CN114191253B - Intelligent finger exoskeleton mechanism and intelligent finger rehabilitation exoskeleton robot - Google Patents

Intelligent finger exoskeleton mechanism and intelligent finger rehabilitation exoskeleton robot Download PDF

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Publication number
CN114191253B
CN114191253B CN202111528220.8A CN202111528220A CN114191253B CN 114191253 B CN114191253 B CN 114191253B CN 202111528220 A CN202111528220 A CN 202111528220A CN 114191253 B CN114191253 B CN 114191253B
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China
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arc
finger
pip
mcp
shaped arm
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CN114191253A (en
Inventor
徐晗
李益斌
徐东
张珝
周开
李晓龙
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Tongji Zhejiang College
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Tongji Zhejiang College
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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
    • 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
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A61H2205/067—Fingers

Abstract

The invention relates to an intelligent finger exoskeleton mechanism which comprises an MCP joint seat, an MCP arc-shaped arm, a PIP joint seat and a PIP arc-shaped arm, wherein the MCP joint seat, the MCP arc-shaped arm, the PIP joint seat and the PIP arc-shaped arm are sequentially connected towards the far end; the connecting seat, PIP joint seat all with the finger joint spare between be equipped with pressure sensing assembly, pressure sensing assembly includes the frame, the bottom rigid coupling of connecting seat has well plywood, the upper and lower both ends of frame have set firmly upper plate and hypoplastron respectively, connecting seat, upper plate, well plywood and hypoplastron from last to setting gradually down, loose joint about frame and the connecting seat, be equipped with pressure sensor between upper plate and the plywood, be equipped with down pressure sensor between hypoplastron and the plywood.

Description

Intelligent finger exoskeleton mechanism and intelligent finger rehabilitation exoskeleton robot
Technical Field
The invention belongs to the technical field of exoskeleton robots, and particularly relates to an intelligent finger exoskeleton mechanism and an intelligent finger rehabilitation exoskeleton robot.
Background
The rehabilitation robot aims to realize replacement or assistance of a rehabilitation therapist and simplify the traditional one-to-one heavy treatment process. With the continuous upgrading of the technology, in recent years, wearable rehabilitation robots, namely exoskeleton robots, rise up in different ways. The exoskeleton robot is designed according to the characteristics of human engineering, is equivalent to an external skeleton of a patient, and can be worn on the limb of the patient to assist rehabilitation training and improve the rehabilitation effect of the patient. However, the existing exoskeleton robot for hand rehabilitation has the following defects: 1. the structure is complex, the parts are complex, and the processing and manufacturing difficulty is high; 2. the weight of the equipment is large, and extra burden is brought to a patient after wearing the equipment; 3. only passive rehabilitation training can be performed, joint angle and joint force feedback are lacked, the training mode is single, the application range is narrow, and the rehabilitation training effect is limited; 4. the device can not be used for assisting patients to complete some basic life actions, and has large limitation.
Disclosure of Invention
In order to solve the problems of complex structure, inconvenience in wearing and lack of training feedback of the hand rehabilitation exoskeleton robot in the prior art, the invention provides an intelligent finger exoskeleton mechanism and an intelligent finger rehabilitation exoskeleton robot.
In order to solve the technical problems, the technical scheme adopted by the invention is that the intelligent finger exoskeleton mechanism comprises an MCP joint seat, an MCP arc-shaped arm, a PIP joint seat and a PIP arc-shaped arm which are sequentially connected to a far end, wherein a first arc-shaped chute is formed in the MCP joint seat, a near end of the MCP arc-shaped arm is arranged in the first arc-shaped chute in a sliding manner, the MCP arc-shaped arm is driven by a first driving piece to slide, a far end of the MCP arc-shaped arm is fixedly connected with the PIP joint seat, a second arc-shaped chute is formed in the PIP joint seat, a near end of the PIP arc-shaped arm is arranged in the second arc-shaped chute in a sliding manner, the PIP arc-shaped arm is driven by a second driving piece to slide, the far end of the PIP arc-shaped arm is provided with a connecting seat, and finger connecting pieces are arranged on the connecting seat and the PIP joint seat;
between connecting seat and the finger connecting piece to and all be provided with pressure sensing subassembly between PIP joint seat and the finger connecting piece, pressure sensing subassembly includes frame and well plywood, the upper and lower both ends of frame are fixed upper plate and the hypoplastron of being provided with respectively, connecting seat, upper plate, well plywood and hypoplastron set gradually from last to down, the bottom fixed connection of well plywood and connecting seat, swing joint about frame and the connecting seat, be provided with pressure sensor between upper plate and the well plywood, be provided with down pressure sensor between hypoplastron and the well plywood.
