CN111789740A - Joint rehabilitation manipulator - Google Patents
Joint rehabilitation manipulator Download PDFInfo
- Publication number
- CN111789740A CN111789740A CN202010572455.6A CN202010572455A CN111789740A CN 111789740 A CN111789740 A CN 111789740A CN 202010572455 A CN202010572455 A CN 202010572455A CN 111789740 A CN111789740 A CN 111789740A
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- connecting rod
- framework
- rod piece
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- base
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- 238000012549 training Methods 0.000 abstract description 7
- 210000001145 finger joint Anatomy 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract 2
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 208000018360 neuromuscular disease Diseases 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A joint rehabilitation manipulator comprises a fixing platform, an electric push rod, a connecting rod for driving, a first connecting rod, a first framework connecting shaft, a first connecting rod piece, a connecting rod piece connecting shaft, a second connecting rod piece, a second framework connecting shaft, a third connecting rod piece, a hollow rivet, a second framework connecting shaft, a second far-end connecting rod, a far-end finger sleeve, a second base, a middle-end finger sleeve, a first base and a first framework, wherein the electric push rod is fixed on the fixing platform and is hinged with the first connecting rod through the connecting rod for driving; the two hollow rivets penetrate through the first connecting rod and can move on the guide groove of the first framework, and the far ends of the first connecting rod are fixed with the second base through screws; the installation form of the framework II is the same as that of the framework I, and the installation of the far-end connecting rod II is the same as that of the connecting rod I. The invention realizes the auxiliary training of finger joints and assists the patient to complete the flexion and extension movement of phalanges.
Description
Technical Field
The invention relates to an exoskeleton rehabilitation manipulator, and belongs to the technical field of medical rehabilitation training instruments.
Background
In recent years, with the increase of the elderly population, various neuromuscular disorders such as stroke and the like cause hemiplegia, and loss of function is more common. Meanwhile, the development of modern traffic causes the increase of accidents, more and more dysfunctions are caused by the accidents, if timely and effective rehabilitation treatment is not obtained, the optimal rehabilitation period is missed, permanent damage is caused, the personal self-care ability of a patient is seriously influenced, and a large burden is caused to the society and families.
Research shows that proper exercise training has a great auxiliary effect on the recovery of the limb functions of patients besides necessary medicine intervention. Robotic devices are introduced to assist patients in performing athletic training. The rehabilitation robot is a combination of an industrial robot and a medical robot, and the final aim is to recover the motion function of human body tissues and realize the natural action of the human body tissues.
The finger joints are restored to the highest patient's voice in all rehabilitation sites, since the palms of the hands provide considerable activities of daily living (e.g., touching, feeling, holding, grasping, typing, writing, simulating, etc., interaction with objects and persons), while the flexion and extension movements of the hands are the most frequently impaired motor functions. This makes the finger joint rehabilitation apparatus urgent for the patient.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the finger joint rehabilitation manipulator, which realizes the auxiliary training of finger joints and assists a patient in completing the flexion and extension movement of phalanges.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a joint rehabilitation manipulator comprises a fixing platform, an electric push rod, a connecting rod for driving, a first connecting rod, a first framework connecting shaft, a first connecting rod piece, a connecting rod piece connecting shaft, a second connecting rod piece, a second framework connecting shaft, a third connecting rod piece, a hollow rivet, a second framework connecting shaft, a second far-end connecting rod, a far-end finger sleeve, a second base, a middle-end finger sleeve, a first base and a first framework, wherein the electric push rod is fixed on the fixing platform and is hinged with the first connecting rod through the connecting rod for driving; the two hollow rivets penetrate through the first connecting rod and can move on the guide groove of the first framework, and the far ends of the first connecting rod are fixed with the second base through screws;
the bottom of the second framework is provided with a threaded hole and is connected with the second base through a screw, the connecting shaft is used for fixing the second framework which is symmetrically installed, the head end and the tail end of the second connecting rod piece are respectively hinged with the first connecting rod piece and the third connecting rod piece, a through hole is formed in the center of the second connecting rod piece, the connecting shaft penetrates through the through hole, the connecting shaft is fixedly connected to the second frameworks on two sides through bolts, and the second far-end connecting rod is provided with a far;
the first connecting rod piece, the second connecting rod piece and the third connecting rod piece are hinged end to end, the first framework is connected with the second framework, and the third connecting rod piece is hinged with the second far-end connecting rod.
Further, the first framework with the guide groove is installed on the first base through a screw.
The technical conception of the invention is as follows: the joint rehabilitation manipulator can be divided into three sections, namely a proximal phalanx on the first base, a middle phalanx on the second base and a distal phalanx represented by the second connecting rod. The mechanical finger is arranged on the fixing platform, the power is provided by the electric push rod, the front end of the push rod is connected with the first connecting rod through the driving connecting rod, the first connecting rod on the proximal phalanx is driven to move along the guide groove through the telescopic motion of the push rod, and the tail end of the connecting rod is fixedly connected with the base of the middle phalanx. The base is bent under the drive of the connecting rod, so that the connecting rod group on the middle phalange drives the connecting rod II connected with the guide groove on the phalange to move along a specific track, and the finger sleeve is arranged at the tail end of the connecting rod and the far phalange, so that a finger can be inserted into the connecting rod group during use and is well bound with the finger sleeve.
