CN112402181B - Hand rehabilitation exoskeleton based on reverse rolling conjugate plane joint - Google Patents
Hand rehabilitation exoskeleton based on reverse rolling conjugate plane joint Download PDFInfo
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- CN112402181B CN112402181B CN202011309072.6A CN202011309072A CN112402181B CN 112402181 B CN112402181 B CN 112402181B CN 202011309072 A CN202011309072 A CN 202011309072A CN 112402181 B CN112402181 B CN 112402181B
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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
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
-
- 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
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/10—Electroencephalographic signals
- A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
Abstract
A hand rehabilitation exoskeleton based on reverse rolling conjugate plane joints comprises a bottom plate, wherein 5 single-finger mechanisms matched with fingers are connected to the bottom plate; each single-finger mechanism comprises a fixed joint, the fixed joint is connected to the bottom plate, the rear end of the fixed joint is connected with the fixed end of the linear driving motor, the front end of the fixed joint is connected with the rear end of the movable joint device through a rolling joint connecting device, and a reverse rolling conjugate plane joint is formed at the contact position of the front end of the fixed joint and the rear end of the movable joint device; the rear end of the movable joint device is connected with the movable end of the linear driving motor, and the front end of the movable joint device is connected with the finger end articulated joint; the reverse rolling conjugate surface joint is attached to the motion characteristic of a human body, and has good rehabilitation effect; the linear motor is adopted for driving, the mechanism is simplified, the force transmission efficiency is enhanced, the energy consumption of the system is reduced, the weight of the mechanism is reduced, and the practicability of the product is enhanced.
Description
Technical Field
The invention relates to the technical field of rehabilitation equipment, in particular to a hand rehabilitation exoskeleton based on reverse rolling conjugate plane joints.
Background
With the increasing aging of the population, a large number of hand dyskinesia patients are caused by diseases such as stroke and the like, and huge market demand and social demand are brought. The hand rehabilitation exoskeleton is a reliable mode for rehabilitation physiotherapy by wearing the hand rehabilitation exoskeleton for helping hand dyskinesia patients such as the old, cerebral apoplexy sequelae and the disabled to recover normal hand functions.
With the continuous development of the field of hand rehabilitation exoskeletons, compared with the traditional rehabilitation therapy, the hand rehabilitation exoskeletons have the characteristics of accurate control, flexible use and the like, and can be designed in an individualized scheme according to the condition of a patient. Relevant research in the field of wearable exoskeleton rehabilitation robots attracts a large number of scholars at home and abroad, and the existing hand exoskeleton rehabilitation devices are roughly divided into the following three types according to mechanisms:
the first type is a fully flexible exoskeleton, which has compact structure, light weight and high adaptability, but cannot provide larger driving torque and does not have the orthopedic function of providing specific motion for a patient;
the second type is a fixed-axis rotating joint exoskeleton, which is simple in structure and widely applied to the design of human body large joints, but cannot meet the motion complexity of human body joints and cannot be well matched with the real motion characteristics of a human body;
the third type is a link mechanism exoskeleton which can fit the motion trail of a human hand, but the number of links is increased along with the increase of fitting points, so that the link mechanism exoskeleton with a good fitting effect is too large in size and is not beneficial to wearing and using of a patient.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the hand rehabilitation exoskeleton based on the reverse rolling conjugate plane joint, which has the characteristics of simple structure, fitting human motion characteristics, good rehabilitation effect and the like, and can be popularized and used in a large range.
In order to achieve the above object, the invention adopts the technical scheme that:
a hand rehabilitation exoskeleton based on reverse rolling conjugate plane joints comprises a bottom plate 1, wherein 5 single-finger mechanisms matched with 5 fingers are connected to the bottom plate 1;
each single-finger mechanism comprises a fixed joint 2, a movable joint device 3, a rolling joint connecting device 4, a finger end hinge joint 5 and a linear driving motor 6, wherein the fixed joint 2 is connected to the bottom plate 1, the rear end of the fixed joint 2 is connected with the fixed end of the linear driving motor 6, the front end of the fixed joint 2 is connected with the rear end of the movable joint device 3 through the rolling joint connecting device 4, and the contact part of the front end of the fixed joint 2 and the rear end of the movable joint device 3 forms a reverse rolling conjugate plane joint; the rear end of the movable joint device 3 is connected with the movable end of the linear driving motor 6, and the front end of the movable joint device 3 is connected with the finger end articulated joint 5;
the rolling joint connecting device 4 comprises a cross reed 8 and a spring 9, and the cross reed 8 and the spring 9 are respectively fixed on the fixed joint 2 and the movable joint device 3.
The fixed joint 2 is of an integrated structure, the front end of the fixed joint 2 is provided with an assembly hole of a crossed reed 8, an assembly curved surface and a connecting platform of a spring 9, and the rear end of the fixed joint 2 is provided with an assembly hole of a motor fixed end connecting pin 10 and an assembly hole of a motor control line 11.
