Patents
Finger active and passive rehabilitation training device and training method thereof Download PDFInfo
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- CN109045624B CN109045624B CN201810890822.XA CN201810890822A CN109045624B CN 109045624 B CN109045624 B CN 109045624B CN 201810890822 A CN201810890822 A CN 201810890822A CN 109045624 B CN109045624 B CN 109045624B
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- 238000012549 training Methods 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 14
- 210000000707 wrist Anatomy 0.000 claims description 9
- 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
- 230000000694 effects Effects 0.000 description 4
- 208000012661 Dyskinesia Diseases 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000002490 cerebral effect 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
- 239000012530 fluid Substances 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—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
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a finger active and passive rehabilitation training device and a training method thereof, wherein the training device is characterized in that a sliding rod moves in the vertical direction in a frame of a sliding rail through an inner slide way type mechanical structure to generate a linear degree of freedom, a round hole is designed at the bottom of the sliding rail and can be sleeved on a cylindrical cross rod between fan-shaped limiting grooves to provide the sliding rod sliding rail with a rotary degree of freedom taking the round hole at the bottom of the sliding rail as a rotary center; in addition, a direct current motor fixing rod and a magneto-rheological damper fixing rod are respectively installed on two sides of the bottom of the sliding rail, gears are installed on shafts of the direct current motor and the magneto-rheological damper and are respectively matched with two racks on the inner wall of the sliding rod, and the rotary motion of the shafts is converted into the vertical up-and-down motion of the racks and the sliding rod so as to respectively support an active mode and a passive mode of finger rehabilitation training. The device has compact structure, can assist the patient to perform active mode and passive mode training of finger rehabilitation, and can realize real-time switching of active and passive rehabilitation training.
Description
Technical Field
The invention relates to a finger active and passive rehabilitation training device, and belongs to the field of design of wearable finger rehabilitation devices.
Background
Diseases such as cerebral apoplexy, finger bone joint injury and the like can cause the finger of a patient to move to be obstructed. The rehabilitation process for dyskinesia of the fingers is more difficult and the conventional rehabilitation means is more expensive than that for dyskinesia of other upper limbs due to the flexibility of the fingers. If the mechanical device is used for assisting the patient to carry out rehabilitation therapy and the mechanical device is used for assisting the patient to carry out a large amount of repetitive rehabilitation training, the consumption of the patient in the aspects of economy and time in the aspect of finger rehabilitation can be greatly reduced, and meanwhile, the mechanical device has better curative effect. However, the mechanical device requires a certain control method, and if the mechanical device is not designed comprehensively, the mechanical device may injure the patient.
The finger active and passive rehabilitation training device adopts an inner slide type mechanical structure, realizes an active rehabilitation training mode and a passive rehabilitation training mode by utilizing the working characteristics of the magnetorheological damper and the direct current motor and the cooperation between a gear and a rack, and takes a pressure signal obtained by the strain gauge as feedback to form closed-loop control on the magnetorheological damper and the direct current motor.
Disclosure of Invention
The invention aims to solve the technical problem of providing an active mode and a passive mode for training and realizing closed-loop control according to the feedback of a finger pressure signal.
The invention adopts the following technical scheme for solving the technical problems:
a finger active and passive rehabilitation training device, comprising:
the wrist support comprises a base, wherein a through hole for a wrist of a person to pass through is formed in one side of the base;
a vertical telescopic machanism sets up the opposite side of relative through-hole on the base, includes:
the sliding rail is embedded and connected with a sliding rod, a finger ring for sleeving a finger of a person is arranged at the top of the sliding rod, and the sliding rod moves in the vertical direction in a frame of the sliding rail to generate a linear degree of freedom; the bottom of the sliding rail is provided with a first round hole which is sleeved on a first cylindrical cross rod on the base, so that the whole vertical telescopic mechanism is provided with a rotational degree of freedom taking the round hole at the bottom of the sliding rail as a rotational center;
the finger active motion mechanism is used for active training of fingers and comprises: the magnetorheological damper is fixed on one side of the sliding rail through a magnetorheological damper fixing rod, a second gear is arranged on an output shaft of the magnetorheological damper, and a second rack matched with the second gear is arranged on the sliding rod;
the passive motion mechanism of finger for the passive training of finger includes: the direct current motor is fixed on the other side of the sliding rail through a direct current motor fixing rod, a first gear is arranged on an output shaft of the direct current motor, and a first rack which is connected with the first gear in a matched mode is arranged on the sliding rod;
the upper end of the direct current motor fixing rod is connected with the direct current motor, the lower end of the direct current motor fixing rod is provided with a second round hole, and the second round hole is sleeved on a second cylindrical cross rod on the base;
the upper end of the magnetorheological damper fixing rod is connected with the magnetorheological damper, the lower end of the magnetorheological damper fixing rod is provided with a third round hole, and the third round hole is sleeved on a third cylindrical cross rod on the base, wherein the axes of the first cylindrical cross rod, the second cylindrical cross rod and the third cylindrical cross rod are on the same straight line;
the force sensor is arranged between the top end of the sliding rod and the ring and used for detecting the pressure of fingers on the device and transmitting a detected force signal to a controller;
and the signal output end of the controller is respectively connected with the direct current motor and the magneto-rheological damper, and the torque of the direct current motor and the torque of the magneto-rheological damper are adjusted.