The invention has the following beneficial effects:
1. this device adopts aluminium system metal preparation, and electric putter places on the platform, does not have direct contact with the palm, installs in the mechanical structure of finger portably, and is little to the whole burden of hand.
2. The mechanism for transmitting the torque is mainly a connecting rod, the characteristics of the connecting rod are fully utilized, namely, the connecting rod is small in bearing pressure, can bear large load, is beneficial to lubrication and small in abrasion, and in addition, the kinematic pair is simple and is convenient to process and manufacture. In the device, another important purpose of the connecting rod is to limit the bending degree of the fingers by adjusting the length of the connecting rod, thereby greatly increasing the flexibility of the whole device.
3. The rehabilitation training of a plurality of fingers can be realized by increasing the number of the installed rehabilitation hands, and the control or the synchronous control can be performed one by one.
Drawings
FIG. 1 is a bottom schematic view of the present invention;
FIG. 2 is a front view of the present invention with one side of the frame removed;
FIG. 3 is a schematic view of a skeleton;
FIG. 4 is a schematic view of a frame two;
FIG. 5 is a schematic view of a link;
fig. 6 is a schematic view of the second distal link.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 6, a finger joint rehabilitation manipulator includes a fixing platform 1, an electric push rod 2, a driving connecting rod 3, a first connecting rod 4, a first skeleton connecting shaft 5, a first connecting rod piece 6, a connecting rod piece connecting shaft 7, a second connecting rod piece 8, a second skeleton connecting shaft 9, a second skeleton 10, a third connecting rod piece 11, a hollow rivet 12, a second skeleton connecting shaft 13, a second far-end connecting rod 14, a far-end finger cot 15, a second base 16, a middle-end finger cot 17, a first base 18 and a first skeleton 19.
The electric push rod 2 is fixed on the fixed platform 1 and is hinged with the first connecting rod 4 through the driving connecting rod 3, a threaded through hole is formed in the first base 18 and is in bolted connection with the platform 1, a first framework 19 with a guide groove is provided with a threaded hole and is installed on the first base 18 through a screw, a first framework connecting shaft 5 is used for fixing frameworks symmetrically arranged on two sides, two hollow rivets 12 penetrate through the first connecting rod 4 and can move on the guide groove of the first framework, the far end of the first connecting rod is fixed with the second base 16 through screws, and a finger sleeve 17 is installed at the bottom of the first base;
the bottom of the second framework 10 is provided with a threaded hole and is connected with a second base 16 through a screw, a connecting shaft 13 is used for fixing the symmetrically-installed second framework, the first two ends of the second connecting rod piece 8 are respectively hinged with the first connecting rod piece 6 and the third connecting rod piece 11, a through hole is formed in the center of the second connecting rod piece, the connecting shaft 9 penetrates through the through hole, the bolts are connected and fixed on the second frameworks on the two sides, and a second far-end connecting rod 14 is provided with a far-end finger cot 15;
the first connecting rod piece, the second connecting rod piece and the third connecting rod piece are hinged end to end, the first framework is connected with the second framework, and the third connecting rod piece is hinged with the second far-end connecting rod.
During the use, penetrate the dactylotheca with the finger, bind, follow electric putter's drive, the manipulator is along the specific orbit motion of guide way to realize passive crooked, reach rehabilitation training's effect.
The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims.
Claims (2)
1. A joint rehabilitation manipulator is characterized by comprising a fixing platform, an electric push rod, a connecting rod for driving, a first connecting rod, a first framework connecting shaft, a first connecting rod piece, a connecting rod piece connecting shaft, a second connecting rod piece, a second framework connecting shaft, a third connecting rod piece, a hollow rivet, a second framework connecting shaft, a second far-end connecting rod, a far-end finger sleeve, a second base, a middle-end finger sleeve, a first base and a first framework, wherein the electric push rod is fixed on the fixing platform and is hinged with the first connecting rod piece through the connecting rod for driving; the two hollow rivets penetrate through the first connecting rod and can move on the guide groove of the first framework, and the far ends of the first connecting rod are fixed with the second base through screws;
the bottom of the second framework is provided with a threaded hole and is connected with the second base through a screw, the connecting shaft is used for fixing the second framework which is symmetrically installed, the head end and the tail end of the second connecting rod piece are respectively hinged with the first connecting rod piece and the third connecting rod piece, a through hole is formed in the center of the second connecting rod piece, the connecting shaft penetrates through the through hole, the connecting shaft is fixedly connected to the second frameworks on two sides through bolts, and the second far-end connecting rod is provided with a far;
the first connecting rod piece, the second connecting rod piece and the third connecting rod piece are hinged end to end, the first framework is connected with the second framework, and the third connecting rod piece is hinged with the second far-end connecting rod.