The movable joint device 3 is split, the movable joint device 3 comprises a finger end part 14, and the rear end of the finger end part 14 is connected with a rear end joint through a connecting bolt 13; the rear end joint is provided with an assembly curved surface of a crossed reed 8, a connecting platform of a spring 9 and an assembly hole of a motor movable end connecting pin 12; the rear end of the finger end part 14 is provided with a connecting bolt 13 assembling hole connected with a rear end joint, and the front of the finger end part 14 is provided with a finger end hinge pin 15 assembling hole.
The finger end part 14 can be replaced by different types according to different use requirements, so that the size of the mechanism is changed, and the use requirements of different patients are met.
The reverse rolling conjugate surfaces of the fixed joint 2 and the movable joint device 3 are obtained by solving through a infinitesimal method, the rolling connection adopts a cross reed 8 and a spring 9, the cross reed 8 ensures that the conjugate surfaces cannot slide, and the spring 9 ensures that the conjugate surfaces are always contacted.
The bottom plate 1 is provided with positioning holes in five finger directions connected with the fixed joints 2, and bottom plate fixing bands 7 penetrate through the positioning holes.
The base plate 1 is individually designed according to the size and the curved surface characteristics of the hand of a patient, and is fixed on the mitt through the base plate fixing bandage 7 when being worn.
The finger end joint 5 is connected with the movable joint device 3 through a finger end hinge pin 15.
The fixed end of the linear driving motor 6 is connected with the fixed joint 2 through a motor fixed end connecting pin 10, and the movable end is connected with the movable joint device 3 through a motor movable end connecting pin 12.
The linear driving motor 6 selects a stroke according to the stroke of the finger tip of a person, the thumb single-finger mechanism and the little finger single-finger mechanism select the small-stroke linear driving motor 6, and the driving of the other three finger single-finger mechanisms selects the large-stroke linear driving motor 6.
The invention has the beneficial effects that:
the invention extracts the joint characteristics of typical arthropods, obtains a joint model with a pair of reverse rolling conjugate surfaces for the first time, and performs mechanism design by taking the reverse rolling conjugate surface joints as a core to obtain the hand rehabilitation exoskeleton which has simple structure, is attached to the motion characteristics of a human body and has good rehabilitation effect.
The customized bottom plate and the customized finger tip parts are adopted, personalized design is carried out according to the appearance and the size of the hand of a patient, the adaptability of the product is enhanced, and the rehabilitation effect of the product is improved.
The linear motor is adopted for driving, the mechanism is simplified, the force transmission efficiency is enhanced, the energy consumption of the system is reduced, the weight of the mechanism is reduced, and the practicability of the product is enhanced.
Drawings
Fig. 1 is a schematic view of the assembly structure of the present invention.
Fig. 2 is a schematic view of a single finger assembly structure of the present invention.
Fig. 3 is a schematic view of the bottom plate structure of the present invention.
Fig. 4 is a schematic view of the assembly of the base plate and the fixed joint of the present invention.
Fig. 5 is a schematic view of the fixed joint structure of the present invention.
FIG. 6 is a schematic structural view of the dynamic joint device of the present invention.
Figure 7 is a schematic view of a finger end joint configuration of the present invention.
Fig. 8 is a schematic structural view of the linear driving motor of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail below with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1-2, a hand rehabilitation exoskeleton based on reverse rolling conjugate plane joints comprises a bottom plate 1, wherein 5 single-finger mechanisms matched with 5 fingers are connected to the bottom plate 1; each single-finger mechanism comprises a fixed joint 2, a movable joint device 3, a rolling joint connecting device 4, a finger end hinge joint 5 and a linear driving motor 6, wherein the fixed joint 2 is connected to the bottom plate 1, the rear end of the fixed joint 2 is connected with the fixed end of the linear driving motor 6, the front end of the fixed joint 2 is connected with the rear end of the movable joint device 3 through the rolling joint connecting device 4, and the contact part of the front end of the fixed joint 2 and the rear end of the movable joint device 3 forms a reverse rolling conjugate plane joint; the rear end of the movable joint device 3 is connected with the movable end of the linear driving motor 6, and the front end of the movable joint device 3 is connected with the finger end articulated joint 5.
The finger end hinge joint 5 is connected with the movable joint device 3 through a finger end hinge pin 15; the fixed end of the linear driving motor 6 is connected with the fixed joint 2 through a motor fixed end connecting pin 10, and the movable end is connected with the movable joint device 3 through a motor movable end connecting pin 12.
Referring to fig. 3, the bottom plate 1 is provided with five positioning holes in the finger direction, which are connected with the fixed joints 2, and the bottom plate fixing binding bands 7 penetrate through the positioning holes.
