CN109893402B - Exoskeleton hand rehabilitation robot - Google Patents
Exoskeleton hand rehabilitation robot Download PDFInfo
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- CN109893402B CN109893402B CN201910308393.5A CN201910308393A CN109893402B CN 109893402 B CN109893402 B CN 109893402B CN 201910308393 A CN201910308393 A CN 201910308393A CN 109893402 B CN109893402 B CN 109893402B
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- 210000003811 finger Anatomy 0.000 claims abstract description 60
- 238000005452 bending Methods 0.000 claims abstract description 54
- 210000003813 thumb Anatomy 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 210000004932 little finger Anatomy 0.000 claims description 7
- 210000000236 metacarpal bone Anatomy 0.000 claims description 5
- 230000009471 action Effects 0.000 abstract description 8
- 210000000707 wrist Anatomy 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 206010016654 Fibrosis Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000004761 fibrosis Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
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Abstract
The invention provides an exoskeleton hand rehabilitation robot which is provided with a first bending and stretching unit (A) and a second bending and stretching unit (B) which are respectively in one-to-one correspondence with four fingers and a torsion unit (C) which is corresponding to the thumb, so that simultaneous actions of the twisting and the bending and stretching of the thumb can be realized; the first bending and stretching unit (A), the second bending and stretching unit (B) and the torsion unit (C) all adopt linear drivers as power and are matched with a transmission mechanism formed by rod pieces, so that the main action of fingers is completed by fewer mechanisms; the first bending and stretching unit (A), the second bending and stretching unit (B) and the torsion unit (C) are arranged on the fixing plate (3) covering the metacarpal region, so that the arrangement of components is more compact, the limited space of the back of the hand is effectively utilized, and the hand wrist movement cannot be interfered after the hand is worn; the fixing plate (3) is provided with a through hole for wearing the binding belt, and the binding belt is used for wearing and installing, so that the fixing mode is simpler.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an exoskeleton hand rehabilitation robot.
Background
The human hand is an organ with extremely fine anatomical structure and extremely easy to be wounded, and the patient needs to be fixed at a certain position for 3-4 weeks after clinical operation and trauma operation, so that the blood stasis around tendons in joints is often caused to form fibrosis, and the adhesion of finger joints and tendons is directly caused, so that the functions of the hands of a patient are greatly affected.
The exoskeleton hand rehabilitation robot is wearable equipment for helping a patient to perform hand passive rehabilitation training, but the existing exoskeleton hand rehabilitation robot has the problems of complex structure, difficult installation, large occupied space and the like, so that how to provide the exoskeleton hand rehabilitation robot with a simple structure so as to facilitate installation and reduce occupied space becomes a technical problem to be solved urgently by a person skilled in the art.
Disclosure of Invention
In view of the above, the invention provides an exoskeleton hand rehabilitation robot which can complete the main actions of fingers with fewer mechanisms, has the advantages of compact arrangement and high space utilization, is convenient to install in use and does not interfere with wrist movement.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an exoskeleton hand rehabilitation robot comprising:
the fixing plate is covered on the metacarpal bone region of a single hand and comprises a four-finger region and a thumb region, and through holes for wearing straps are respectively formed in the position, close to the index finger side, and the position, close to the little finger side, of the fixing plate on the four-finger region;
four sets of first bending and stretching units are arranged on the four-finger area of the fixed plate, the four sets of first bending and stretching units are in one-to-one correspondence with the four fingers, each set of first bending and stretching units comprises a first linear driver and a first movable bow formed by mutually hinged rods, the front end of the first movable bow is hinged with a first finger clamp used for clamping the middle section of the corresponding finger, the rear end of the first movable bow is hinged with the fixed plate, and the rotary motion of the first movable bow relative to the fixed plate and the curling motion of the corresponding finger are positioned in the same plane;
the second bending and stretching unit corresponds to the thumb and comprises a second linear driver and a second movable bow, the second linear driver is arranged along the forward stretching direction of the thumb, the second movable bow is composed of rod pieces which are hinged with each other, the front end of the second movable bow is hinged with a second finger clamp which is used for clamping on a far section of the thumb, the rear end of the second movable bow is hinged with a movable seat on a thumb area of the fixed plate, the rotary motion of the second movable bow relative to the movable seat is positioned in the same plane with the curling motion of the thumb, the second linear driver is arranged on the movable seat, and the movable seat is used for enabling the second bending and stretching unit to have the freedom degree of the thumb torsion direction relative to the fixed plate; and
the torsion unit corresponding to the thumb comprises a rocker sliding block mechanism composed of a third linear driver and a rod piece, wherein the third linear driver is transversely placed in a four-finger area of the fixed plate, a lifting rod is hinged to a rocker of the rocker sliding block mechanism, and a finger ring sleeved on a proximal section of the thumb is installed at the tail end of the lifting rod.