2. The manipulator of claim 1, wherein the first frame with guide slot is mounted on the first base by screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010572455.6A CN111789740A (en) | 2020-06-22 | 2020-06-22 | Joint rehabilitation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010572455.6A CN111789740A (en) | 2020-06-22 | 2020-06-22 | Joint rehabilitation manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111789740A true CN111789740A (en) | 2020-10-20 |
Family
ID=72803625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010572455.6A Pending CN111789740A (en) | 2020-06-22 | 2020-06-22 | Joint rehabilitation manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111789740A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113101131A (en) * | 2021-03-26 | 2021-07-13 | 上海大学 | Finger joint of under-actuated rehabilitation robot |
| CN114191256A (en) * | 2021-12-23 | 2022-03-18 | 燕山大学 | Wearable double-ball hinge wrist rehabilitation training robot |
| CN114209547A (en) * | 2021-12-23 | 2022-03-22 | 国家康复辅具研究中心 | Wearable exoskeleton hand rehabilitation training device |
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| CN101897643A (en) * | 2009-05-26 | 2010-12-01 | 香港理工大学 | Wearable power assistive device for helping a user to move their hand |
| ES2558024A1 (en) * | 2014-07-31 | 2016-02-01 | Universidad Miguel Hernández De Elche | Robotic modular and self-adaptive device for the rehabilitation of the hand and procedure of use (Machine-translation by Google Translate, not legally binding) |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
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| CN108478389A (en) * | 2018-04-28 | 2018-09-04 | 深圳市迈步机器人科技有限公司 | Hand rehabilitation equipment and information processing method |
| CN109549819A (en) * | 2018-11-13 | 2019-04-02 | 东南大学 | Palm support formula finger rehabilitation training device and application method |
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| CN110101549A (en) * | 2019-06-21 | 2019-08-09 | 山东慧慈医疗科技有限公司 | Healing hand function training system |
| CN110151494A (en) * | 2019-06-24 | 2019-08-23 | 深圳睿瀚医疗科技有限公司 | More drive module exoskeleton mechanisms |
| CN110711110A (en) * | 2019-09-26 | 2020-01-21 | 河海大学常州校区 | Push-down under-actuated finger rehabilitation training device |
| CN111110982A (en) * | 2019-12-02 | 2020-05-08 | 燕山大学 | Hand rehabilitation training method based on motor imagery |
| CN212880062U (en) * | 2020-06-22 | 2021-04-06 | 浙江工业大学 | Joint rehabilitation manipulator |
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2020
- 2020-06-22 CN CN202010572455.6A patent/CN111789740A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101897643A (en) * | 2009-05-26 | 2010-12-01 | 香港理工大学 | Wearable power assistive device for helping a user to move their hand |
| ES2558024A1 (en) * | 2014-07-31 | 2016-02-01 | Universidad Miguel Hernández De Elche | Robotic modular and self-adaptive device for the rehabilitation of the hand and procedure of use (Machine-translation by Google Translate, not legally binding) |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
| CN105853146A (en) * | 2016-04-19 | 2016-08-17 | 王晶 | Functional rehabilitation training device for hands |
| CN106994086A (en) * | 2017-04-09 | 2017-08-01 | 南京邮电大学 | A kind of exoskeleton-type the five fingers arc displacement finger rehabilitation exercise system |
| CN208726201U (en) * | 2018-01-29 | 2019-04-12 | 燕山大学 | A kind of wearable active healing hand function manipulator |
| CN108478389A (en) * | 2018-04-28 | 2018-09-04 | 深圳市迈步机器人科技有限公司 | Hand rehabilitation equipment and information processing method |
| CN109549819A (en) * | 2018-11-13 | 2019-04-02 | 东南大学 | Palm support formula finger rehabilitation training device and application method |
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| CN110151494A (en) * | 2019-06-24 | 2019-08-23 | 深圳睿瀚医疗科技有限公司 | More drive module exoskeleton mechanisms |
| CN110711110A (en) * | 2019-09-26 | 2020-01-21 | 河海大学常州校区 | Push-down under-actuated finger rehabilitation training device |
| CN111110982A (en) * | 2019-12-02 | 2020-05-08 | 燕山大学 | Hand rehabilitation training method based on motor imagery |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113101131A (en) * | 2021-03-26 | 2021-07-13 | 上海大学 | Finger joint of under-actuated rehabilitation robot |
| CN113101131B (en) * | 2021-03-26 | 2023-02-10 | 上海大学 | Finger joint of under-actuated rehabilitation robot |
| CN114191256A (en) * | 2021-12-23 | 2022-03-18 | 燕山大学 | Wearable double-ball hinge wrist rehabilitation training robot |
| CN114209547A (en) * | 2021-12-23 | 2022-03-22 | 国家康复辅具研究中心 | Wearable exoskeleton hand rehabilitation training device |
| CN114209547B (en) * | 2021-12-23 | 2023-08-22 | 国家康复辅具研究中心 | Wearable exoskeleton hand rehabilitation training device |
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