Referring to fig. 4, in order to replace the fixed joint 2, the fixed joint 2 and the bottom plate 1 are separated, and the fixed joint 2 is assembled by selecting a proper fixed joint 2 according to the stroke of the linear driving motor 6.
Referring to fig. 5, in order to enhance the structural stability, the fixed joint 2 is of an integrated structure and is manufactured by 3D printing; the front end of the fixed joint 2 is provided with an assembly hole and an assembly curved surface of a cross reed 8 and a connecting platform of a spring 9, and the rear end of the fixed joint 2 is provided with an assembly hole of a motor fixed end connecting pin 10 and an assembly hole of a motor control wire 11.
The rolling joint connecting device 4 comprises a cross reed 8 and a spring 9, and the cross reed 8 and the spring 9 are respectively fixed on the fixed joint 2 and the movable joint device 3.
Referring to fig. 6, in order to enhance the practicability of the product, the movable joint device 3 is a split type, the movable joint device 3 includes a finger end part 14, and the rear end of the finger end part 14 is connected with a rear end joint through a connecting bolt 13; the rear end joint is provided with an assembly curved surface of a crossed reed 8, a connecting platform of a spring 9 and an assembly hole of a motor movable end connecting pin 12; the rear end of the finger end part 14 is provided with a connecting bolt 13 assembling hole connected with a rear end joint, a finger end hinge pin 15 assembling hole is arranged in front of the finger end part 14, the use requirements of different patients can be met by replacing the size of the finger end part 14, the finger end part 14 and the rear end joint are connected by adopting bolts, the connecting mode is simple and stable, and the replacement is convenient;
in order to enhance the motion accuracy of the reverse rolling conjugate surface, the mode of connecting the cross reed 8 and the spring 9 is adopted, the cross reed 8 ensures that the conjugate surface does not slide, and the spring 9 provides contact force for the conjugate surface.
Referring to fig. 7, for the motion characteristic of laminating staff, finger end articulated joint 5 and movable joint device 3 adopt articulated connected mode, the dexterity of recovered motion in-process mechanism can be guaranteed to the rotational degree of freedom that increases, adopt the magic to paste the form of ring and connect between finger end articulated joint 5 and the staff, when guaranteeing the accuracy of motion transmission, can improve the travelling comfort of wearing.
Referring to fig. 8, in order to improve the efficiency of motion transmission, the linear driving motor 6 is adopted, the mechanism is simplified, the energy consumption of the system is reduced, the stroke of the linear driving motor 6 is selected according to the actual situation of human hand motion, the small-stroke linear driving motor 6 is selected for the thumb single-finger mechanism and the small-finger single-finger mechanism, and the large-stroke linear driving motor 6 is selected for the other three finger single-finger mechanisms, so that the motion characteristics of the human hand are simulated, and the attractiveness of the mechanism is enhanced.
The linear driving motor 6 adopts a mode of brain electric signal and myoelectric signal mixed control, brain electric control is used in fixed places such as hospitals, flexibility and interestingness of rehabilitation training are enhanced, myoelectric control is adopted in active places such as outdoors, and movement flexibility of a patient when the patient wears the rehabilitation equipment is enhanced.
The working principle of the invention is as follows:
the linear driving motor 6 is controlled to reciprocate, the movable end of the linear driving motor 6 drives the movable joint device 3 to periodically move, the movable joint device 3 is always in contact with the fixed joint 2 along a reverse rolling conjugate surface through the rolling joint connecting device 4, the cross reed 8 ensures that the rolling conjugate surface does not slide, the spring 9 provides contact force of the two reverse conjugate surfaces, the finger end hinge joint 5 is connected with a finger end part 14 of the movable joint device 3 through a revolute pair, and the finger end hinge joint 5 transmits the movement direction and displacement of the movable joint device 3 to the finger end of a human hand, so that the human hand is driven to periodically perform rehabilitation movement.
The above embodiments are only for illustrating the invention and not for limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, so that all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention should be defined by the claims.
Claims (10)
1. A hand rehabilitation exoskeleton comprises a base plate (1) and is characterized in that 5 single-finger mechanisms matched with 5 fingers are connected to the base plate (1);
each single-finger mechanism comprises a fixed joint (2), a movable joint device (3), a rolling joint connecting device (4), a finger end hinge joint (5) and a linear driving motor (6), wherein the fixed joint (2) is connected to the bottom plate (1), the rear end of the fixed joint (2) is connected with the fixed end of the linear driving motor (6), the front end of the fixed joint (2) is connected with the rear end of the movable joint device (3) through the rolling joint connecting device (4), and the contact part of the front end of the fixed joint (2) and the rear end of the movable joint device (3) forms a reverse rolling conjugate plane joint; the rear end of the movable joint device (3) is connected with the movable end of the linear driving motor (6), and the front end of the movable joint device (3) is connected with the finger end articulated joint (5);
the rolling joint connecting device (4) comprises a cross reed (8) and a spring (9), and the cross reed (8) and the spring (9) are respectively fixed on the fixed joint (2) and the movable joint device (3).
2. The hand rehabilitation exoskeleton of claim 1, wherein the finger end joint (5) is connected with the movable joint device (3) through a finger end hinge pin (15); the fixed end of the linear driving motor (6) is connected with the fixed joint (2) through a motor fixed end connecting pin (10), and the movable end of the linear driving motor is connected with the movable joint device (3) through a motor movable end connecting pin (12).
3. The hand rehabilitation exoskeleton as claimed in claim 2, wherein the fixed joint (2) is of an integral structure, the front end of the fixed joint (2) is provided with an assembly hole and an assembly curved surface of a crossed reed (8) and a connection platform of a spring (9), and the rear end of the fixed joint (2) is provided with an assembly hole of a motor fixed end connection pin (10) and an assembly hole of a motor control line (11).
4. The hand rehabilitation exoskeleton as claimed in claim 2, wherein the movable joint device (3) is split, the movable joint device (3) comprises a finger end part (14), and the rear end of the finger end part (14) is connected with a rear end joint through a connecting bolt (13); the rear end joint is provided with an assembly curved surface of a crossed reed (8), a connecting platform of a spring (9) and an assembly hole of a motor movable end connecting pin (12); the rear end of the finger end part (14) is provided with a connecting bolt (13) assembling hole connected with the rear end joint, and the front end of the finger end part (14) is provided with a finger end hinge pin (15) assembling hole.
5. The hand rehabilitation exoskeleton of claim 4, wherein the finger end parts (14) are replaceable in models according to different use requirements, so that the size of the mechanism is changed to meet the use requirements of different patients.
6. The hand rehabilitation exoskeleton as claimed in claim 1, wherein the reverse rolling conjugate surfaces of the fixed joint (2) and the movable joint device (3) are solved by a infinitesimal method, the rolling connection is achieved by using a cross reed (8) and a spring (9), the cross reed (8) ensures that the conjugate surfaces do not slide, and the spring (9) ensures that the conjugate surfaces are always in contact.
7. The hand rehabilitation exoskeleton of claim 1, wherein the bottom plate (1) is provided with five finger-direction positioning holes connected with the fixed joint (2), and the bottom plate fixing straps (7) are threaded through the positioning holes.
8. The hand rehabilitation exoskeleton of claim 7, wherein the base plate (1) is individually designed according to the size and the curved surface characteristics of the hand of the patient, and is fixed on the mitt through the base plate fixing strap (7) when being worn.
9. The hand rehabilitation exoskeleton as claimed in claim 1, wherein the linear driving motors (6) select the stroke according to the stroke of the tips of the human fingers, the thumb single-finger mechanism and the little finger mechanism adopt the linear driving motors (6) with small stroke, and the driving of the other three finger single-finger mechanisms selects the linear driving motors (6) with large stroke.
10. The hand rehabilitation exoskeleton of claim 1, wherein the linear driving motor (6) adopts a brain electrical signal or myoelectrical signal control mode, uses brain electrical control at a fixed place, and uses myoelectrical control at an active place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011309072.6A CN112402181B (en) | 2020-11-19 | 2020-11-19 | Hand rehabilitation exoskeleton based on reverse rolling conjugate plane joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011309072.6A CN112402181B (en) | 2020-11-19 | 2020-11-19 | Hand rehabilitation exoskeleton based on reverse rolling conjugate plane joint |
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| CN112402181A CN112402181A (en) | 2021-02-26 |
| CN112402181B true CN112402181B (en) | 2021-08-27 |
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| CN202011309072.6A Active CN112402181B (en) | 2020-11-19 | 2020-11-19 | Hand rehabilitation exoskeleton based on reverse rolling conjugate plane joint |
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| CN113576832B (en) * | 2021-07-27 | 2022-11-01 | 华中科技大学 | Line drive modularization software rehabilitation gloves |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9539118B2 (en) * | 2013-03-15 | 2017-01-10 | Neurolutions, Inc. | Brain-controlled body movement assistance devices and methods |
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| CN101980672A (en) * | 2008-03-25 | 2011-02-23 | 梅迪凯瑞国际 | Intervertebral disk prosthesis notably for cervical vertebrae |
| WO2014085810A1 (en) * | 2012-11-30 | 2014-06-05 | Northeastern University | Multiple degree of freedom portable rehabilitation system having dc motor-based, multi-mode actuator |
| CN103767856A (en) * | 2014-01-24 | 2014-05-07 | 西安交通大学 | Wearing type five-finger recovery manipulator |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
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| CN112402181A (en) | 2021-02-26 |
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