CN114452159A - Wearable rigid-flexible hybrid driving finger joint rehabilitation training robot - Google Patents
Wearable rigid-flexible hybrid driving finger joint rehabilitation training robot Download PDFInfo
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- CN114452159A CN114452159A CN202210072715.2A CN202210072715A CN114452159A CN 114452159 A CN114452159 A CN 114452159A CN 202210072715 A CN202210072715 A CN 202210072715A CN 114452159 A CN114452159 A CN 114452159A
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- 238000012549 training Methods 0.000 title claims abstract description 28
- 210000001145 finger joint Anatomy 0.000 title claims abstract description 20
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 239000003292 glue Substances 0.000 claims description 3
- 238000005452 bending Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 13
- 230000006870 function Effects 0.000 description 6
- 210000001503 joint Anatomy 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000000845 cartilage Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 208000024891 symptom Diseases 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 208000031662 Noncommunicable disease Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 210000003710 cerebral cortex Anatomy 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000000811 metacarpophalangeal joint Anatomy 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
- 230000007971 neurological deficit Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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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
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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
- 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
- A61H2201/1463—Special speed variation means, i.e. speed reducer
-
- 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
- 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
The invention relates to the technical field of finger rehabilitation training, in particular to a wearable rigid-flexible hybrid driving finger joint rehabilitation training robot. Comprises a first finger section and a second finger section; the first finger section comprises an upper end cover and a first finger section base, the upper end cover is fixedly connected with the first finger section base, a cavity is formed between the upper end cover and the first finger section base, a driving motor and a speed reducer are placed in the cavity, and an output shaft of the driving motor is connected with an input end of the speed reducer; the output end of the speed reducer is connected with a transmission system, and two groups of gear trains are arranged at the bottoms of the first finger section and the second finger section. The robot and the fingers are fixed through the binding bands, and the sliding of the connecting rods and the stiffness springs in the rectangular grooves can reduce the acting force of the finger joints along the finger direction and reduce the influence factors of the damaged joints; through the inclined plane inclination angle of the first rotary telescopic structure and the second rotary telescopic structure, two groups of rotary blocks can act in sequence, and the bending angle of the fingers can be controlled to a certain degree by controlling the rotation angle of the motor.
Description
Technical Field
The invention relates to the technical field of finger rehabilitation training, in particular to a wearable rigid-flexible hybrid driving finger joint rehabilitation training robot.
Background
In recent decades, with the progress of aging of population, stroke has become a main public health problem in China, and as a non-infectious disease, stroke has become the first cause of death in China and is also the leading cause of disability in adults in China. After stroke, patients can have various symptoms of neurological deficit, wherein hemiplegia and dyskinesia are the most common symptoms, and the hand dysfunction of patients with upper limb disability is usually clinically manifested by flexion contracture, dominant hand flexor tension, difficult extension of interphalangeal joints and metacarpophalangeal joints, loss of fine motor functions such as holding, side pinching, palm and finger butting and the like, and after the loss of the functions, the daily life of the patients is seriously affected, so the recovery of the hand function is particularly important.
According to modern evidence-based medicine and continuous passive theory, high-intensity and repetitive motion can stimulate cerebral cortex, and is beneficial to recovery of hand motion function of patients with hand function injury. In recent decades, researchers in various countries have been increasing research on the field of finger rehabilitation, and a series of finger rehabilitation training robots and systems have been created, which can drive the hands of patients to perform repeated bending and stretching, inward converging and outward converging movements, or to move according to a given movement trajectory, so that the device can help patients with hand function impairment to perform certain rehabilitation training without the assistance of nursing staff.
The traditional mechanical exoskeleton robot usually adopts a motor as a driving part, rigid components such as gears, connecting rods and the like are used as transmission connecting parts, the control motion precision is high, but due to the rigidity, if the control of the force is not proper, impact can be caused to cartilage tissues of joints of a hand in the motion process, certain potential safety hazards exist, and the motion form of the robot has coupling property and is single degree of freedom.
The invention aims to provide a rigid-flexible hybrid driven rehabilitation training robot for a single finger joint, which is convenient to wear and can drive the finger joint of a patient to perform rehabilitation exercise training.
Disclosure of Invention
The invention aims to provide a wearable rigid-flexible hybrid driving finger joint rehabilitation training robot, which is used for solving the problems in the prior art: the traditional mechanical exoskeleton robot may impact cartilage tissues of joints of a hand, so that certain potential safety hazards exist, and generally, the motion form of the robot has coupling and low degree of freedom.