Preferably, angle sensing assemblies are arranged between the MCP arc-shaped arm and the MCP joint seat and between the PIP arc-shaped arm and the PIP joint seat, each angle sensing assembly comprises a resistor disc and electric brush discs, the two resistor discs are fixedly arranged on the first arc-shaped sliding groove and the second arc-shaped sliding groove respectively, the two electric brush discs are fixedly arranged at the near end of the MCP arc-shaped arm and the near end of the PIP arc-shaped arm respectively, and the electric brush discs are in elastic contact with the resistor discs. The pressure sensing assembly can accurately acquire the contact force between the intelligent finger exoskeleton mechanism and the fingers in the operation process, the angle sensing assembly is combined to accurately acquire the angle of the finger joint movement in the operation process of the intelligent finger exoskeleton mechanism, passive rehabilitation movement can be more flexible and accurate, active rehabilitation monitoring and evaluation are more accurate, active and anti-resistance training can be better performed, and the efficiency of hand rehabilitation of a patient is greatly improved.
Preferably, the first driving part and the second driving part have the same structure and respectively comprise a motor and a bevel gear, the bevel gear is in transmission connection with the output end of the motor, the motor of the first driving part is arranged on the MCP joint seat, the motor of the second driving part is arranged on the PIP joint seat, and racks meshed with the bevel gear are arranged on the side walls of the MCP arc-shaped arm and the PIP arc-shaped arm. Bevel gear and rack complex transmission structure are simple reliable, and the transmission is steady, and the rack setting is on the lateral wall of MCP arc arm and PIP arc arm, and the bearing capacity is stronger.
Furthermore, the finger connecting piece comprises a finger sleeve with an opening, a sub-buckle is arranged at one end of the opening of the finger sleeve, a U-shaped female buckle is arranged on the frame, the sub-buckle is clamped with the U-shaped female buckle, the other end of the opening of the finger sleeve is rotatably connected with the frame, and the rotating axis of the finger sleeve is consistent with the direction of the finger. The finger sleeve is firstly sleeved on the corresponding finger, and then the finger sleeve is rotated to clamp the sub-button into the U-shaped female button, so that the intelligent finger exoskeleton mechanism can be conveniently worn on the corresponding finger.
Further, it is film pressure sensor to go up pressure sensor and lower pressure sensor, it all is provided with the silica gel pad to go up between pressure sensor and the upper plate to and between lower pressure sensor and the hypoplastron. The pressure sensing assembly is simple and reliable in structure, ingenious in design and low in cost, the film pressure sensor enables the pressure sensing assembly to be lighter and thinner, the size and the direction of the contact force of a measuring finger and the film pressure sensor are sensitive and accurate, and the film pressure sensor is effectively protected by the silica gel pad.
Furthermore, the materials of MCP joint seat, MCP arc-shaped arm, PIP joint seat, PIP arc-shaped arm and connecting seat are all light high-strength materials. The intelligent finger exoskeleton mechanism is very light and handy, is convenient for a patient to wear, and is convenient for passive rehabilitation training or assisting the patient to perform active rehabilitation training at any time.
Further, the light high-strength material is nylon or ABS. The selection of engineering plastics such as nylon or ABS, the material is light and handy and has certain intensity again, makes this intelligent finger ectoskeleton mechanism dress more reliably and comfortable.
An intelligent finger rehabilitation exoskeleton robot comprises a palm sleeve and a plurality of intelligent finger exoskeleton mechanisms, wherein the palm sleeve is attached to the back of a hand, and an MCP joint seat of each intelligent finger exoskeleton mechanism is fixedly arranged on the palm sleeve; the number of the intelligent finger exoskeleton mechanisms is 1-5, the intelligent finger exoskeleton mechanisms are respectively matched with corresponding fingers, and a finger connecting piece of each intelligent finger exoskeleton mechanism is sleeved on the corresponding single finger.