Preferably, in the exoskeleton hand rehabilitation robot, a thumb area of the fixed plate is provided with a pivot, and the movable seat in the second bending and stretching unit is a rotating block mounted on the pivot.
Preferably, in the exoskeleton hand rehabilitation robot, the thumb area of the fixing plate is provided with an arc-shaped guide groove extending around the metacarpal bone of the thumb, and the movable seat in the second bending and stretching unit is a sliding block matched with the guide groove.
Preferably, in the exoskeleton hand rehabilitation robot, the finger ring is composed of an arc plate of a quarter ring and a tightening belt penetrating through the arc plate, and the lifting rod is hinged with the arc plate.
Preferably, in the exoskeleton hand rehabilitation robot, the lifting rod is in spherical hinge with the arc plate.
Preferably, in the exoskeleton hand rehabilitation robot, the length of the lifting rod is adjustable.
Preferably, in the exoskeleton hand rehabilitation robot, a spherical hinge is provided between the front end of the second movable bow and the second finger grip.
Preferably, in the exoskeleton hand rehabilitation robot, a rod piece connected with the second finger clip of the second movable bow is adjustable in length.
Preferably, in the exoskeleton hand rehabilitation robot, the fixing plate is provided with four fixing bases at positions on the four-finger area close to the front end, four fixing bases are provided at positions on the four-finger area close to the rear end, the first movable bow is composed of a linkage rod and a double-rocker mechanism taking the fixing bases as a frame, one end of the linkage rod is hinged with a connecting rod of the double-rocker mechanism, and the other end of the linkage rod is hinged with the first finger clip;
one end of the first linear driver is arranged on the fixed base, and the other end of the first linear driver is hinged with any rocker serving as a driving rod of the double-rocker mechanism.
Preferably, in the exoskeleton hand rehabilitation robot, the fixing plate is provided with four fixing supports at positions on the four-finger area near the front end, the first movable bow is composed of a linkage rod and a double-rocker mechanism taking the fixing supports as a frame, one end of the linkage rod is hinged with a connecting rod of the double-rocker mechanism, and the other end of the linkage rod is hinged with the first finger clip;
one end of the first linear driver is arranged on the fixed support, the other end of the first linear driver is connected to a connecting rod of the double-rocker mechanism, and the connecting rod of the double-rocker mechanism is a driving rod of the first movable bow.
According to the technical scheme, in the exoskeleton hand rehabilitation robot provided by the invention, besides the first bending and stretching units corresponding to the four fingers one by one and the second bending and stretching units corresponding to the thumbs are arranged, the twisting units corresponding to the thumbs are also arranged, so that simultaneous actions of twisting, bending and stretching of the thumbs can be realized; the first bending and stretching unit, the second bending and stretching unit and the torsion unit all adopt linear drivers as power and are matched with a transmission mechanism formed by rod pieces, so that the exoskeleton hand rehabilitation robot provided by the invention can finish main actions of fingers by fewer mechanisms; the first bending and stretching unit, the second bending and stretching unit and the torsion unit are arranged on the fixing plate covering the metacarpal region, so that the arrangement of components is more compact, the limited space of the back of the hand is effectively utilized, and the wrist movement cannot be interfered after the wrist is worn; the through holes for wearing the binding bands are formed in the fixing plate, and the binding bands are used for wearing and installing, so that the fixing mode is simpler.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an exoskeleton hand rehabilitation robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first flexion-extension unit of an exoskeleton hand rehabilitation robot provided in accordance with one embodiment;
FIG. 3 is a schematic view of the first flexion-extension unit of FIG. 2 in a relaxed state;
FIG. 4 is a schematic view of the first flexion-extension unit of FIG. 2 in a flexed state;
FIG. 5 is a schematic diagram of a second flexion-extension unit and a torsion unit of an exoskeleton hand rehabilitation robot provided in accordance with the first embodiment;
FIG. 6 is a schematic view of the second flex and twist unit of FIG. 5 from another perspective;
FIG. 7 is a schematic view of the second flexion-extension unit of FIG. 5 in a relaxed state;
FIG. 8 is a schematic view of the second flexion-extension unit of FIG. 5 in a flexed state;
fig. 9 is a schematic diagram of a second flexion-extension unit of an exoskeleton hand rehabilitation robot provided in a second embodiment of the present invention;
FIG. 10 is a view of the second flexion-extension unit of FIG. 9 from the palm side toward the back palm side;
FIG. 11 is a schematic view of the second flexion-extension unit of FIG. 9 in a flexed state;
fig. 12 is a schematic view of a first flexion-extension unit of an exoskeleton hand rehabilitation robot provided in a third embodiment of the present invention.
Marked in the figure as:
A. a first bending and stretching unit; B. a second bending and stretching unit; C. a torsion unit; 11. a thumb distal section; 12. middle section of index finger; 13. middle finger middle node; 14. ring finger middle section; 15. middle section of little finger; 21. a first finger grip; 22. a second finger grip; 23. an arc plate; 3. a fixing plate; 31. a first fixed support; 32. a first fixed base; 33. a pivot; 34. a rotating block; 35. a second fixed base; 36. a first fixing bracket; 37. a second fixed support; 38. a guide seat; 39. a sliding block; 41. a first linear driver; 42. a first rocker; 43. a second rocker; 44. a first link; 45. a linkage rod; 51. a second linear driver; 52. a driving rod; 53. a driven rod; 54. an adjusting lever; 55. an auxiliary lever; 56. a longitudinal pull rod; 57. a second fixing bracket; 61. a third linear driver; 62. a second link; 63. a third rocker; 64. and (5) lifting the pull rod.
Detailed Description
For ease of understanding, the present invention is further described below with reference to the accompanying drawings.
Example 1
Referring to fig. 1, a schematic diagram of an exoskeleton hand rehabilitation robot according to an embodiment of the present invention includes a fixing plate 3, four sets of first bending and stretching units a corresponding to four fingers one by one, and a second bending and stretching unit B and a twisting unit C corresponding to a thumb.
To facilitate the presentation of the various states of use of the exoskeleton hand rehabilitation robot, the poles are used to simulate the knuckles of a human hand, such as the thumb distal section 11, the index finger middle section 12, the middle finger middle section 13, the ring finger middle section 14 and the little finger middle section 15 shown in the figures.
Referring to fig. 2, 5 and 6, fig. 2 is a schematic view of a first bending and stretching unit a of the exoskeleton hand rehabilitation robot provided in the first embodiment, fig. 5 is a schematic view of a second bending and stretching unit B and a twisting unit C of the exoskeleton hand rehabilitation robot provided in the first embodiment, and fig. 6 is a schematic view of another view of the second bending and stretching unit B and the twisting unit C shown in fig. 5.