The slide bar is a rectangular slide frame, the rectangular slide frame is embedded in the slide rail, and two racks are symmetrically arranged on two inner walls of the rectangular slide frame and are respectively a first rack and a second rack.
The bottom of the slide rail is provided with a first fan-shaped limiting groove, and the first cylindrical cross rod is arranged between the first fan-shaped limiting grooves; a second fan-shaped limiting groove is formed in the bottom of the motor fixing rod, and a second cylindrical cross rod is arranged between the second fan-shaped limiting grooves; and a third fan-shaped limiting groove is formed in the bottom of the magnetorheological damper fixing rod, and the third cylindrical cross rod is arranged between the third fan-shaped limiting grooves.
The force sensor is a strain gauge, a concave groove is formed in the top of the sliding rod, a cross beam is arranged in the concave groove, two strain gauges are respectively attached to the upper surface and the lower surface of the cross beam to form a full-bridge pressure measurement mode, a vertical rod is arranged at the upper end of the cross beam, and the fingerstall is installed at the top of the vertical rod.
The fingerstall is a semi-closed fingerstall, and the gap part of the semi-closed fingerstall is provided with a magic tape.
The invention further discloses a finger active and passive rehabilitation training method, based on the finger active and passive rehabilitation training device, a ring at the top of a sliding rod is sleeved on a finger, when the device is required to support the finger active rehabilitation training, a direct current motor is not electrified, a magnetorheological damper is electrified to provide damping force, the finger actively rehabilitates, a second gear rack moves to drive the second gear rack to rotate, and the damping force can be determined according to actual requirements;
when the device is required to support the finger passive rehabilitation training, the magnetorheological damper is not electrified, the direct current motor is electrified, the rotating speed parameter of the direct current motor is adjusted according to a control command, the first gear on the shaft of the direct current motor actively rotates to drive the first rack to move up and down, so that the sliding rod generates displacement in the sliding rail, and the finger is pulled to perform the rehabilitation training.
Further, when the base is worn on the wrist, after the finger ring is sleeved on the finger ring, the finger presses the device, the force sensor detects the pressure of the finger on the device and feeds pressure signals back to the controller, and the controller determines the working conditions of the magnetorheological damper and the direct current motor according to the pressure.
The invention has the beneficial effects that:
the invention relates to a finger active and passive rehabilitation training device, which can move in the vertical direction in a frame of a slide rail through an inner slide way type mechanical structure to generate a linear degree of freedom, wherein a round hole is designed at the bottom of the slide rail and can be sleeved on a cylindrical cross rod between fan-shaped limiting grooves to provide a rotary degree of freedom for the slide rail of the slide rail, wherein the round hole at the bottom of the slide rail is used as a rotary center; in addition, fan-shaped limiting grooves are formed in two sides of the bottom of the sliding rail and are respectively used for mounting fixing rods of the direct current motor and the magnetorheological damper, gears are mounted on shafts of the direct current motor and the magnetorheological damper and are respectively matched with two racks on the inner wall of the sliding rod, the rotary motion of the shafts is converted into the vertical up-and-down motion of the racks and the sliding rod, and the active mode and the passive mode of the finger rehabilitation training are respectively supported.