Preferably, the palm sleeve is fixedly connected with the palm through a binding band, and both sides of the palm sleeve are provided with binding band holes for the binding band to pass through. Is convenient for wearing the palm sleeve and ensures the comfort and the safety.
Furthermore, the number of the intelligent finger exoskeleton mechanisms is 5, the 5 intelligent finger exoskeleton mechanisms are respectively matched with 5 fingers, the intelligent finger exoskeleton mechanism positioned on the thumb removes the PIP joint seat and the PIP arc-shaped arm, and the connecting seat is connected with the far end of the MCP arc-shaped arm. All the other fingers except the thumb have 3 phalanges, so that the intelligent finger exoskeleton mechanism at the thumb removes a PIP joint seat and a PIP arc-shaped arm, and connects the connecting seat with the far end of the MCP arc-shaped arm, so that the intelligent finger exoskeleton mechanism can be better matched with the thumb.
Has the beneficial effects that:
1. according to the intelligent exoskeleton robot for finger rehabilitation, in the process of movement of metacarpophalangeal joints and interphalangeal joints, a frame is pressed upwards or downwards along with extension or bending of fingers, when the frame is pressed upwards, a lower plate applies pressure to a lower pressure sensor to detect the extension force of the fingers in real time, when the frame is pressed downwards, an upper plate applies pressure to an upper pressure sensor to detect the bending force of the fingers in real time, namely a pressure sensing assembly detects the force and the direction of the movement of the fingers in real time; meanwhile, the corresponding electric brush sheets and the corresponding resistance sheets are matched to detect the moving angles of metacarpophalangeal joints and interphalangeal joints in real time; according to the strength and the direction of the finger movement detected in real time and the movement angles of metacarpophalangeal joints and interphalangeal joints, the passive rehabilitation movement control can be more flexible and accurate, the active rehabilitation monitoring and evaluation can be more accurate, active and resistance training can be better performed, and the hand rehabilitation efficiency of a patient is greatly improved;
2. according to the intelligent exoskeleton finger rehabilitation robot, the plurality of intelligent exoskeleton finger mechanisms are respectively matched with corresponding fingers, the finger connecting piece of each intelligent exoskeleton finger mechanism is sleeved on a corresponding single finger, the rehabilitation activities of the fingers are not interfered with each other, and the single rehabilitation activity of the single finger can be realized;
3. the intelligent finger rehabilitation exoskeleton robot can help a patient with weak control ability to complete some basic hand actions such as grasping, pinching, finger stretching and the like, and helps the patient to improve the self-care ability of life in an assistive mode.
4. The intelligent exoskeleton finger rehabilitation robot is simple and reliable in structure, ingenious in design, light and handy in whole, convenient to wear, low in control difficulty and low in manufacturing cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic perspective view of the intelligent exoskeleton finger mechanism of the present invention;
fig. 2 is a schematic perspective view of the hidden MCP joint seat in fig. 1;
FIG. 3 is a schematic view of another perspective view of the intelligent finger exoskeleton mechanism of the present invention;
FIG. 4 is a schematic perspective view of a pressure sensing assembly of the intelligent finger exoskeleton mechanism of the present invention;
FIG. 5 is an exploded view of FIG. 4;
fig. 6 is a schematic perspective view of the intelligent finger rehabilitation exoskeleton robot;
FIG. 7 is a schematic top view of the intelligent finger rehabilitation exoskeleton robot of the present invention;
fig. 8 is a schematic diagram of the use state of the intelligent finger rehabilitation exoskeleton robot;