The fixing plate 3 comprises a four-finger area and a thumb area, and covers the metacarpal bone area of a single hand in use, as shown in fig. 1, four sets of first bending and stretching units A are arranged in the four-finger area of the fixing plate 3, and second bending and stretching units B are arranged in the thumb area. For wearing, the fixing plate 3 is provided with through holes (not labeled in the figure) for wearing the strap at a position near the index finger side and a position near the little finger side on the four-finger region, respectively, as shown in fig. 5.
Fig. 2 shows the structure of a first bending and stretching unit a in the first embodiment, the first bending and stretching unit a includes a first linear driver 41 arranged along the forward extending direction of the finger and a first movable bow formed by mutually hinged rods, the front end of the first movable bow is hinged with a first finger clip 21 for clamping on the middle section (middle finger section 13 shown in fig. 2) of the corresponding finger, the rear end of the first movable bow is hinged with the fixed plate 3, and the rotary motion of the first movable bow relative to the fixed plate 3 is in the same plane with the curling motion of the corresponding finger.
In the first embodiment, the first movable bow is composed of a linkage rod 45 and a double-rocker mechanism, the double-rocker mechanism uses the first fixed support 31 as a frame, and the double-rocker mechanism further comprises a first rocker 42, a second rocker 43 and a first link 44, one end of the linkage rod 45 is hinged with the first link 44, and the other end is hinged with the first finger clip 21.
The fixing plate 3 is provided with four first fixing bases 31 at positions on the four-finger area near the front end, four first fixing bases 32 at positions on the four-finger area near the rear end, and one end of a first linear driver 41 is mounted on the first fixing bases 32, and the other end is hinged with a first rocker 42. It will be appreciated that if the dual rocker mechanism takes the second rocker 43 as the active lever, the first linear drive 41 should be articulated with the second rocker 43. The first flexion-extension unit a is in a state of extension as shown in fig. 3, and in a state of flexion as shown in fig. 4.
Fig. 5 and 6 show the structure of the second bending and stretching unit B and the twisting unit C in the first embodiment at different angles, the second bending and stretching unit B includes a second linear driver 51 arranged in the direction of forward extension of the thumb and a second movable bow composed of mutually hinged bars, the front end of the second movable bow is hinged with a second finger grip 22 for clamping on the distal section of the thumb (in the figure, simulated by the distal section 11 of the thumb), the rear end of the second movable bow is hinged with a movable seat on the thumb area of the fixed plate 3, and the rotary motion of the second movable bow relative to the movable seat is located in the same plane as the curling motion of the thumb, the second linear driver 51 is mounted on the movable seat, and the movable seat is used for enabling the second bending and stretching unit B to have the degree of freedom of the twisting direction of the thumb relative to the fixed plate 3.
In a specific practical application, the front end of the second movable bow and the second finger clip 22 can be in ball hinge connection, and the rod piece of the second movable bow connected with the second finger clip 22 can be designed to be adjustable in length, so that the thumb with different lengths can be better adapted.
In the first embodiment, the thumb area of the fixed plate 3 is provided with a pivot 33, and the movable seat in the second bending and stretching unit B is a rotating block 34 mounted on the pivot 33, as shown in fig. 5. The second movable bow is composed of a driving rod 52, a driven rod 53, an adjusting rod 54 and an auxiliary rod 55, the auxiliary rod 55 is hinged with the rotating block 34, the adjusting rod 54 is hinged with the second finger grip 22, and the second linear driver 51 is arranged on the rotating block 34 and used for driving the driving rod 52. The extension state of the second extension and flexion unit B is shown in fig. 7, and the flexion state is shown in fig. 8.
The torsion unit C includes a rocker slider mechanism and a pull rod 64 hinged to a rocker of the rocker slider mechanism, and a finger ring for fitting over a proximal section of the thumb is mounted at the end of the pull rod 64.
