CN114452159B - Wearable rigid-flexible hybrid driving finger joint rehabilitation training robot - Google Patents
Wearable rigid-flexible hybrid driving finger joint rehabilitation training robot Download PDFInfo
- Publication number
- CN114452159B CN114452159B CN202210072715.2A CN202210072715A CN114452159B CN 114452159 B CN114452159 B CN 114452159B CN 202210072715 A CN202210072715 A CN 202210072715A CN 114452159 B CN114452159 B CN 114452159B
- Authority
- CN
- China
- Prior art keywords
- finger
- finger section
- telescopic structure
- rehabilitation training
- section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000001145 finger joint Anatomy 0.000 title claims abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 16
- 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 8
- 210000001503 joint Anatomy 0.000 abstract description 6
- 230000006378 damage Effects 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 13
- 230000009471 action Effects 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 230000002490 cerebral effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000000845 cartilage Anatomy 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000011084 recovery Methods 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
- 230000032683 aging Effects 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
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 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
- 230000007971 neurological deficit Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005180 public health Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- 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
- 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
Landscapes
- 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 application 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. According to the application, the robot is fixed with the finger through the binding belt, and the sliding of the connecting rod and the stiffness spring in the rectangular groove can reduce the acting force born by the finger joint along the finger direction, so that the influence factors of joint damage are reduced; through the inclined plane inclination angle of the first rotary telescopic structure and the second rotary telescopic structure, the two groups of rotary blocks can act sequentially, and the bending angle of fingers can be controlled to a certain extent by controlling the rotation angle of the motor.
Description
Technical Field
The application 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, along with the aggravation of the aging process of population, cerebral apoplexy has become a major public health problem in China, and is a non-infectious disease, and cerebral apoplexy has become a first death cause in China and is a primary cause of adult disability in China. The patients with cerebral apoplexy can have various neurological deficit symptoms, wherein hemiplegia and dyskinesia are the most common, the hand dysfunction of the patients with upper limb disability often clinically appears as buckling contracture, the flexor tension of the hand is dominant, the interphalangeal joints and metacarpophalangeal joints are difficult to stretch, the fine exercise functions such as holding, side pinching, palm and finger alignment are lost, the daily life of the patients is seriously affected after the functions are lost, and the recovery of the hand functions is particularly important.
According to modern evidence-based medicine and continuous passive theory, high-strength and repetitive motion can stimulate cerebral cortex, which is beneficial to hand motion function recovery of patients with hand function injury. In recent decades, researchers in various countries are researching the finger rehabilitation field, a series of finger rehabilitation training robots and systems are born, and the robots can drive the hands of patients to perform repeated bending and stretching, inner convergence and outer convergence movements or move according to a given movement track, so that the device can help the patients with the hand function damage to perform certain rehabilitation training under the condition of being separated from the assistance of nursing staff.
The traditional mechanical exoskeleton robot usually adopts a motor as a driving part, rigid components such as gears and connecting rods are used as transmission connecting parts, and the control motion precision is high, but because the mechanical exoskeleton robot is rigid, if the force is controlled improperly, the cartilage tissue of each joint of the hand can be impacted in the motion process, so that certain potential safety hazards exist, and in addition, the motion form of the mechanical exoskeleton robot usually has the coupling property and is single-degree-of-freedom.
The application aims to provide a rehabilitation training robot for single joints of fingers, which is driven by rigid and flexible combination, is convenient to wear and can drive the joints of the fingers of a patient to perform rehabilitation training.
Disclosure of Invention
The application 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 hands, so that certain potential safety hazards exist, and the motion mode of the traditional mechanical exoskeleton robot is coupled and has low degree of freedom.
In order to achieve the above purpose, the present application 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 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 in sliding connection with the dovetail groove of the other rotary block 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 manner, and a stiffness spring is further arranged between the first toothed connecting rod and the second finger section; a second toothed connecting rod is fixedly connected to one side of the bottom of the finger section one base; the 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 is connected with the half gears meshed with the planetary gear through the connecting thin rods, and the planetary gear is connected with the connecting thin rods through pin shafts in a rotating mode.
Further preferably, the upper end cover is fixedly connected with the finger section-base through a screw.