in the figure: 1. an intelligent finger exoskeleton mechanism comprises, by weight, 1-1 parts of an MCP joint seat, 1-1-1 parts of an MCP arc chute, 1-2 parts of an MCP arc arm, 1-3 parts of a PIP joint seat, 1-3-1 parts of a second arc chute, 1-4 parts of a PIP arc arm, 1-5 parts of a first driving piece, 1-5-1 parts of a motor, 1-5-2 parts of a bevel gear, 1-5-3 parts of a rack, 1-6 parts of a PIP joint seat, 1-7 parts of a second driving piece, a connecting seat, 1-8 parts of a finger connecting piece, 1-8-1 parts of a finger stall, 1-8-2 parts of a sub-buckle, 1-8-3 parts of a U-shaped female buckle, 1-9 parts of a pressure sensing component, 1-9-1 parts of a frame, 1-9-11 parts of an upper plate, 1-9-12 parts of a pressure sensing component, 1-9 parts of a sub-1-3 parts of a frame, and a second arc chute, 1-5 parts of a second driving piece, 1-9-2 parts of a lower plate, 1-9-3 parts of a middle plate, 1-9-4 parts of an upper pressure sensor, 1-9-5 parts of a lower pressure sensor, 1-10 parts of a silica gel pad, 1-10 parts of an angle sensing assembly, 1-10-1 parts of a resistor disc, 1-10-2 parts of an electric brush disc; 2. palm cover, 21, bandage hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
As shown in fig. 1 to 5, for convenience of description, in the present embodiment, it is noted that the distal end points from the arm to the finger, the back of the hand is upward, and the center of the hand is downward; the intelligent finger exoskeleton mechanism 1 comprises an MCP joint seat 1-1, an MCP arc-shaped arm 1-2, a PIP joint seat 1-3 and a PIP arc-shaped arm 1-4 which are sequentially connected towards the far end, as shown in figures 1-3, a first arc-shaped sliding groove 1-1 is formed in the MCP joint seat 1-1, the near end of the MCP arc-shaped arm 1-2 is arranged in the first arc-shaped sliding groove 1-1 in a sliding manner, the MCP arc-shaped arm 1-2 is driven by a first driving piece 1-5 to slide, the far end of the MCP arc-shaped arm 1-2 is fixedly connected with the PIP joint seat 1-3, a second arc-shaped sliding groove 1-3-1 is formed in the PIP joint seat 1-3, the near end of the PIP arc-shaped arm 1-4 is arranged in the second arc-shaped sliding groove 1-3-1 in a sliding manner, the PIP arc-shaped arm 1-4 is driven to slide by a second driving piece 1-6, the far end of the PIP arc-shaped arm 1-4 is provided with a connecting seat 1-7, and finger connecting pieces 1-8 are arranged on the connecting seat 1-7 and a PIP joint seat 1-3; pressure sensing assemblies 1-9 are respectively arranged between the connecting seats 1-7 and the finger connecting pieces 1-8 and between the PIP joint seats 1-3 and the finger connecting pieces 1-8, as shown in FIGS. 4-5, the pressure sensing assemblies 1-9 comprise frames 1-9-1 and middle plates 1-9-2, upper and lower ends of the frames 1-9-1 are respectively and fixedly provided with upper plates 1-9-11 and lower plates 1-9-12, the connecting seats 1-7, the upper plates 1-9-11, the middle plates 1-9-2 and the lower plates 1-9-12 are sequentially arranged from top to bottom, the middle plates 1-9-2 are fixedly connected with the bottom ends of the connecting seats 1-7, and the frames 1-9-1 are movably connected with the connecting seats 1-7 from top to bottom, an upper pressure sensor 1-9-3 is arranged between the upper plate 1-9-11 and the middle plate 1-9-2, and a lower pressure sensor 1-9-4 is arranged between the lower plate 1-9-12 and the middle plate 1-9-2.
In order to obtain more accurate finger movement status, in this embodiment, as shown in fig. 1 to 3, between the MCP arc arm 1-2 and the MCP joint seat 1-1, and angle sensing components 1-10 are arranged between the PIP arc-shaped arm 1-4 and the PIP joint seat 1-3, the angle sensing assembly 1-10 comprises resistor discs 1-10-1 and brush discs 1-10-2, the two resistor discs 1-10-1 are respectively and fixedly arranged on a first arc-shaped chute 1-1-1 and a second arc-shaped chute 1-3-1, the two brush discs 1-10-2 are respectively and fixedly arranged at the near end of an MCP arc-shaped arm 1-2 and the near end of a PIP arc-shaped arm 1-4, the electric brush piece 1-10-2 is elastically contacted with the resistance piece 1-10-1.
In order to ensure the reliable operation of the intelligent finger exoskeleton mechanism 1, in the embodiment, as shown in fig. 1 to 3, the first driving piece 1-5 and the second driving piece 1-6 have the same structure and comprise a motor 1-5-1 and a bevel gear 1-5-2, the bevel gear 1-5-2 is in transmission connection with the output end of the motor 1-5-1, the motor 1-5-1 of the first driving piece 1-5 is arranged on the MCP joint seat 1-1 through a mounting cavity, the motor 1-5-1 of the second driving piece 1-6 is arranged on the PIP joint seat 1-3, and racks 1-5-3 meshed with the bevel gears 1-5-2 are arranged on the side walls of the MCP arc-shaped arm 1-2 and the PIP arc-shaped arm 1-4.