Secondly, in addition, the device is provided with a full-bridge strain gauge for detecting the pressure of the finger on the device, and then the torque of the direct current motor and the magnetorheological damper is adjusted through a control method, so that the force acting on the finger is accurately controlled.
And thirdly, the base of the finger active and passive rehabilitation training device is worn on the wrist, and the semi-closed ring is designed at the top end of the sliding rod, so that the requirements of different sizes of fingers can be met.
Fourthly, the device is compact in structure, can assist a patient to carry out active mode and passive mode training of finger rehabilitation, can realize real-time switching of active and passive rehabilitation training, and has important research significance and practical value for improving the effect of finger rehabilitation training.
Drawings
FIG. 1 is a schematic view of the overall structure of the finger active and passive rehabilitation training device designed according to the present invention;
wherein, 1, a base; 2. a direct current motor fixing rod; 3. a direct current motor; 4-1, a first gear; 5. a slide bar; 6-2, a second rack; 7. a cross beam; 8. a ring; 10. a magnetorheological damper fixing rod; 11. a magnetorheological damper; 12. a slide rail;
FIG. 2 is a diagram of the wearing effect of the device designed by the invention;
4-2, a second gear;
FIG. 3 is a schematic diagram of the base portion of the device of the present invention;
9-1, a first fan-shaped limiting groove; 9-2, a second fan-shaped limiting groove; 9-3, a third fan-shaped limiting groove; 13-1, a first cylindrical cross-bar; 13-2, a second cylindrical cross-bar; 13-3, a third cylindrical cross-bar;
FIG. 4 is a schematic structural view of a magnetorheological damper and a DC motor part in the apparatus of the present invention;
14-1, a second round hole; 14-2, a third round hole; 15-1, a first ring; 15-2, a second ring;
FIG. 5 is a schematic view of the structure of the slide bar and the slide rail in the device of the present invention;
6-1, a first rack; 16. a first circular aperture.
Figure 6 is an enlarged schematic view of a portion of the ring of figure 5;
17, a concave groove; 18. a vertical rod.
Detailed Description
The following description will explain embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention designs a finger active and passive rehabilitation training device, which comprises a base 1, a first fan-shaped limiting groove 9, a magneto-rheological damper 11, a magneto-rheological damper fixing rod 10, a direct current motor 3, a direct current motor fixing rod 2, a first gear 4-1, a second gear 4-2, a first rack 6-1, a second rack 6-2, a sliding rod 5, a sliding rail 12, a cross beam 7 and a ring 8, wherein the first gear 6-2 is fixed on the base 1; wherein, the first fan-shaped limit groove 9 is positioned on the platform of the base 1; a circular hole 14 at the lower end of the magnetorheological damper fixing rod 10 is sleeved on a cylindrical cross rod 13 in the first fan-shaped limiting groove 9, and a circular ring 15 at the upper end is used for fixing the magnetorheological damper 11; a second gear 4-2 is arranged on a shaft of the magneto-rheological damper 11 and is matched with a second rack 6-2 on the inner wall of the sliding rod 5;
a round hole 14 at the lower end of the direct current motor fixing rod 2 is sleeved on the cylindrical cross rod in the second fan-shaped limiting groove, and a ring 15 at the upper end of the direct current motor fixing rod fixes the direct current motor 3; a first gear 4-1 is arranged on the direct current motor 3 and is matched with a first rack 6-1 on the inner wall of the sliding rod 5; the slide bar 5 is vertically embedded in the slide rail 12, and a cross beam 7 at the top of the slide bar is connected with the ring 8 through a vertical bar.
In practical application, as shown in fig. 2, a wrist passes through a semicircular through hole of a base 1, an index finger is sleeved in a ring 8 and is fixed by a magic tape, an active mode and a passive mode of finger rehabilitation training are realized through a mechanical structure, a finger pair device is used as a feedback signal, closed-loop control over a magneto-rheological damper and a direct current motor is realized, and on the premise of ensuring the safety degree, the finger rehabilitation training device helps a patient with finger dyskinesia to perform a large amount of repeated and effective rehabilitation training. Therefore, the finger rehabilitation device which can be used for providing the active and passive rehabilitation mode has important application value.
As shown in fig. 3, three fan-shaped limiting grooves are designed on the small semicircular platform on the base 1, and are used for fixing the magnetorheological damper fixing rod 10, the sliding rail 12 and the direct current motor fixing rod 2 in sequence from left to right.
Since the bending motion of the fingers towards the inner palm is not in a vertical plane parallel to the palm surface, it is necessary to provide the parts connected to the fingers with a certain ability to swing back and forth, i.e. a rotational freedom from a mechanical point of view. Therefore, a cylindrical cross rod 13 is designed in each fan-shaped limiting groove, and the axle center of each cylindrical cross rod 13 is on the same straight line. Correspondingly, the bottom ends of the magnetorheological damper fixing rod 10, the sliding rail 12 and the direct current motor fixing rod 2 are provided with round holes 14 with the same diameter, and the magnetorheological damper fixing rod, the sliding rail 12 and the direct current motor fixing rod can be arranged on the cylindrical cross rod 13, so that the magnetorheological damper fixing rod, the sliding rail and the direct current motor fixing rod have rotational freedom degrees, synchronous rotational motion is kept, and the rotational midpoint is the center of the round hole at.
As shown in fig. 4, the magnetorheological damper 11 is filled with magnetorheological fluid, and two wires extend out of the housing and are respectively connected with the positive and negative electrodes of the power supply. When current is not supplied, the shaft can rotate freely, and if current with different magnitudes is supplied, the magnetorheological damper 11 can generate certain resistance to the rotation of the shaft.
After the direct current motor fixing rod 2 is electrified, the rotating speed of the direct current motor fixing rod can be controlled through different parameter signals.
The upper end of the magneto-rheological damper fixing rod 10 is a large ring with the same diameter as the magneto-rheological damper 11, and the lower end of the magneto-rheological damper fixing rod is provided with a round hole 14 which is used for being installed on a cross beam 13 of a third fan-shaped limiting groove. Similarly, the upper end of the fixing rod 2 of the direct current motor is also provided with a circular ring 15 with the same diameter as the direct current motor, and the lower end of the fixing rod is provided with a circular hole arranged on the cylindrical cross rod of the first fan-shaped limiting groove.
After the magnetorheological damper 11 and the shaft of the direct current motor 3 are respectively provided with the gear, due to the design of the fixed rod, the gear can keep the relative position with the slide rail 12 unchanged, and the first gear 4-1 is matched with the first rack 6-1 on the inner side of the slide bar 5, so that the rotation of the first gear 4-1 is converted into the displacement of the slide bar 5 in the slide rail 12.
As shown in fig. 5, in practical applications, the sliding rod 5 moves in the sliding rail, the first circular hole 16 at the lower end of the sliding rail 12 is sleeved on the first cylindrical cross bar 13 in the first fan-shaped limiting groove 9, and the sliding rail 12 and the sliding rod 5 rotate with the center of the first circular hole 16 as a fixed center of circle, so that the resistance sense of fingers during bending can be reduced, and the comfort of the device is improved.
Two opposite surfaces of the sliding rod 5 are hollowed out, and racks are respectively adhered to the inner walls of the two sides and are respectively matched with the magneto-rheological damper 11 and the gear on the shaft of the direct current motor 3 so as to support an active rehabilitation mode and a passive rehabilitation mode of finger training. The working principle of the active rehabilitation mode is that the direct current motor 3 is not electrified, so that the magnetorheological damper 11 is electrified, the finger drives the slide rod 5 to move, the second rack 6-2 on one side of the inner wall of the slide rod 5 drives the second gear 4-2 to rotate, the torque of the second gear 4-2 can change along with the change of the current in the magnetorheological damper 11, and therefore different damping feelings are provided for the finger to actively move.
On the other hand, the working principle of the passive rehabilitation mode is that the magnetorheological damper 11 is not electrified, the direct current motor 3 is electrified, the first gear 4-1 on the direct current motor shaft drives the first rack 6-1 to generate linear displacement, and the first rack 6-1 is fixed with the slide bar 5, so that the slide bar 5 generates displacement in the slide rail 12.
The parameters of the direct current motor 3 or the current of the magneto-rheological damper 11 are adjusted according to the control method, so that different traction forces or damping feelings can be generated in the finger rehabilitation training process.
In specific application, the pressure of fingers on the device is collected, the pressure signal is used as a feedback signal, and closed-loop control is performed on an active mode and a passive mode of rehabilitation training according to a certain control method. A cross beam 7 is designed in a concave groove 17 at the top of the sliding rod, two strain gauges are attached to the upper surface and the lower surface of the cross beam 7 to form a full-bridge type pressure detection module, and pressure is used as a feedback signal and submitted to a control method. Have montant 18 on the crossbeam, install semi-closed formula's dactylotheca 8 on the pillar, the magic subsides are pasted to the breach part, alright adjust according to wearer's finger size, improve the travelling comfort of device.
According to the finger active and passive rehabilitation training device designed by the technical scheme, the sliding rod 5 can move in the vertical direction in the frame of the sliding rail 12 through the inner slide way type mechanical structure to generate a linear degree of freedom, the bottom of the sliding rail 12 is provided with a first round hole 16 which can be sleeved on a first cylindrical cross rod 13 between the first fan-shaped limiting grooves 9, and a rotary degree of freedom with the first round hole 16 at the bottom of the sliding rail 12 as a rotary center is provided for the sliding rod 5 and the sliding rail 12; in addition, a second fan-shaped limiting groove and a third fan-shaped limiting groove are arranged on two sides of the bottom of the sliding rail 12 and are respectively used for installing a magnetorheological damper fixing rod 10 and a direct current motor fixing rod 2, gears are respectively installed on shafts of the magnetorheological damper fixing rod 10 and the direct current motor fixing rod 2 and are respectively matched with two racks on the inner wall of the sliding rod 5, the rotary motion of the shafts is converted into the vertical up-and-down motion of the racks and the sliding rod 5, and the passive mode and the active mode of the finger rehabilitation training are respectively provided.
Furthermore, a cross beam 7 is arranged in a concave groove 17 at the top of the sliding rod 5, a full-bridge strain gauge is arranged on the cross beam 7 and used for detecting the pressure of fingers on the device, the force application size of the magnetorheological damper 11 and the direct current motor 3 is controlled through a control method, and a semi-closed ring 8 is designed at the top end of the cross beam 7 so as to meet the requirement of different finger sizes.
The base of the finger active and passive rehabilitation training device is worn on the wrist, the structure is compact, the active mode and the passive mode of finger rehabilitation can be assisted for a patient to train, the active and passive rehabilitation training can be switched in real time, and the finger active and passive rehabilitation training device has important research significance and practical value for improving the finger rehabilitation training effect.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (7)
1. A finger active and passive rehabilitation training device, comprising:
the wrist support comprises a base, wherein a through hole for a wrist of a person to pass through is formed in one side of the base; it is characterized by also comprising:
a vertical telescopic machanism sets up the opposite side of relative through-hole on the base, includes:
the sliding rail is embedded and connected with a sliding rod, a finger ring for sleeving a finger of a person is arranged at the top of the sliding rod, and the sliding rod moves in the vertical direction in a frame of the sliding rail to generate a linear degree of freedom; the bottom of the sliding rail is provided with a first round hole which is sleeved on a first cylindrical cross rod on the base, so that the whole vertical telescopic mechanism is provided with a rotational degree of freedom taking the round hole at the bottom of the sliding rail as a rotational center;
the finger active motion mechanism is used for active training of fingers and comprises: the magnetorheological damper is fixed on one side of the sliding rail through a magnetorheological damper fixing rod, a second gear is arranged on an output shaft of the magnetorheological damper, and a second rack matched with the second gear is arranged on the sliding rod;
the passive motion mechanism of finger for the passive training of finger includes: the direct current motor is fixed on the other side of the sliding rail through a direct current motor fixing rod, a first gear is arranged on an output shaft of the direct current motor, and a first rack which is connected with the first gear in a matched mode is arranged on the sliding rod;
the upper end of the direct current motor fixing rod is connected with the direct current motor, the lower end of the direct current motor fixing rod is provided with a second round hole, and the second round hole is sleeved on a second cylindrical cross rod on the base;
the upper end of the magnetorheological damper fixing rod is connected with the magnetorheological damper, the lower end of the magnetorheological damper fixing rod is provided with a third round hole, and the third round hole is sleeved on a third cylindrical cross rod on the base, wherein the axes of the first cylindrical cross rod, the second cylindrical cross rod and the third cylindrical cross rod are on the same straight line;
the force sensor is arranged between the top end of the sliding rod and the ring and used for detecting the pressure of fingers on the device and transmitting a detected force signal to a controller;
and the signal output end of the controller is respectively connected with the direct current motor and the magneto-rheological damper, and the torque of the direct current motor and the torque of the magneto-rheological damper are adjusted.
2. The active and passive finger rehabilitation training device of claim 1, wherein the sliding bar is a rectangular sliding frame embedded in the sliding rail, and two inner walls of the rectangular sliding frame are symmetrically provided with two racks, namely a first rack and a second rack.
3. The active and passive finger rehabilitation training device of claim 1, wherein the bottom of the sliding rail is provided with first fan-shaped limiting grooves, and the first cylindrical cross bar is arranged between the first fan-shaped limiting grooves; a second fan-shaped limiting groove is formed in the bottom of the motor fixing rod, and a second cylindrical cross rod is arranged between the second fan-shaped limiting grooves; and a third fan-shaped limiting groove is formed in the bottom of the magnetorheological damper fixing rod, and the third cylindrical cross rod is arranged between the third fan-shaped limiting grooves.
4. The active and passive finger rehabilitation training device of claim 1, wherein the force sensor is a strain gauge, the top of the sliding rod is provided with a concave groove, a cross beam is arranged in the concave groove, two strain gauges are respectively attached to the upper surface and the lower surface of the cross beam so as to form a full-bridge pressure measurement mode, a vertical rod is arranged at the upper end of the cross beam, and the finger stall is mounted at the top of the vertical rod.
5. The active and passive finger rehabilitation training device as claimed in claim 4, wherein the finger stall is a semi-closed finger stall, and the gap portion of the semi-closed finger stall is provided with a magic tape.
6. A finger active and passive rehabilitation training method based on the finger active and passive rehabilitation training device as claimed in any one of claims 1-5, characterized in that:
the ring cover at slide bar top is on the finger, and when needs device support finger initiative rehabilitation training, the direct current motor does not go on the electric current, and magnetorheological damper circular current, provides the damping force, and the finger initiative rehabilitation motion, the resistance that the finger overcame magnetorheological damper carries out initiative rehabilitation training, specifically is: the fingers actively move, the second rack moves to drive the second gear to rotate, and the damping force can be determined according to actual requirements;
when the device is required to support the finger passive rehabilitation training, the magnetorheological damper is not electrified, the direct current motor is electrified, the rotating speed parameter of the direct current motor is adjusted according to a control command, the first gear on the shaft of the direct current motor actively rotates to drive the first rack to move up and down, so that the sliding rod generates displacement in the sliding rail, and the finger is pulled to perform the rehabilitation training.
7. The active and passive finger rehabilitation training method according to claim 6, wherein: when the base is worn on the wrist, after the finger ring is sleeved on the finger ring, the finger presses the device, the force sensor detects the pressure of the finger on the device and feeds pressure signals back to the controller, and the controller determines the working condition of the magnetorheological damper and the direct current motor according to the pressure.
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| CN111701186B (en) * | 2020-06-22 | 2023-12-19 | 厦门宏泰科技研究院有限公司 | Motion judging method of linear motor magnetic induction load body-building equipment |
| CN111921169B (en) * | 2020-07-22 | 2021-07-20 | 昆明医科大学第二附属医院 | Rehabilitation training device used after finger burn |
| CN113082641B (en) * | 2021-04-02 | 2022-04-22 | 河南科技大学第一附属医院 | Finger exercise device with counting function for neurology |
| 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 |
| CN113662811A (en) * | 2021-09-01 | 2021-11-19 | 安徽工程大学 | Finger rehabilitation training device |
| CN114949785B (en) * | 2022-05-26 | 2023-07-25 | 郑州大学第一附属医院 | Rehabilitation training traction device for patients with multiple fractures |
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| WO2010140984A1 (en) * | 2009-06-03 | 2010-12-09 | National University Of Singapore | Finger function rehabilitation device |
| EP2549971B1 (en) * | 2010-03-23 | 2014-12-03 | Idrogenet S.R.L. | A hand rehabilitation device |
| CN107212996B (en) * | 2017-04-24 | 2019-03-19 | 合肥工业大学 | A kind of active/passive formula finger wrist joint device for healing and training and method |
| CN107361994A (en) * | 2017-07-26 | 2017-11-21 | 山东海天智能工程有限公司 | Hand rehabilitation training device with wrist rehabilitation training function |
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