As shown in fig. 6, the rocker slider mechanism in the torsion unit C is a frame and slider with the third linear actuator 61 placed transversely on the four-finger area of the fixed plate 3, specifically, the fixed plate 3 is provided with the second fixed base 35 on the four-finger area at a position near the little finger side, the second fixed support 37 is provided on the four-finger area at a position near the index finger side, and the first fixed support 36 is provided between the second fixed base 35 and the second fixed support 37, one end of the third linear actuator 61 is mounted on the second fixed base 35 and fixed by the first fixed support 36, the front end of the third linear actuator 61 is hinged with the second link 62, the other end of the second link 62 is hinged with the third rocker 63, and the third rocker 63 is hinged with the second fixed support 37, therefore, the third linear actuator 61, the second link 62 and the third rocker slider mechanism are constituted.
One end of the lifting rod 64 is hinged with the third rocker 63, the other end of the lifting rod is provided with a finger ring, the third rocker 63 is enabled to swing by the third linear driver 61, and the finger ring is driven to move by the third rocker 63 through the lifting rod 64, so that the twisting action of the thumb is realized. During the thumb twisting movement, the thumb drives the rotating block 34 to rotate around the pivot 33 through the second finger grip 22 and the second movable bow.
In the first embodiment, the finger ring is composed of a quarter ring arc plate 23 and a tightening strap (not shown) penetrating the arc plate 23, and the lifting rod 64 is hinged with the arc plate 23. In a specific practical application, the lifting rod 64 and the arc plate 23 may be in ball joint. To accommodate different sized handles, the pull rod 64 may be a rod with an adjustable length.
Example two
Referring to fig. 9 to 11, fig. 9 is a schematic view of a second bending and stretching unit B of the exoskeleton hand rehabilitation robot according to the second embodiment of the present invention, fig. 10 is a view of the second bending and stretching unit B shown in fig. 9 from the palm to the back, and fig. 11 is a bending state schematic view of the second bending and stretching unit B shown in fig. 9.
In the second embodiment, a guide seat 38 is provided in the thumb area of the fixing plate 3, an arc-shaped guide groove extending around the metacarpal bone of the thumb is provided in the guide seat 38, the movable seat in the second bending and stretching unit B is a sliding block 39 matched with the guide groove, and the second linear driver 51 and the auxiliary rod 55 are both mounted on the sliding block 39.
In the second embodiment, the design of the connection between the second linear actuator 51, the driving rod 52 and the auxiliary rod 55 is changed compared with the first embodiment, and in order to achieve the movement of the second movable bow, the second linear actuator 51 is provided with the second fixing bracket 57, and the second fixing bracket 57 is connected to the driving rod 52 through the vertical pull rod 56, as shown in fig. 9 and 11.
Example III
Referring to fig. 12, a schematic diagram of a first flexion-extension unit a of an exoskeleton hand rehabilitation robot according to a third embodiment of the present invention is provided.
The third embodiment is designed with a first linear actuator 41 arrangement different from that of the first embodiment, and the first movable bow can be driven to move as well. In contrast to the first embodiment, the fixing plate 3 of the third embodiment is no longer provided with the first fixing base 32, and four first fixing holders 31 are provided only at positions near the front ends on the four-finger regions.
In the third embodiment, the first movable bow is also composed of a linkage rod 45 and a double-rocker mechanism using the first fixed support 31 as a frame, one end of the linkage rod 45 is hinged with a connecting rod (i.e. a first connecting rod 44) of the double-rocker mechanism, and the other end is hinged with the first finger grip 21. Unlike the first embodiment, in the third embodiment, one end of the first linear actuator 41 is mounted on the fixed support, the other end is connected to the link of the double rocker mechanism, and the link of the double rocker mechanism is the active lever of the first movable bow.