In order to facilitate wearing of the intelligent finger exoskeleton mechanism 1, in this embodiment, as shown in fig. 4 to 5, the finger link 1-8 includes a finger stall 1-8-1 having an opening, a male buckle 1-8-2 is disposed at one end of the opening of the finger stall 1-8-1, a U-shaped female buckle 1-8-3 is disposed on the frame 1-9-1, the male buckle 1-8-2 is clamped with the U-shaped female buckle 1-8-3, the other end of the opening of the finger stall 1-8-1 is rotatably connected with the frame 1-9-1, and a rotation axis of the finger stall is consistent with a direction of a finger.
In order to further improve the sensitivity of the intelligent finger exoskeleton mechanism 1 and to make it more portable, the upper pressure sensors 1-9-3 and the lower pressure sensors 1-9-4 are both thin film pressure sensors, as shown in fig. 4-5, and silicone pads 1-9-5 are respectively arranged between the upper pressure sensors 1-9-3 and the upper plate 1-9-11, and between the lower pressure sensors 1-9-4 and the lower plate 1-9-12; the MCP joint seat 1-1, the MCP arc-shaped arm 1-2, the PIP joint seat 1-3, the PIP arc-shaped arm 1-4 and the connecting seat 1-7 are all made of light high-strength materials; the light high-strength material is made of engineering plastics such as nylon or ABS, and the material is light and has certain strength, so that the intelligent finger exoskeleton mechanism 1 is more reliable and comfortable to wear.
As shown in fig. 6 to 8, the intelligent finger rehabilitation exoskeleton robot comprises a palm sleeve 2 and the intelligent finger exoskeleton mechanism 1, wherein the palm sleeve 2 is attached to the back of a hand, and an MCP joint seat 1-1 of the intelligent finger exoskeleton mechanism 1 is fixedly arranged on the palm sleeve 2; the number of the intelligent finger exoskeleton mechanisms 1 is 1-5, the intelligent finger exoskeleton mechanisms 1 are respectively matched with corresponding fingers, the finger connecting pieces 1-8 of each intelligent finger exoskeleton mechanism 1 are sleeved on corresponding single fingers, the rehabilitation activities of the fingers are not interfered with each other, and the single rehabilitation activity of the single finger can be realized.
Specifically, in the present embodiment, the palm cover 2 is fixedly connected with the palm through a binding band, and both sides of the palm cover 2 are provided with a binding band hole 21 for the binding band to pass through; the number of the intelligent finger exoskeleton mechanisms 1 is 5, the 5 intelligent finger exoskeleton mechanisms 1 are respectively matched with 5 fingers, the intelligent finger exoskeleton mechanism 1 positioned on a thumb removes the PIP joint seat 1-3 and the PIP arc-shaped arm 1-4, and connects the connecting seat 1-7 with the far end of the MCP arc-shaped arm 1-2, and because the fingers except the thumb all have 3 phalanges, the intelligent finger exoskeleton mechanism 1 at the thumb removes the PIP joint seat 1-3 and the PIP arc-shaped arm 1-4, and connects the connecting seat 1-7 with the far end of the MCP arc-shaped arm 1-2, so that the intelligent finger exoskeleton mechanism can be better matched with the thumb.