Further preferably, the speed reducer is fixedly connected with the connecting section and the connecting section is fixedly connected with the first rotary telescopic structure through flanges.
Further preferably, the connecting section comprises a first connecting column, a first U-shaped seat, a cross-shaped connecting shaft, a second connecting column and a second U-shaped seat, wherein the first U-shaped seat is fixed at one end of the first connecting column, the second U-shaped seat is fixed at one end of the second connecting column, the top end and the bottom end of the cross-shaped connecting shaft are both rotationally connected with the first U-shaped seat, and the left end and the right end of the cross-shaped connecting shaft are both rotationally connected with the second U-shaped seat.
Further preferably, the centers of the two rotating blocks which are oppositely arranged are provided with round holes, a cylindrical connecting shaft is arranged between the round holes, and the cylindrical connecting shaft is in sliding connection with the two rotating blocks.
Further 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.
Further preferably, the first base of the finger section and the two sides of the second finger section are also provided with square holes.
Further preferably, the upper end and the lower end of the half gears of the first toothed connecting rod and the second toothed connecting rod are respectively provided with a brake rod.
Further 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 trains are 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.
The application has at least the following beneficial effects:
the flexible drive is realized by the compression spring, the hose and the stiffness spring, and the flexible drive is required to be bendable during the action, so that most of the angle bending is realized by the universal coupling formed by the connecting sections, and the compression spring and the hose realize small part of the angle bending;
according to the finger rehabilitation training robot, the finger is fixed through the binding belt, and the connecting rod and the stiffness spring slide in the rectangular groove, so that the acting force born by the finger joint along the direction of the finger can be reduced, and the influence factors of joint damage can be reduced;
the application has simple structure, does not need to be connected with the whole hand, and can perform rehabilitation training only by being connected with two finger sections of a single joint, so that patients with hand function injury can perform rehabilitation training under more conditions;
according to the application, the inclined planes of the first rotary telescopic structure and the second rotary telescopic structure are provided with different inclined planes, so that two groups of rotary blocks can act sequentially, and the bending angle of fingers can be controlled to a certain extent by controlling the rotation angle of the motor;
the connecting rod and the semi-gears are arranged on the connecting rod for transmitting movement, and the braking mechanisms are arranged at the two ends of the connecting rod, so that the mechanism can not bend any more when the connecting rod moves to a braking position, 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 application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of the present application;
FIG. 2 is a schematic diagram of the structure of the present application;
FIG. 3 is a schematic structural view of a connecting section;
FIG. 4 is a schematic view of a first rotary telescopic structure;
FIG. 5 is a top view of a first rotary telescopic structure;
FIG. 6 is a schematic view of the bending structure of the present application;
fig. 7 is a schematic view of the finger as it is being worn and as it is being bent and straightened.
In the figure: 1. an upper end cap; 2. a motor; 3. a speed reducer; 4. a connection 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 second finger section; 13. a stiff spring; 14. a first toothed connecting rod; 18. a second toothed connecting rod; 15. a pin shaft; 16. a planetary gear; 17. connecting a thin rod; 19. a base is pointed.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Referring to fig. 1-3, the application provides a wearable rigid-flexible hybrid driving finger joint rehabilitation training robot.
Referring specifically to fig. 1-2, the present application includes:
a first finger section and a second finger section 12, wherein 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 finger section-base 19 by a screw in the vertical direction, a cavity is formed between the upper end cover and the finger section-base, the cavity is 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 by a flange, and the other end of the connecting section 4 is connected with the first rotary telescopic structure 6 for rotary extension by a flange.