In order to achieve the purpose, the invention adopts the following technical scheme:
a wearable rigid-flexible hybrid drive finger joint rehabilitation training robot, comprising:
a first finger section and a second finger section;
the first finger section comprises an upper end cover and a first finger section base, the upper end cover is fixedly connected with the first finger section base, a cavity is formed between the upper end cover and the first finger section base, a driving motor and a speed reducer are placed in the cavity, and an output shaft of the driving motor is connected with an input end of the speed reducer;
the output end of the speed reducer is fixedly connected with one end of the connecting section, and the other end of the connecting section is fixedly connected with the first rotary telescopic structure;
one end of the first rotary telescopic structure is fixedly connected with a compression spring, and one end of the compression spring is connected with the second rotary telescopic structure;
the first rotary telescopic structure and the second rotary telescopic structure respectively comprise two rotary blocks, the two rotary blocks are oppositely arranged, each rotary block is provided with two inclined planes, one inclined plane is provided with a dovetail groove, the other inclined plane is provided with a dovetail lug, and the dovetail lug of one rotary block is slidably connected into the dovetail groove of the other rotary block which is oppositely arranged;
one end of the second rotary telescopic structure is connected with the second finger section through a hose;
a rectangular groove is formed in one side of the bottom of the second finger section, a first toothed connecting rod is connected in the rectangular groove in a sliding mode, and a stiffness spring is further installed between the first toothed connecting rod and the second finger section; one side of the bottom of the first finger section base is fixedly connected with a second toothed connecting rod; opposite ends of the first toothed connecting rod and the second toothed connecting rod are fixedly connected with half gears and are meshed with the planetary gears;
the planetary gear and two through-holes are all opened at the center of half gear, and planetary gear is connected through connecting the pin pole rather than the engaged half gear still, just between half gear and the connection pin pole, planetary gear all is connected through the round pin rotation with being connected the pin pole.
Further preferably, the upper end cover is fixedly connected with the finger section-base through screws.
Further preferably, the speed reducer and the connecting section, and the connecting section and the first rotary telescopic structure are fixedly connected through flanges.
Further preferred, the linkage segment includes first spliced pole, first U-shaped seat, cross connecting axle, second spliced pole and second U-shaped seat, first U-shaped seat is fixed in first spliced pole one end, the second U-shaped seat is fixed in second spliced pole one end, cross connecting axle top and bottom all rotate with first U-shaped seat and are connected, both ends all rotate with second U-shaped seat and are connected about the cross connecting axle.
Preferably, the centers of the two oppositely-arranged rotating blocks are provided with circular holes, a cylindrical connecting shaft is arranged between the circular holes, and the cylindrical connecting shaft is connected with the two rotating blocks in a sliding manner.
Preferably, the two ends of the hose are fixedly connected with one end of the second rotary telescopic structure and the second finger section through glue.
Preferably, the base of the first finger section and the two sides of the second finger section are provided with square holes.
Further preferably, the upper and lower ends of the half gear of the first and second toothed connecting rods are provided with brake levers.
Preferably, the first toothed connecting rod, the pin shaft, the second toothed connecting rod, the connecting thin rod and the stiffness spring form a gear train; the connecting section, the first rotary telescopic structure, the cylindrical connecting shaft, the compression spring, the second rotary telescopic structure and the hose form a transmission system; the gear train is provided with two groups, the transmission system is provided with one group, and the gear train is positioned at two sides below the transmission system.
The invention has at least the following beneficial effects:
the flexible driving is introduced through the compression spring, the hose and the stiffness spring, and the flexible driving device is required to be capable of bending when acting, so that most of the angular bending is realized through the universal coupling formed by the connecting sections, and a small part of the angular bending is realized through the compression spring and the hose;
the finger rehabilitation training robot is fixed with the fingers through the binding bands, and the sliding of the connecting rods and the stiffness springs in the rectangular grooves can reduce the acting force of finger joints along the direction of the fingers and reduce the influence factors of joint damage;
the invention has simple structure, is not connected with the whole hand, and can carry out rehabilitation training only by being connected with two finger sections of a single joint, so that patients with hand function damage can carry out rehabilitation training under more conditions;
the inclined planes of the first rotary telescopic structure and the second rotary telescopic structure are arranged at different inclination angles, so that two groups of rotary blocks can act in sequence, and the bending angle of fingers can be controlled to a certain extent by controlling the rotation angle of a motor;
the connecting rod and the half gear arranged on the connecting rod are used for transmitting motion, and the two ends of the connecting rod are also provided with the braking mechanisms, so that when the connecting rod moves to a braking position, the mechanisms cannot be bent any more, and the safety of finger rehabilitation training is ensured.
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 are briefly introduced below, and it is obvious that the drawings in the following description are 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 present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic structural view of a connecting segment;
FIG. 4 is a schematic structural view of a first rotary telescopic structure;
FIG. 5 is a top view of the first rotary telescoping structure;
FIG. 6 is a schematic view of the present invention in a bent configuration;
figure 7 is a schematic view of the present invention when worn with the fingers bent and straightened.
In the figure: 1. an upper end cover; 2. a motor; 3. a speed reducer; 4. a connecting section; 5. a cross-shaped connecting shaft; 6. a first rotary telescopic structure; 9. a second rotary telescopic structure; 7. a cylindrical connecting shaft; 8. a compression spring; 11. a hose; 12. a finger section II; 13. a stiffness spring; 14. a first toothed connecting rod; 18. a second toothed connecting rod; 15. a pin shaft; 16. a planetary gear; 17. connecting the thin rod; 19. the finger section is a base.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-3, the invention relates to a wearable rigid-flexible hybrid driving finger joint rehabilitation training robot.
Referring specifically to fig. 1-2, the present invention includes:
the first finger section comprises an upper end cover 1 and a first finger section base 19;
the upper end cover 1 is connected with a first finger section base 19 through a screw in the vertical direction, a cavity is formed between the upper end cover 1 and the first finger section base 19 and used for placing a driving motor 2 and a speed reducer 3, and an output shaft of the driving motor 2 is connected with an input end of the speed reducer 3.
The output end of the speed reducer 3 is connected with one end of the connecting section 4 through a flange, and the other end of the connecting section 4 is connected with a first rotary telescopic structure 6 for rotary extension through a flange.
Referring to fig. 3, the connecting section 4 includes a first connecting column 41, a first U-shaped seat 42, a cross-shaped connecting shaft 5, a second connecting column 44 and a second U-shaped seat 43, the first U-shaped seat 42 is fixed at one end of the first connecting column 41, the second U-shaped seat 43 is fixed at one end of the second connecting column 44, the top end and the bottom end of the cross-shaped connecting shaft 5 are rotatably connected with the first U-shaped seat 42, and the left end and the right end of the cross-shaped connecting shaft 5 are rotatably connected with the second U-shaped seat 43, so that a structure of the universal coupling is formed;
referring to fig. 1, 2, 4 and 5, the first rotary telescopic structure 6 includes two rotary blocks 61, the two rotary blocks 61 are disposed opposite to each other, each rotary block 61 is provided with two inclined planes 62, one inclined plane is provided with a dovetail groove 63, the other inclined plane is provided with a dovetail protrusion 64, the dovetail protrusion 64 of one rotary block 61 is slidably connected inside the dovetail groove 63 of the other rotary block 61 disposed opposite to the rotary block to realize motion guidance, and when rotating, the two rotary blocks 61 can be driven to approach or move away from each other, so that the first rotary telescopic structure 6 can be rotated to realize telescopic movement;
in one embodiment, a circular hole is formed in the center of each of the two rotation blocks 61, a cylindrical connecting shaft 7 is disposed between the two rotation blocks 61 for connecting and limiting the two rotation blocks 61, and the cylindrical connecting shaft 7 can slide between the two rotation blocks 61 to prevent the two rotation blocks 61 from being separated from each other.
One end of the first rotary telescopic structure 6 is fixedly connected with a compression spring 8, and one end of the compression spring 8 is connected with a second rotary telescopic structure 9;
the structure of the second rotary telescopic structure 9 is the same as that of the first rotary telescopic structure 6, and is not repeated in the application.
One end of the second rotary telescopic structure 9 is connected with the second finger section 12 through a hose 11, and the connection of the two ends of the hose 11 is fixed through glue.
A rectangular groove is formed in one side of the bottom of the second finger section 12, a first toothed connecting rod 14 is connected in the rectangular groove in a sliding mode, and a stiffness spring 13 is further installed between the first toothed connecting rod 14 and the second finger section 12;
indicate the equal fixedly connected with half-gear in looks remote site of bottom one side fixedly connected with second tooth connecting rod 18 of a section base 19, first tooth connecting rod 14 and second tooth connecting rod 18, and all be connected with the meshing of planetary gear 16, planetary gear 16 all opens the through-hole with the center department of two half-gears, and planetary gear 16 still is connected with connecting thin pole 17 rotation through round pin axle 15 rather than the meshed half-gear for carry on spacingly to planetary gear 16, prevent to drop.