The working principle is as follows:
firstly, sleeving each finger sleeve 1-8-1 on a corresponding finger, then rotating each finger sleeve 1-8-1 to clamp the sub-buckle 1-8-2 into the U-shaped female buckle 1-8-3 until the five finger exoskeleton mechanisms are worn on the corresponding finger simultaneously, and then binding and fixing the palm sleeve 2 on the palm by using a binding band, wherein the palm sleeve 2 is attached to the back of the hand, so that the intelligent finger rehabilitation exoskeleton robot is worn, as shown in fig. 8;
during passive rehabilitation training, the motor 1-5-1 drives the bevel gear 1-5-2 to rotate, the bevel gear 1-5-2 of the first driving piece 1-5 drives the rack 1-5-3 to drive the MCP arc-shaped arm 1-2 to slide along the first arc-shaped chute 1-1-1, the MCP arc-shaped arm 1-2 drives the PIP joint seat 1-3 to move, and the PIP joint seat 1-3 drives a metacarpophalangeal joint (MCP) to move through the corresponding finger connecting piece 1-8; meanwhile, the bevel gear 1-5-2 of the second driving piece 1-6 drives the rack 1-5-3 to drive the PIP arc-shaped arm 1-4 to slide along the second arc-shaped chute 1-3-1, the PIP arc-shaped arm 1-4 drives the connecting seat 1-7 to move, and the connecting seat 1-7 drives a finger joint (PIP) to move through the corresponding finger connecting piece 1-8;
in the process of the movement of the metacarpophalangeal joints and the interphalangeal joints, the frame 1-9-1 is pressed upwards or downwards along with the extension or bending of fingers, when the frame 1-9-1 is pressed upwards, the lower plate 1-9-12 presses the lower pressure sensor 1-9-4 to detect the extension force of the fingers in real time, when the frame is pressed downwards, the upper plate 1-9-11 presses the upper pressure sensor 1-9-3 to detect the bending force of the fingers in real time, namely the pressure sensing component 1-9 detects the force and the direction of the finger movement in real time; meanwhile, the corresponding electric brush sheet 1-10-2 is matched with the resistor sheet 1-10-1 to detect the moving angle of the metacarpophalangeal joint and the interphalangeal joint in real time; according to the strength and the direction of the finger movement detected in real time and the movement angles of metacarpophalangeal joints and interphalangeal joints, the passive rehabilitation movement control can be more flexible and accurate, and the hand rehabilitation efficiency of a patient is greatly improved;
during active rehabilitation training, along with the active movement of metacarpophalangeal joints and interphalangeal joints of a patient, the pressure sensing assemblies 1-9 and the angle sensing assemblies 1-10 detect the strength and the direction of the finger movement and the movement angles of the metacarpophalangeal joints and the interphalangeal joints in real time, and the detection process is the same as the actions, so that active rehabilitation monitoring and evaluation are more accurate, active and resistance training can be better performed, and the hand rehabilitation efficiency of the patient is greatly improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims (9)

1. An intelligent finger exoskeleton mechanism, comprising: the joint comprises an MCP joint seat (1-1), an MCP arc-shaped arm (1-2), a PIP joint seat (1-3) and a PIP arc-shaped arm (1-4) which are sequentially connected towards a far end, wherein a first arc-shaped sliding groove (1-1-1) is formed in the MCP joint seat (1-1), the near end of the MCP arc-shaped arm (1-2) is arranged in the first arc-shaped sliding groove (1-1-1) in a sliding manner, the MCP arc-shaped arm (1-2) is driven by a first driving piece (1-5) to slide, the far end of the MCP arc-shaped arm (1-2) is fixedly connected with the PIP joint seat (1-3), a second arc-shaped sliding groove (1-3-1) is formed in the PIP joint seat (1-3), and the near end of the PIP arc-shaped arm (1-4) is arranged in the second arc-shaped sliding groove (1-3-1), the PIP arc-shaped arm (1-4) is driven to slide by a second driving piece (1-6), the far end of the PIP arc-shaped arm (1-4) is provided with a connecting seat (1-7), and finger connecting pieces (1-8) are arranged on the connecting seat (1-7) and the PIP joint seat (1-3);
pressure sensing assemblies (1-9) are arranged between the connecting seat (1-7) and the finger connecting piece (1-8) and between the PIP joint seat (1-3) and the finger connecting piece (1-8), each pressure sensing assembly (1-9) comprises a frame (1-9-1) and a middle layer plate (1-9-2), the upper end and the lower end of the frame (1-9-1) are respectively and fixedly provided with an upper plate (1-9-11) and a lower plate (1-9-12), the connecting seat (1-7), the upper plate (1-9-11), the middle layer plate (1-9-2) and the lower plate (1-9-12) are sequentially arranged from top to bottom, and the middle layer plate (1-9-2) is fixedly connected with the bottom end of the connecting seat (1-7), the frame (1-9-1) is movably connected with the connecting seat (1-7) up and down, an upper pressure sensor (1-9-3) is arranged between the upper plate (1-9-11) and the middle layer plate (1-9-2), and a lower pressure sensor (1-9-4) is arranged between the lower plate (1-9-12) and the middle layer plate (1-9-2);
the finger connecting piece (1-8) comprises a finger sleeve (1-8-1) with an opening, a sub-buckle (1-8-2) is arranged at one end of the opening of the finger sleeve (1-8-1), a U-shaped female buckle (1-8-3) is arranged on the frame (1-9-1), the sub-buckle (1-8-2) is clamped with the U-shaped female buckle (1-8-3), the other end of the opening of the finger sleeve (1-8-1) is rotatably connected with the frame (1-9-1), and the rotating axis of the finger connecting piece is consistent with the direction of fingers.
2. The intelligent finger exoskeleton mechanism of claim 1, wherein: angle sensing components (1-10) are arranged between the MCP arc-shaped arm (1-2) and the MCP joint seat (1-1) and between the PIP arc-shaped arm (1-4) and the PIP joint seat (1-3), the angle sensing assembly (1-10) comprises resistor discs (1-10-1) and electric brush discs (1-10-2), the two resistor discs (1-10-1) are fixedly arranged on a first arc-shaped chute (1-1-1) and a second arc-shaped chute (1-3-1) respectively, the two electric brush discs (1-10-2) are fixedly arranged at the near end of an MCP arc-shaped arm (1-2) and the near end of a PIP arc-shaped arm (1-4) respectively, and the electric brush discs (1-10-2) are in elastic contact with the resistor discs (1-10-1).
3. The intelligent finger exoskeleton mechanism of claim 1, wherein: the first driving piece (1-5) and the second driving piece (1-6) have the same structure and respectively comprise a motor (1-5-1) and a bevel gear (1-5-2), the bevel gear (1-5-2) is in transmission connection with the output end of the motor (1-5-1), the motor (1-5-1) of the first driving piece (1-5) is arranged on the MCP joint seat (1-1), the motor (1-5-1) of the second driving piece (1-6) is arranged on the PIP joint seat (1-3), the side walls of the MCP arc-shaped arm (1-2) and the PIP arc-shaped arm (1-4) are respectively provided with a rack (1-5-3) meshed with the bevel gear (1-5-2).
4. The intelligent finger exoskeleton mechanism of claim 1, 2 or 3, wherein: the upper pressure sensor (1-9-3) and the lower pressure sensor (1-9-4) are both film pressure sensors, and silica gel pads (1-9-5) are arranged between the upper pressure sensor (1-9-3) and the upper plate (1-9-11) and between the lower pressure sensor (1-9-4) and the lower plate (1-9-12).
5. The intelligent finger exoskeleton mechanism of claim 1, 2 or 3, wherein: the MCP joint seat (1-1), the MCP arc-shaped arm (1-2), the PIP joint seat (1-3), the PIP arc-shaped arm (1-4) and the connecting seat (1-7) are all made of light high-strength materials.
6. The intelligent finger exoskeleton mechanism of claim 5, wherein: the light high-strength material is nylon or ABS.
7. The utility model provides a recovered ectoskeleton robot of intelligence finger which characterized in that: the intelligent finger exoskeleton mechanism (1) comprises a palm sleeve (2) and a plurality of intelligent finger exoskeleton mechanisms (1) as claimed in any one of claims 1 to 6, wherein the palm sleeve (2) is attached to the back of a hand, and MCP joint seats (1-1) of the intelligent finger exoskeleton mechanisms (1) are fixedly arranged on the palm sleeve (2); the number of the intelligent finger exoskeleton mechanisms (1) is 1-5, the intelligent finger exoskeleton mechanisms (1) are respectively matched with corresponding fingers, and the finger connecting pieces (1-8) of each intelligent finger exoskeleton mechanism (1) are sleeved on the corresponding single finger.
8. The intelligent finger rehabilitation exoskeleton robot of claim 7, wherein: palm cover (2) pass through bandage and palm fixed connection, strap hole (21) that supply the bandage to pass are all seted up to the both sides of palm cover (2).
9. The intelligent finger rehabilitation exoskeleton robot of claim 7 or 8, wherein: the number of the intelligent finger exoskeleton mechanisms (1) is 5, the 5 intelligent finger exoskeleton mechanisms (1) are respectively matched with 5 fingers, the intelligent finger exoskeleton mechanism (1) positioned on a thumb removes the PIP joint seat (1-3) and the PIP arc-shaped arm (1-4), and the connecting seat (1-7) is connected with the far end of the MCP arc-shaped arm (1-2).
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