In the exoskeleton hand rehabilitation robot provided by the invention, the first bending and stretching units A and the second bending and stretching units B which are respectively in one-to-one correspondence with the four fingers and the torsion units C which are respectively corresponding to the thumbs are arranged, so that the simultaneous actions of the twisting and the bending and stretching of the thumbs can be realized; the first bending and stretching unit A, the second bending and stretching unit B and the torsion unit C all adopt linear drivers as power and are matched with a transmission mechanism formed by rod pieces, so that the exoskeleton hand rehabilitation robot provided by the invention can finish main actions of fingers by fewer mechanisms; the first bending and stretching unit A, the second bending and stretching unit B and the torsion unit C are arranged on the fixing plate 3 covering the metacarpal region, so that the arrangement of components is more compact, the limited space of the back of the hand is effectively utilized, and the hand wrist movement cannot be interfered after the hand is worn; the through holes for wearing the binding bands are formed in the fixing plate 3, and the binding bands are used for wearing and installing, so that the fixing mode is simpler.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An exoskeleton hand rehabilitation robot, comprising:
the fixing plate (3) is covered on the metacarpal bone region of a single hand, the fixing plate (3) comprises a four-finger region and a thumb region, the position, close to the index finger side, of the four-finger region and the position, close to the little finger side, of the fixing plate (3) are respectively provided with through holes for threading belts, the position, close to the little finger side, of the four-finger region is provided with a second fixing base (35), the position, close to the index finger side, of the four-finger region is provided with a second fixing support (37), and a first fixing support (36) is arranged between the second fixing base (35) and the second fixing support (37);
four sets of first bending and stretching units (A) are arranged on a four-finger area of the fixed plate (3), the four sets of first bending and stretching units (A) are in one-to-one correspondence with four fingers respectively, each set of first bending and stretching units (A) comprises a first linear driver (41) arranged along the front extending direction of the finger and a first movable bow formed by mutually hinged rods, the front end of the first movable bow is hinged with a first finger clamp (21) used for clamping on a middle section of the corresponding finger, the rear end of the first movable bow is hinged with the fixed plate (3), and the rotary motion of the first movable bow relative to the fixed plate (3) and the curling motion of the corresponding finger are positioned in the same plane;
a second bending and stretching unit (B) corresponding to the thumb, wherein the second bending and stretching unit (B) comprises a second linear driver (51) arranged along the forward stretching direction of the thumb and a second movable bow formed by mutually hinged rods, the front end of the second movable bow is hinged with a second finger clip (22) used for clamping on a far joint of the thumb, the rear end of the second movable bow is hinged with a movable seat on a thumb area of the fixed plate (3), the rotary motion of the second movable bow relative to the movable seat and the twisting motion of the thumb are positioned in the same plane, the second linear driver (51) is arranged on the movable seat, and the movable seat is used for enabling the second bending and stretching unit (B) to have the freedom degree of the twisting direction of the thumb relative to the fixed plate (3); and
the twisting unit (C) corresponding to the thumb comprises a rocker sliding block mechanism formed by a third linear driver (61) and a rod piece, the third linear driver (61) is transversely placed in a four-finger area of the fixed plate (3), one end of the third linear driver (61) is installed on the second fixed base (35) and fixed by the first fixed support (36), the front end of the third linear driver (61) is hinged with a second connecting rod (62), the other end of the second connecting rod (62) is hinged with a third rocker (63), the third rocker (63) is hinged on the second fixed support (37), the third linear driver (61), the second connecting rod (62) and the third rocker (63) form a rocker sliding block mechanism, a lifting rod (64) is hinged on a rocker of the rocker sliding block mechanism, and the tail end of the lifting rod (64) is provided with a finger ring sleeved on a near-joint of the thumb.
2. Exoskeleton hand rehabilitation robot according to claim 1, characterized in that the thumb area of the stationary plate (3) is provided with a pivot (33), the movable seat in the second flexion-extension unit (B) being a rotating block (34) mounted on the pivot (33).
3. Exoskeleton hand rehabilitation robot according to claim 1, characterized in that the thumb area of the fixation plate (3) is provided with an arc-shaped guide groove extending around the thumb metacarpal curve, and the movable seat in the second flexion-extension unit (B) is a sliding block (39) cooperating with the guide groove.
4. Exoskeleton hand rehabilitation robot according to claim 1, characterized in that the finger ring consists of a quarter ring arc plate (23) and a tightening strap threaded on the arc plate (23), the lifting rod (64) being hinged with the arc plate (23).
5. The exoskeleton hand rehabilitation robot of claim 4, wherein the lifting rod (64) is ball-hinged with the arc plate (23).
6. The exoskeleton hand rehabilitation robot of claim 5, wherein the length of the lifting rod (64) is adjustable.
7. The exoskeleton hand rehabilitation robot of claim 1, wherein a spherical hinge is provided between the front end of the second movable bow and the second finger grip (22).
8. The exoskeleton hand rehabilitation robot of claim 7, wherein the rod of the second movable arch connected to the second finger grip (22) is adjustable in length.
9. The exoskeleton hand rehabilitation robot according to any one of claims 1 to 8, wherein the fixing plate (3) is provided with four fixing bases at a position near the front end on the four-finger area, four fixing bases are provided at a position near the rear end on the four-finger area, the first movable bow is composed of a linkage rod (45) and a double-rocker mechanism taking the fixing bases as a frame, one end of the linkage rod (45) is hinged with a connecting rod of the double-rocker mechanism, and the other end is hinged with the first finger clip (21);
one end of the first linear driver (41) is arranged on the fixed base, and the other end of the first linear driver is hinged with any rocker serving as a driving rod of the double-rocker mechanism.
10. Exoskeleton hand rehabilitation robot according to any one of claims 1 to 8, characterized in that the fixing plate (3) is provided with four fixing supports at positions near the front end on the four-finger zone, the first movable bow is composed of a linkage rod (45) and a double-rocker mechanism taking the fixing supports as a frame, one end of the linkage rod (45) is hinged with a connecting rod of the double-rocker mechanism, and the other end is hinged with the first finger clip (21);
one end of the first linear driver (41) is installed on the fixed support, the other end of the first linear driver is connected to a connecting rod of the double-rocker mechanism, and the connecting rod of the double-rocker mechanism is an active rod of the first movable bow.
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| CN201910308393.5A CN109893402B (en) | 2019-04-17 | 2019-04-17 | Exoskeleton hand rehabilitation robot |
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| CN201910308393.5A CN109893402B (en) | 2019-04-17 | 2019-04-17 | Exoskeleton hand rehabilitation robot |
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| CN109893402A CN109893402A (en) | 2019-06-18 |
| CN109893402B true CN109893402B (en) | 2023-11-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110314066B (en) * | 2019-07-24 | 2021-07-20 | 东南大学 | Exoskeleton finger rehabilitation training device and using method thereof |
| CN113491618B (en) * | 2020-04-08 | 2024-09-24 | 富伯生医科技股份有限公司 | Exoskeleton robot with thumb adjusting mechanism |
| CN112402181B (en) * | 2020-11-19 | 2021-08-27 | 西安交通大学 | Hand rehabilitation exoskeleton based on reverse rolling conjugate plane joint |
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| JP2016055078A (en) * | 2014-09-12 | 2016-04-21 | セイコーエプソン株式会社 | Driving device and driving method of the same |
| WO2017145136A1 (en) * | 2016-02-26 | 2017-08-31 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Exoskeleton device for the hand |
| CN106214418A (en) * | 2016-07-01 | 2016-12-14 | 山东大学 | A kind of flexible wearable ectoskeleton drive lacking is all referring to training rehabilitation mechanical hand |
| CN109223442A (en) * | 2018-09-25 | 2019-01-18 | 上海交通大学 | Exoskeleton-type seven freedom manipulators in rehabilitation |
| CN210145026U (en) * | 2019-04-17 | 2020-03-17 | 北京因时机器人科技有限公司 | Exoskeleton hand rehabilitation robot |
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