In addition, the base 19 of the first finger section and the two sides of the second finger section 12 are also provided with square holes for fixedly connecting the first finger section and the second finger section to the fingers through binding bands.
In addition, the upper and lower ends of the half gears of the first toothed connecting rod 14 and the second toothed connecting rod 18 are provided with brake rods, when the half gears move to the braking position, the half gears cannot rotate or bend, and the safety of finger rehabilitation training is guaranteed.
Referring to fig. 1, the first toothed connecting rod 14, the pin 15, the second toothed connecting rod 18, the connecting thin rod 17 and the stiffness spring 13 constitute a gear train; the connecting section 4, the first rotary telescopic structure 6, the cylindrical connecting shaft 7, the compression spring 8, the second rotary telescopic structure 9 and the hose 11 form a transmission system; the gear train is provided with two groups, the transmission system is provided with one group, and the gear trains are positioned at two sides below the transmission system and used for preventing the transmission system from touching the gear trains when bending. Two sets of gear trains are separately arranged, so that the guide is more accurate.
Referring to fig. 6-7, the specific operation is as follows:
motor 2 transmits the moment of torsion to the universal joint who constitutes of linkage segment 4 through reduction gear 3, then transmit the moment of torsion to first rotatory extending structure 6, have the tendency of rotating between two rotatory pieces 61, under the effect of two inclined planes 62 direction, can separate along the direction of finger, then this partial structure has the trend of extending along the finger direction, power passes through compression spring 8 and transmits to the rotatory extending structure 9 of second, further transmit on finger section two 12, under the guide effect of gear train, can form the trend of downwarping, can drive the finger crooked. If motor 2 continues to rotate, when two rotatory pieces 61 separate the maximum position, the moment of torsion passes through compression spring 8 and transmits the rotatory extending structure 9 of second, and two rotatory extending structure 9 of second do with two rotatory extending structure 6 the same actions, and the finger can further be crooked, and when the motor reversal, the same principle can drive the finger and do the extension motion, then when motor 2 is according to given motion just reversing, can drive the finger and carry out repetitive rehabilitation training.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a wear-type hard and soft hybrid drive finger joint rehabilitation training robot, its characterized in that includes:
a first finger section and a second finger section (12);
the first finger section comprises an upper end cover (1) and a first finger section base (19), the upper end cover (1) is fixedly connected with the first finger section base (19), a cavity is formed between the upper end cover and the first finger section base (19), a driving motor (2) and a speed reducer (3) are placed in the cavity, and an output shaft of the driving motor (2) is connected with an input end of the speed reducer (3);
the output end of the speed reducer (3) is fixedly connected with one end of the connecting section (4), and the other end of the connecting section (4) is fixedly connected with the first rotary telescopic structure (6);
one end of the first rotary telescopic structure (6) is fixedly connected with a compression spring (8), and one end of the compression spring (8) is connected with a second rotary telescopic structure (9);
the first rotary telescopic structure (6) and the second rotary telescopic structure (9) respectively comprise two rotary blocks (61), the two rotary blocks (61) are oppositely arranged, each rotary block (61) is provided with two inclined planes (62), one inclined plane is provided with a dovetail groove (63), the other inclined plane is provided with a dovetail lug (64), and the dovetail lug (64) of one rotary block (61) is slidably connected into the dovetail groove (63) of the other rotary block (61) which is oppositely arranged;
one end of the second rotary telescopic structure (9) is connected with the second finger section (12) through a hose (11);
a rectangular groove is formed in one side of the bottom of the second finger section (12), a first toothed connecting rod (14) is connected in the rectangular groove in a sliding mode, and a stiffness spring (13) is further installed between the first toothed connecting rod (14) and the second finger section (12); one side of the bottom of the first finger section base (19) is fixedly connected with a second toothed connecting rod (18); opposite ends of the first toothed connecting rod (14) and the second toothed connecting rod (18) are fixedly connected with half gears and are meshed with the planetary gears (16);
planetary gear (16) and two the center department of half gear has all opened the through-hole, and planetary gear (16) still is connected through connecting pin rod (17) rather than the engaged half gear, just between half gear and the connection pin rod (17), planetary gear (16) all rotate through round pin axle (15) with being connected pin rod (17) and be connected.
2. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot as claimed in claim 1, wherein the upper end cover (1) is fixedly connected with the finger section-base (19) through screws.
3. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot as claimed in claim 1, wherein the speed reducer (3) and the connecting section (4) and the first rotary telescopic structure (6) are fixedly connected through flanges.
4. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot as claimed in claim 1, wherein the connecting section (4) comprises a first connecting column (41), a first U-shaped seat (42), a cross-shaped connecting shaft (5), a second connecting column (44) and a second U-shaped seat (43), the first U-shaped seat (42) is fixed at one end of the first connecting column (41), the second U-shaped seat (43) is fixed at one end of the second connecting column (44), the top end and the bottom end of the cross-shaped connecting shaft (5) are rotatably connected with the first U-shaped seat (42), and the left end and the right end of the cross-shaped connecting shaft (5) are rotatably connected with the second U-shaped seat (43).
5. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot as claimed in claim 1, wherein a circular hole is formed in the center of each of the two oppositely-arranged rotating blocks (61), a cylindrical connecting shaft (7) is arranged between the two oppositely-arranged rotating blocks, and the cylindrical connecting shaft (7) is slidably connected with the two rotating blocks (61).
6. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot as claimed in claim 1, wherein two ends of the hose (11) are fixedly connected with one end of the second rotary telescopic structure (9) and the second finger section (12) through glue.
7. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot as claimed in claim 1, wherein square holes are further formed in the two sides of the first finger section base (19) and the second finger section (12).
8. A wearable rigid-flexible hybrid driving finger joint rehabilitation training robot as claimed in claim 1, characterized in that the upper and lower ends of the half gears of the first and second toothed connecting rods (14, 18) are provided with brake levers.
9. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot as claimed in claim 1, wherein the first toothed connecting rod (14), the pin shaft (15), the second toothed connecting rod (18), the connecting thin rod (17) and the stiffness spring (13) form a gear train; the connecting section (4), the first rotary telescopic structure (6), the cylindrical connecting shaft (7), the compression spring (8), the second rotary telescopic structure (9) and the hose (11) form a transmission system; the gear train is provided with two groups, the transmission system is provided with one group, and the gear train is positioned at two sides below the transmission system.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210072715.2A CN114452159B (en) | 2022-01-21 | 2022-01-21 | Wearable rigid-flexible hybrid driving finger joint rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210072715.2A CN114452159B (en) | 2022-01-21 | 2022-01-21 | Wearable rigid-flexible hybrid driving finger joint rehabilitation training robot |
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| CN114452159A true CN114452159A (en) | 2022-05-10 |
| CN114452159B CN114452159B (en) | 2023-09-22 |
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| KR20160001782U (en) * | 2014-11-17 | 2016-05-25 | 대한민국(국립재활원장) | Finger Robot for Simulating Finger of Human |
| CN109363893A (en) * | 2018-12-03 | 2019-02-22 | 上海健康医学院 | A kind of Coupled Rigid-flexible formula exoskeleton hand device for healing and training |
| CN111249110A (en) * | 2020-02-09 | 2020-06-09 | 赵新政 | Finger rehabilitation training device |
| CN111759666A (en) * | 2020-07-20 | 2020-10-13 | 桂林电子科技大学 | Recovered hand ectoskeleton device that uses based on SEA module |
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2022
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101433491A (en) * | 2008-12-05 | 2009-05-20 | 华中科技大学 | Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof |
| KR20110027447A (en) * | 2009-09-10 | 2011-03-16 | 학교법인 동의학원 | Upper-limb rehabilitation robot and parallel link mechanism therefor |
| KR20160001782U (en) * | 2014-11-17 | 2016-05-25 | 대한민국(국립재활원장) | Finger Robot for Simulating Finger of Human |
| CN109363893A (en) * | 2018-12-03 | 2019-02-22 | 上海健康医学院 | A kind of Coupled Rigid-flexible formula exoskeleton hand device for healing and training |
| CN111249110A (en) * | 2020-02-09 | 2020-06-09 | 赵新政 | Finger rehabilitation training device |
| CN111759666A (en) * | 2020-07-20 | 2020-10-13 | 桂林电子科技大学 | Recovered hand ectoskeleton device that uses based on SEA module |
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