Referring to fig. 3, the connecting section 4 includes a first connecting post 41, a first U-shaped seat 42, a cross-shaped connecting shaft 5, a second connecting post 44 and a second U-shaped seat 43, wherein the first U-shaped seat 42 is fixed at one end of the first connecting post 41, the second U-shaped seat 43 is fixed at one end of the second connecting post 44, the top end and the bottom end of the cross-shaped connecting shaft 5 are both rotationally connected with the first U-shaped seat 42, and the left end and the right end of the cross-shaped connecting shaft 5 are both rotationally connected with the second U-shaped seat 43, thereby forming a structure of the universal coupling;
referring to fig. 1, 2, 4 and 5, the first rotary telescopic structure 6 includes two rotary blocks 61, and the two rotary blocks 61 are placed opposite to each other, each rotary block 61 is provided with two inclined planes 62, one of the inclined planes is provided with a dovetail groove 63, the other inclined plane is provided with a dovetail projection 64, and the dovetail projection 64 of one rotary block 61 is slidingly connected inside the dovetail groove 63 of the other rotary block 61 placed opposite to the dovetail projection 64 for realizing motion guiding, and when rotating, the two rotary blocks 61 can be driven to approach or separate from each other, thereby rotating the first rotary telescopic structure 6 to realize telescopic motion;
in one embodiment, the centers of the two rotating blocks 61 are provided with a circular hole, a cylindrical connecting shaft 7 is placed between the two rotating blocks 61 for connecting and limiting the two rotating blocks 61, and the cylindrical connecting shaft 7 can slide between the two rotating blocks 61 to prevent the two rotating 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 the 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 the application will not be described in detail.
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 manner, and a stiffness spring 13 is further arranged between the first toothed connecting rod 14 and the second finger section 12;
the second toothed connecting rod 18 is fixedly connected to one side of the bottom of the finger section one base 19, half gears are fixedly connected to opposite ends of the first toothed connecting rod 14 and the second toothed connecting rod 18 and are in meshed connection with the planetary gears 16, through holes are formed in centers of the planetary gears 16 and the two half gears, the planetary gears 16 and the meshed half gears are further in rotary connection with the connecting thin rod 17 through the pin shafts 15 and used for limiting the planetary gears 16 and preventing the planetary gears from falling.
In addition, two sides of the first base 19 and the second 12 are also provided with square holes for fixedly connecting the first and second finger sections to the finger through the binding belt.
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 respectively provided with a brake rod, and when the half gears move to a braking position, the half gears can not rotate and bend any more, so that the safety of finger rehabilitation training is ensured.
Referring to fig. 1, a first toothed connecting rod 14, a pin 15, a second toothed connecting rod 18, a connecting rod 17 and a stiff 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 trains are arranged in 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. The two gear trains are arranged separately, so that the guiding is more accurate.
Referring to fig. 6-7, the specific operation is as follows:
the motor 2 transmits torque to the universal coupling formed by the connecting section 4 through the speed reducer 3, then transmits torque to the first rotary telescopic structure 6, the two rotary blocks 61 have a rotation trend, and can be separated along the direction of fingers under the guiding action of the two inclined planes 62, so that the partial structure has a trend of extending along the direction of the fingers, the force is transmitted to the second rotary telescopic structure 9 through the compression spring 8 and further transmitted to the second finger section 12, a downward bending trend can be formed under the guiding action of the gear train, and the fingers can be driven to bend. If the motor 2 continues to rotate, when the two rotating blocks 61 are separated to the maximum position, torque is transmitted to the second rotating telescopic structures 9 through the compression springs 8, the two second rotating telescopic structures 9 do the same actions as the two first rotating telescopic structures 6, fingers can be further bent, when the motor rotates reversely, the same principle can drive the fingers to do straightening motion, and then when the motor 2 rotates reversely according to given motion, the fingers can be driven to do repeated rehabilitation training.
The foregoing has shown and described the basic principles, principal features and advantages of the application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present application, and various changes and modifications may be made therein without departing from the spirit and scope of the application, which is defined by the appended claims. The scope of the application is defined by the appended claims and equivalents thereof.
Claims (9)
1. Wearable rigid-flexible hybrid drive finger joint rehabilitation training robot, characterized by comprising:
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, 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 the second rotary telescopic structure (9);
the first rotary telescopic structure (6) and the second rotary telescopic structure (9) 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 in sliding connection with the inside of the dovetail groove (63) of the other rotary block (61) 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 manner, and a stiffness spring (13) is further arranged between the first toothed connecting rod (14) and the second finger section (12); a second toothed connecting rod (18) is fixedly connected to one side of the bottom of the finger section-base (19); opposite ends of the first toothed connecting rod (14) and the second toothed connecting rod (18) are fixedly connected with half gears and are in meshed connection with the planetary gears (16);
the planetary gear (16) and the centers of the two half gears are respectively provided with a through hole, the half gears meshed with the planetary gear (16) are further connected through a connecting thin rod (17), and the planetary gear (16) and the connecting thin rod (17) are respectively connected in a rotating mode through a pin shaft (15).
2. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot according to claim 1, wherein the upper end cover (1) is fixedly connected with the finger segment-base (19) through screws.
3. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot according to 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 according to 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 both rotationally connected with the first U-shaped seat (42), and the left end and the right end of the cross-shaped connecting shaft (5) are both rotationally connected with the second U-shaped seat (43).
5. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot according to claim 1, wherein the centers of the two rotating blocks (61) which are oppositely arranged are provided with round holes, a cylindrical connecting shaft (7) is arranged between the round holes, and the cylindrical connecting shaft (7) is in sliding connection with the two rotating blocks (61).
6. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot according to 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 according to claim 1, wherein square holes are further formed in two sides of the first finger section base (19) and the second finger section (12).
8. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot according to claim 1, wherein the upper and lower ends of the half gears of the first toothed connecting rod (14) and the second toothed connecting rod (18) are respectively provided with a brake rod.
9. The wearable rigid-flexible hybrid driving finger joint rehabilitation training robot according to 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 trains are 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.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114452159A CN114452159A (en) | 2022-05-10 |
| CN114452159B true CN114452159B (en) | 2023-09-22 |
Family
ID=81410389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210072715.2A Active CN114452159B (en) | 2022-01-21 | 2022-01-21 | Wearable rigid-flexible hybrid driving finger joint rehabilitation training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114452159B (en) |
Citations (6)
| 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 |
-
2022
- 2022-01-21 CN CN202210072715.2A patent/CN114452159B/en active Active
Patent Citations (6)
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114452159A (en) | 2022-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101721290B (en) | Exoskeleton type finger motion function rehabilitation robot | |
| CN105997426B (en) | The rehabilitation training terminal device of second self general | |
| CN113576828B (en) | Upper limb rehabilitation training device capable of adjusting training tension | |
| CN108478391B (en) | Wearable exoskeleton rehabilitation manipulator | |
| CN102764188B (en) | Controllable variable-stiffness flexible elbow joint rehabilitation robot | |
| CN111281741B (en) | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types | |
| CN108451747A (en) | A kind of wearable elbow joint bone device for healing and training | |
| CN109223447B (en) | Upper limb rehabilitation and activity auxiliary device capable of realizing left-right interchange | |
| CN101181175B (en) | Device for healing and training elbow joint | |
| CN110037890B (en) | Hand function rehabilitation exoskeleton robot based on double four-bar mechanism | |
| KR101019452B1 (en) | Apparatus for automatically exercising fingers | |
| CN110051508A (en) | A kind of four finger driving mechanisms of rehabilitation training | |
| CN111789740A (en) | Joint rehabilitation manipulator | |
| Cheng et al. | Design of an upper limb rehabilitation robot based on medical theory | |
| CN110384603B (en) | Series-parallel ankle joint training robot | |
| CN103340734B (en) | Upper limb rehabilitation robot with three degrees of freedom for early-stage cerebral apoplexy | |
| CN110151494B (en) | Multi-drive modularized exoskeleton mechanism | |
| CN103948485A (en) | Exoskeleton-type upper limb rehabilitant robot | |
| CN107569361A (en) | A kind of exoskeleton-type rehabilitation training machine for ankle joint device people | |
| CN114452159B (en) | Wearable rigid-flexible hybrid driving finger joint rehabilitation training robot | |
| CN203935386U (en) | Dermaskeleton type upper limb rehabilitation robot | |
| CN105935333A (en) | Active-passive wearable rehabilitation training manipulator | |
| CN104257488A (en) | Three-knuckle traction type finger rehabilitative training device | |
| CN203447479U (en) | Three-freedom-degree upper limb rehabilitation robot for early cerebral apoplexy patients | |
| CN103720571B (en) | A kind of planer-type exercising apparatus for recovery of upper limb |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |