CN116617048A

CN116617048A - Rope-driven hand rehabilitation exoskeleton and rehabilitation training method thereof

Info

Publication number: CN116617048A
Application number: CN202310597010.7A
Authority: CN
Inventors: 陈兵; 吴亚东; 周雷; 王瑞进; 叶柯南; 周斌; 訾斌
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2023-05-23
Filing date: 2023-05-23
Publication date: 2023-08-22

Abstract

The invention discloses a hand rehabilitation exoskeleton based on rope drive and a rehabilitation training method thereof, wherein the hand rehabilitation exoskeleton comprises a control system, a sensor system, a finger driver mechanism, a forearm rod piece, a dorsum hand rod piece, a hand rehabilitation exoskeleton executing mechanism and a thumb rehabilitation mechanism; the hand rehabilitation exoskeleton actuating mechanism comprises a proximal interphalangeal joint self-adapting mechanism and a distal interphalangeal joint rehabilitation closed-loop mechanism; the finger driving mechanism comprises a finger bending power assembly, a finger tip bending power assembly, a thumb bending power assembly and a plurality of groups of rope transmission mechanisms, and the rope transmission mechanisms comprise rope spring transmission mechanisms and pulley block transmission mechanisms; the finger driving mechanism drives the hand rehabilitation exoskeleton executing mechanism to execute straightening action or bending action. The hand rehabilitation exoskeleton and the rehabilitation training method thereof can assist finger bending or stretching and grabbing training, are good in adaptability and use comfort, are convenient to wear, and are suitable for rehabilitation training of hands of stroke patients.

Description

Rope-driven hand rehabilitation exoskeleton and rehabilitation training method thereof

Technical Field

The invention relates to the technical field of exoskeleton robots, in particular to a hand rehabilitation exoskeleton based on rope driving and a rehabilitation training method thereof.

Background

According to the report of world health organization, tens of thousands of stroke patients are newly increased worldwide, and about 1/3 of China accounts for, and in recent years, the incidence rate of the stroke diseases in China is continuously increased, so that the stroke diseases have extremely high disability rate and mortality rate and are frequently used for middle-aged and elderly people. Among the many sequelae of cerebral stroke, hand dysfunction is one of the most common disorders in post-stroke migraine patients. Paralyzed hand swelling and pain easily occur in hemiplegia patients after stroke, difficulty in flexion and extension of joints of affected hands, hand muscle atrophy easily occurs in later stage, palm flattening, and finally permanent loss of movement function of hands is caused. The hand fine movement is blocked, and the daily life activities of the patient can be seriously affected. In addition to the traditional rehabilitation method, doctors and medical engineers generally carry out auxiliary rehabilitation, but rehabilitation doctors and rehabilitation resources are quite spent along with the increase of the incidence rate of cerebral apoplexy, and in addition, the passive rehabilitation receiving method can not enable patients to obtain real-time treatment effect feedback information and lacks initiative. Therefore, many patients choose to train themselves at home, which may result in insufficient training strength and insufficient scientificity of the training method, thereby missing the best opportunity for rehabilitation.

Along with development of robot computer science and technology, the robot auxiliary rehabilitation technology is applied to the rehabilitation medical field, the hand rehabilitation robot is an effective solution at present, and the hand exoskeleton rehabilitation robot, an electromechanical integrated device, can be worn on the hands of a patient, helps rehabilitation of the patient and provides controllable force and moment. The hand medical robot can reduce the burden of doctors and solve the problems of rehabilitation doctors and shortage of rehabilitation resources. Through wearing hand ectoskeleton rehabilitation robot, the patient can train by oneself according to intensity, also can long-time, repetitive exercise. Because the force and the moment are generated by the motor, the rehabilitation scheme and the content can be formulated by the user, the rehabilitation information of the user can be obtained in real time, and the training method suitable for the strength and the science of the user is continuously optimized according to the obtained rehabilitation information and the rehabilitation data. Robot-based rehabilitation regimens and traditional therapies have in fact similar positive effects on patients. The main advantage of robots and auxiliary devices is that high treatment doses are performed while providing semi-independent movements, which have proved to be possible to increase the power.

The existing hand exoskeleton robots mainly comprise two modes, namely an exoskeleton mode and an embedded palm mode, which are respectively arranged on one side of the back of the hand and one side of the palm, and the traction modes of the hand exoskeleton robots are different, and the exoskeleton type rehabilitation robots are generally pulled by rotating joints, namely the joints of each biological hand are provided with rotating joints, and the traction is needed. The built-in palm type rehabilitation robot mostly performs tail end traction movement, and because the metacarpophalangeal joints, the near-end interphalangeal joints and the far-end interphalangeal joints of the fingers are in coupling relation, the rehabilitation robot can drive the fingers to move in a smaller range, and the hands cannot touch and manipulate objects to perform grabbing training. While traditional pure rigid exoskeleton hand rehabilitation robots are large in mass, poor in self-adaption and severe in rigid impact, flexible exoskeleton robots are light in mass and high in fitting degree, but are inaccurate in motion transfer and high in control difficulty, and can not provide enough output force in rehabilitation training, stroke patients with hand movement disorder usually have more difficult fingers stretching and larger resistance than bending fingers.

Therefore, there is a need to study hand exoskeleton robots that are accurate in motion transfer, provide force or moment to each joint during finger extension, and that are flexible.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: according to the hand rehabilitation exoskeleton based on rope driving and the rehabilitation training method thereof, the rope driving rigid connecting rod exoskeleton robot is adopted, the joints of the rods can be driven by the rope, the hand joints are self-adaptive, expected auxiliary torque can be provided for patients with hand dysfunction, and rehabilitation training of the patients with hand dysfunction is facilitated.

In order to solve the technical problems, the invention adopts a technical scheme that:

the hand rehabilitation exoskeleton comprises a control system, a sensor system, a finger driver mechanism, a forearm rod piece worn on a forearm part, a back rod piece worn on a back of hand part, four hand rehabilitation exoskeleton execution mechanisms respectively worn on non-thumbs and a thumb rehabilitation mechanism worn on thumbs;

the hand rehabilitation exoskeleton actuating mechanism comprises a proximal interphalangeal joint self-adapting mechanism and a distal interphalangeal joint rehabilitation closed-loop mechanism rotationally connected with the proximal interphalangeal joint self-adapting mechanism;

The finger driving mechanism comprises a finger bending power assembly and a finger tip bending power assembly which are respectively fixedly arranged on the forearm rod piece, a thumb bending power assembly which is fixedly arranged on the back rod piece, and a plurality of groups of rope transmission mechanisms which are fixedly arranged on the back rod piece, wherein each rope transmission mechanism comprises a rope spring transmission mechanism and a pulley block transmission mechanism;

the power output ends of the finger stretching and bending power assembly are correspondingly in transmission connection with two power input ends of four near-end interphalangeal joint self-adapting mechanisms through pulley block transmission mechanisms of four groups of rope transmission mechanisms respectively, and the four near-end interphalangeal joint self-adapting mechanism executing mechanisms are driven to synchronously execute straightening action or bending action;

the power output ends of the fingertip stretching and bending power assembly are correspondingly in transmission connection with two power input ends of four distal interphalangeal joint rehabilitation closed-loop mechanisms through rope spring transmission mechanisms of four groups of rope transmission mechanisms respectively, so as to drive the four distal interphalangeal joint rehabilitation closed-loop mechanisms to synchronously execute straightening action or bending action;

the power output end of the thumb stretching and bending power assembly is correspondingly and in transmission connection with the two power input ends of the thumb rehabilitation mechanism through a group of pulley block transmission mechanisms respectively, so as to drive the thumb rehabilitation mechanism to execute straightening action or bending action;

The control system is fixedly arranged on the forearm rod piece and is electrically connected with the control end of the finger driving mechanism, the sensor system is arranged on each power transmission position and the phalanges of the finger driving mechanism and is in transmission connection with the control system, and the sensor system detects the running state information of the finger driving mechanism and transmits the running state information to the control system.

Further, the proximal interphalangeal joint self-adapting mechanism comprises a third fingerstall worn on a proximal phalanx and a second fingerstall worn on a middle phalanx, the top of the third fingerstall is rotationally connected with a first connecting rod, the other end of the first connecting rod is rotationally connected with a second connecting rod, the other end of the second connecting rod is rotationally connected with a sliding block, the top surface of the second fingerstall is fixedly provided with a sliding rail base, and the sliding block is slidingly embedded in the sliding rail base;

the top of slider rotates and is connected with the push rod, and the other end of push rod rotates and is provided with the roller, the side fixedly connected with direction frid of third dactylotheca, offered the second cam slot on the direction frid, the roller rolls to inlay and locates in the second cam slot.

Further, the far-end interphalangeal joint rehabilitation closed-loop mechanism comprises a first dactylotheca worn on a far phalanx, the top of the first dactylotheca is rotationally connected with a fourth connecting rod, the other end of the fourth connecting rod is rotationally connected with a third connecting rod, rope connecting columns are fixedly arranged on two sides of a rotating shaft of the rotating joint of the end part of the fourth connecting rod respectively, and the other end of the third connecting rod is rotationally connected to the top of the sliding block.

Further, the finger stretching and bending power assembly and the finger tip stretching and bending power assembly comprise a speed reducer fixedly arranged on the small arm rod piece, a motor fixedly connected to the power input end of the speed reducer, a driving bevel gear fixedly connected to the power output end of the speed reducer, a driven bevel gear rotatably arranged on the small arm rod piece and meshed with the driving bevel gear for transmission, and a pulley block coaxially arranged with the driven bevel gear;

the thumb stretch bending power assembly comprises a third speed reducer fixedly arranged on the back hand rod piece, a third motor fixedly connected to the power input end of the speed reducer and a ninth pulley fixedly connected to the power output end of the third speed reducer.

Further, the transmission ratio of the driving bevel gear to the driven bevel gear is 5-2:1.

Further, the rope spring transmission mechanism comprises a first rope for stretching fingers and a second rope for bending fingers, one end of the first rope and one end of the second rope are respectively and fixedly connected to two sides of a rotating shaft of the same pulley in the pulley block at the output end of the fingertip stretching power assembly, and the other end of the first rope and the other end of the second rope are respectively and fixedly connected to rope connecting columns at two sides of the rotating shaft of the same fourth connecting rod.

Further, the pulley block transmission mechanism comprises a pulley mounting frame, a third rope for stretching fingers and a fourth rope for bending fingers, a first cam groove is formed in the side wall of the pulley mounting frame, an upper fixing rod finger sleeve worn on a near phalanx is arranged on one side of the third finger sleeve, which is close to the pulley mounting frame, a fixing rod is fixedly connected to the fixing rod finger sleeve, a first movable pulley and a second movable pulley are respectively rotatably arranged on two sides of the end part of the fixing rod, and the first movable pulley and the second movable pulley are respectively embedded in the first cam grooves on the two sides in a rolling manner;

a first fixed pulley positioned above the first movable pulley, a second fixed pulley positioned below the first movable pulley and a third fixed pulley are respectively and rotatably arranged in the side wall of one side of the pulley mounting frame, a fourth fixed pulley and a fifth fixed pulley positioned above the second movable pulley and a sixth fixed pulley positioned below the second movable pulley are respectively and rotatably arranged in the side wall of the other side of the pulley mounting frame, and a seventh fixed pulley and an eighth fixed pulley which are coaxially arranged are respectively and fixedly connected with two sides of the end part of the first connecting rod;

one end of the third rope and one end of the fourth rope are respectively and fixedly connected to two sides of a rotating shaft of the same pulley in the pulley block at the output end of the finger stretching power assembly, the other end of the third rope sequentially bypasses the first fixed pulley and the second fixed pulley through the upper side of the first fixed pulley, then the other end of the third rope sequentially bypasses the first fixed pulley and the second fixed pulley through the top of the seventh fixed pulley and is fixedly connected with the bottom of the seventh fixed pulley, and the other end of the fourth rope sequentially bypasses the fifth fixed pulley and the second fixed pulley through the lower side of the fourth fixed pulley and then the upper side of the sixth fixed pulley sequentially bypasses the bottom of the eighth fixed pulley and is fixedly connected with the top of the eighth fixed pulley.

Further, the control system comprises a single chip microcomputer, a motor controller, a lithium battery, a single chip microcomputer switch and an exoskeleton emergency stop switch which are respectively and fixedly arranged on the forearm rod piece, the single chip microcomputer is connected with the motor controller, the motor controller is respectively connected with a power source of the finger driver mechanism, each signal output end of the sensor system is respectively connected with a signal input end of the single chip microcomputer, the lithium battery is respectively connected with the single chip microcomputer and the motor controller, the exoskeleton emergency stop switch is connected with an output end of the lithium battery in series, and the single chip microcomputer switch is connected with a power supply end of the single chip microcomputer in series.

The utility model also provides a rehabilitation training method based on rope-driven hand rehabilitation exoskeleton, which comprises the following steps:

s10, after a patient with hand dysfunction wears a hand rehabilitation exoskeleton, starting a singlechip switch and an exoskeleton scram switch to initialize a system;

s20, starting the sensing system and the control system to operate;

s30, each angle sensor, each tension sensor, each pressure sensor and each encoder in the sensor system acquire motion information of the hands of a wearer and motion information of the finger driver mechanism, the acquired information is sent to a singlechip, the singlechip analyzes and processes the received information data in real time, and the singlechip sends instructions to a motor controller;

S40, the motor controller controls the finger driver mechanism to execute corresponding actions according to the received control signals of the singlechip, and the fingers of the patient are assisted to alternately perform stretching actions and bending actions;

s50, repeatedly executing the step S30 and the step S40 until training is finished;

s60, after training, the exoskeleton emergency stop switch and the singlechip switch are turned off, and the patient takes off the hand to recover the exoskeleton.

Further, in step S40, the specific response manner of the finger driver mechanism to the control signal is as follows:

s401, driving fingers to bend by hand rehabilitation exoskeleton:

the finger stretching power assembly is electrified and outputs forward control moment, the pulley block transmission mechanism drives the fixed rod and the near-end interphalangeal joint self-adapting mechanism to sequentially rotate anticlockwise, the fixed rod drives the near phalanges to rotate anticlockwise relative to the palm, and the near-end interphalangeal joint self-adapting mechanism drives the middle phalanges to rotate anticlockwise relative to the near phalanges, so that the fingers are driven to perform bending motion;

the fingertip stretching and bending power assembly is electrified and outputs forward control moment, the distal interphalangeal joint rehabilitation closed-loop mechanism is driven to rotate anticlockwise through the rope spring transmission mechanism, and the distal interphalangeal joint rehabilitation closed-loop mechanism drives the distal phalanx to rotate anticlockwise relative to the middle finger, so that the fingertip is driven to perform bending motion;

The thumb stretching and bending power assembly is electrified and outputs forward control moment, the thumb rehabilitation mechanism is driven to rotate anticlockwise through the pulley block transmission mechanism, and the thumb rehabilitation mechanism drives the far phalanx to rotate anticlockwise relative to the near phalanx so as to drive the thumb to perform bending motion;

s402, driving fingers to stretch by hand rehabilitation exoskeleton:

the finger stretching power assembly is electrified and outputs reverse control moment, the pulley block transmission mechanism drives the fixed rod and the near-end interphalangeal joint self-adapting mechanism to sequentially rotate clockwise, the fixed rod drives the near phalanges to rotate clockwise relative to the palm, and the near-end interphalangeal joint self-adapting mechanism drives the middle phalanges to rotate clockwise relative to the near phalanges, so that the fingers are driven to stretch;

the fingertip stretching power assembly is electrified and outputs reverse control moment, the distal interphalangeal joint rehabilitation closed-loop mechanism is driven to rotate clockwise through the rope spring transmission mechanism, and the distal interphalangeal joint rehabilitation closed-loop mechanism is driven to rotate clockwise relative to the middle phalanx, so that the fingertip is driven to stretch;

the thumb stretching power assembly is electrified and outputs reverse control moment, and the thumb rehabilitation mechanism is driven to rotate clockwise through the pulley block transmission mechanism and drives the far phalanx to rotate clockwise relative to the near phalanx, so that the thumb is driven to stretch.

Compared with the prior art, the invention has the following beneficial effects:

the invention mainly uses an exoskeleton type, compared with a built-in exoskeleton type, the exoskeleton type has a larger movement range, fingers obtain a large movement range, and simultaneously, hands are allowed to touch and operate objects, so that the rehabilitation effect is better. The rope transmits force to the rod joint to assist the finger to flex and stretch, and the connecting rod motion is accurately transmitted in the finger bending and stretching process. According to the motion trail of the metacarpophalangeal joint and the proximal interphalangeal joint, a motion trail cam is arranged, and the self-adaptive crank slider is adopted, so that the adaptability and the comfort of a patient in the rehabilitation process are improved.

1. Compared with the existing rigid actuator, the hand rehabilitation exoskeleton based on rope driving is driven by the rope, the rope driving actuator is more flexible in design, is not required to be collinear with biological joints, has enough rope wiring space, and the power driving mechanism of the actuator and the actuator can be independently placed and fixed respectively, so that the use comfort of a user is improved, the weight of the actuator is reduced, and the hand burden of the user is reduced.

2. Compared with the prior art that one finger is driven by a plurality of motors to move, the hand rehabilitation exoskeleton based on rope driving is characterized in that the rope is fixed on a pulley through the far-end interphalangeal joints of four fingers driven by one motor, and the deformation of a spring is caused by the tension of the rope to control the torque, so that controllable auxiliary torque is provided for patients with hand dysfunction.

3. The near-end interphalangeal joint self-adapting mechanism in the execution structure of the hand rehabilitation exoskeleton adopts the crank slider mechanism, self-adapts to the near-end interphalangeal joint through the movement of the slider on the sliding rail base, compensates for joint dislocation in the motion process, and can improve the adaptability and the use comfort of the device through the arrangement of the cam groove and the self-adapting crank slider mechanism. And the cam mechanism is used for detecting the force applied by the hand to the robot joint for executing the bending and stretching motion, and the self-adapting effect of the crank slider self-adapting mechanism can be obtained by comparing pressure sensors arranged on the cam mechanism.

4. The invention is based on the hand rehabilitation exoskeleton driven by ropes, adopts the movable pulley block and the fixed pulley block, and drives the lever to rotate and the movable pulley block to move in the cam groove through the stress of the ropes so as to drive the bending or stretching motion of the near phalanx and the middle phalanx, the tail end of the ropes is fixed on the lever joints, and the ropes transmit the force to the lever joints, so that one rope drives two joints and assists the fingers to bend or stretch.

5. The hand rehabilitation exoskeleton based on rope driving adopts the rope driving rigid connecting rod exoskeleton robot, has good hand rehabilitation exoskeleton wearing property and comfortable wearing, can adapt to patients with different finger sizes, and is suitable for rehabilitation training of hands of stroke patients based on finger bending grabbing capacity and finger overcoming stretching resistance requirements of the stroke patients.

Drawings

Fig. 1 is a schematic perspective view of the back side of a hand rehabilitation exoskeleton of the present invention.

Fig. 2 is a schematic perspective view of the palm side of the hand rehabilitation exoskeleton of the present invention.

Fig. 3 is a schematic perspective view of a hand rehabilitation exoskeleton part according to the present invention.

Fig. 4 is a schematic perspective view of the entire driving structure of the thumb and the thumb of the present invention.

Fig. 5 is a schematic perspective view of the back side of the forearm lever.

Fig. 6 is a schematic perspective view of the palm side of the dobby lever.

Fig. 7 is a schematic perspective view of the finger driver structure of the present invention.

Fig. 8 is a schematic perspective view of the thumb-actuated portion of the present invention.

FIG. 9 is a schematic perspective view of a cable spring drive mechanism of the present invention;

FIG. 10 is a schematic perspective view of a pulley block transmission mechanism of the present invention;

FIG. 11 is a schematic view of the internal section of the movable sheave block roping for the tension phase of the invention;

fig. 12 is a schematic view of the internal section of the movable sheave block roping for the bending phase of the invention;

FIG. 13 is a schematic perspective view of the proximal interphalangeal joint adaptation mechanism of the present invention;

FIG. 14 is a schematic perspective view of a distal interphalangeal joint rehabilitation closed-loop mechanism according to the present invention;

FIG. 15 is a schematic perspective view showing the connection of the hand rehabilitation exoskeleton actuator and the finger driver mechanism;

figure 16 is a flow chart of a hand rehabilitation exoskeleton movement control method of the present invention.

In the figure: a 1-1 forearm pole piece, a 1-1 first forearm support, a 1-2 forearm riser, a 1-3 second forearm support, a 2 dorsum pole piece, a 3-finger pole piece, a 3-1 thumb first finger cuff, a 3-2 thumb second finger cuff, a 3-3 thumb first finger cuff, a 3-4 thumb second finger cuff, a 3-5 thumb third finger cuff, a 4 forearm strap, a 4-1 first forearm strap, a 4-2 second forearm strap, a 5 dorsum strap, a 5-1 first dorsum strap, a 5-2 second dorsum strap, a 6-finger strap, a 6-1 thumb first strap, a 6-2 thumb second strap, a 6-3 thumb third strap, a 6-4 thumb first strap, a 6-5 thumb second strap, 6-6 little finger third strap, 6-7 little finger fourth strap, 7 finger drive mechanism, 7-1 first encoder, 7-2 second encoder, 7-3 first motor, 7-4 second motor, 7-5 first planetary reducer, 7-6 second planetary reducer, 7-7 first drive bevel gear, 7-8 first driven bevel gear, 7-9 second drive bevel gear, 7-10 second driven bevel gear, 7-11 first pulley, 7-12 second pulley, 7-13 third pulley, 7-14 fourth pulley, 7-15 fifth pulley, 7-16 sixth pulley, 7-17 seventh pulley, 7-18 eighth pulley, 7-19 third encoder, 7-20 third motor, 7-21 third planetary reducer, a ninth pulley 7-22, a rope spring transmission mechanism 8, a first rope 8-1, a second rope 8-2, a first jacket 8-3, a second jacket 8-4, a first jacket 8-5, a second jacket 8-6, a first spring 8-7, a second spring 8-8, a pulley block transmission mechanism 9-1, a first movable pulley 9-2, a first fixed pulley 9-3, a third fixed pulley 9-4, a fourth fixed pulley 9-5, a fifth fixed pulley 9-6, a second movable pulley 9-7, a sixth fixed pulley 9-8, a seventh fixed pulley 9-9, an eighth fixed pulley 9-10, a third rope 9-11, a fourth rope 9-12, a fixed lever 9-13, a fixed lever finger sleeve 9-14, a first cam groove 9-15, the self-adapting mechanism for the proximal interphalangeal joint comprises a 10-1 first connecting rod, a 10-2 second connecting rod, a 10-3 sliding block, a 10-4 sliding rail base, a 10-5 push rod, a 10-6 roller, a 10-7 second cam groove, a 10-8 fixed plate, a 10-9 first pin, a 10-10 second pin, a 10-11 third pin, a 11 distal interphalangeal joint rehabilitation closed-loop mechanism, a 11-1 third connecting rod, a 11-2 fourth connecting rod, a 11-3 fourth pin, a 11-4 fifth pin, a 12 thumb rehabilitation mechanism, a 12-1 fifth pin, a 12-2 fifth connecting rod, a 12-3 ninth fixed pulley, a 12-4 tenth fixed pulley, a 12-5 sixth pin, a 12-6 sixth connecting rod, a 12-7 seventh pin, a 12-1 third connecting rod, a 12-7 fourth pin, the device comprises a first transmission shaft 13, a second transmission shaft 14, a first support piece 15, a second support piece 16, a third support piece 17, a fourth support piece 18, a fifth support piece 19, a sixth support piece 20, a cam fixing rod piece 21, a first pressure sensor 22, a second pressure sensor 23, a third pressure sensor 24, a first angle sensor 25, a second angle sensor 26, a tension sensor 27, a single chip microcomputer 28, a single chip microcomputer switch 29, a lithium battery 30, an exoskeleton emergency stop switch 31 and a motor controller 32.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.

Referring to fig. 1 to 6, a rope-driven hand rehabilitation exoskeleton comprises a control system, a sensor system, a finger driver mechanism, a forearm rod 1 worn on a forearm through a forearm strap 4, a back rod 2 worn on a back of a hand through a back strap 5, four hand rehabilitation exoskeleton actuators respectively worn on non-thumbs through finger straps 6, and a thumb rehabilitation mechanism 12 worn on a thumb.

The small arm rod piece 1 consists of a second small arm support 1-3, a first small arm support 1-1 and a small arm vertical plate 1-2 which is integrally formed in the middle of the top surface of the first small arm support 1-1, and threaded connection holes and bolt mounting holes are formed in the first small arm support 1-1 and the small arm vertical plate 1-2. The first forearm support 1-1 and the second forearm support 1-3 are respectively fixed on the forearm by a first forearm strap 4-1 and a second forearm strap 4-2, so that the second forearm support 1-3 is positioned above the first forearm support 1-1 and is close to the elbow. The back lever 2 is fixed at the palm and wrist by a back first strap 5-1 and a back second strap 5-2, respectively.

As shown in fig. 1, 4 and 7, the finger driving mechanism 7 comprises a finger bending power assembly and a finger tip bending power assembly which are respectively and fixedly arranged on the forearm pole piece 1, a thumb bending power assembly which is fixedly arranged on the back pole piece 2, and a plurality of groups of rope transmission mechanisms which are fixedly arranged on the back pole piece 2. Specifically, the finger stretching and bending power assembly comprises a second planetary reducer 7-6 fixedly arranged on the right side of the upper side surface of the forearm riser 1-2 through screws, and a second motor 7-4 fixedly connected to the power input end of the second planetary reducer 7-6, wherein the power output end of the second planetary reducer 7-6 movably penetrates through the lower side of the forearm riser 1-2 and is fixedly connected with a second driving bevel gear 7-9. The right side and the right side surface of the first forearm support 1-1 are respectively and fixedly connected with a third support piece 17 and a first support piece 15 through screws, the top ends of the third support piece 17 and the first support piece 15 are rotatably provided with a second transmission shaft 14, the second transmission shaft 14 is fixedly provided with a second driven bevel gear 7-10 which is meshed with the second driving bevel gear 7-9 for transmission, the right side of the second driven bevel gear 7-10 is further coaxially and fixedly provided with a seventh pulley 7-17 and an eighth pulley 7-18, and the left side of the second driven bevel gear 7-10 is further coaxially and fixedly provided with a fifth pulley 7-15 and a sixth pulley 7-16. The fifth pulley 7-15, the sixth pulley 7-16, the seventh pulley 7-17 and the eighth pulley 7-18 can be driven to synchronously rotate in the forward or reverse direction by the forward and reverse rotation of the second motor 7-4.

The fingertip stretching and bending power assembly comprises a first planetary reducer 7-5 fixedly arranged on the left side of the upper side surface of the forearm riser 1-2 through screws, and a first motor 7-3 fixedly connected to the power input end of the first planetary reducer 7-5, wherein the power output end of the first planetary reducer 7-5 movably penetrates through the lower side of the forearm riser 1-2 and is fixedly connected with a first drive bevel gear 7-7. The left side and the left side surface of the first forearm support 1-1 are fixedly connected with a fourth support piece 18 and a second support piece 16 through screws respectively, the top ends of the fourth support piece 18 and the second support piece 16 are rotatably provided with a first transmission shaft 13, the first transmission shaft 13 is fixedly provided with a first driven bevel gear 7-8 which is meshed with the first driving bevel gear 7-7 for transmission, the first transmission shaft 13 is also coaxially and fixedly provided with a first pulley 7-11 and a second pulley 7-12 on the left side of the first driven bevel gear 7-8, and the first transmission shaft 13 is also coaxially and fixedly provided with a third pulley 7-13 and a fourth pulley 7-14 on the right side of the first driven bevel gear 7-8. The four pulleys of the first pulley 7-11, the second pulley 7-12, the third pulley 7-13 and the fourth pulley 7-14 can be driven to synchronously rotate in the forward direction or the reverse direction by the forward and reverse rotation of the first motor 7-3.

In this embodiment, the finger stretching and bending power assembly and the fingertip stretching and bending power assembly have the same structure and are symmetrically arranged on the forearm riser 1-2. The end faces of the first pulley 7-11, the second pulley 7-12, the third pulley 7-13, the fourth pulley 7-14, the fifth pulley 7-15, the sixth pulley 7-16, the seventh pulley 7-17 and the eighth pulley 7-18 are provided with a plurality of rope connecting holes, and the radial distances between the centers of the rope connecting holes on the same pulley and the central axis of the pulley are different, so that the rope traction requirements of fingers with different lengths can be met. The drive bevel gear and the driven bevel gear have a transmission ratio of 5-2:1, preferably 2:1, to further achieve a reduction effect.

As shown in fig. 1, 4 and 8, the fifth support 19 and the sixth support 20 are fixedly connected to the right side of the surface of the back-hand lever 2 by screws. The thumb stretching and bending power assembly comprises a third planetary reducer 7-21 fixedly arranged on the side surface of a sixth support piece 20 through screws, a third motor 7-20 fixedly connected to the power input end of the third planetary reducer 7-21 and a ninth pulley 7-22 fixedly connected to the power output end of the third planetary reducer 7-21.

The motor controller 32 is connected to the power sources of the finger driver mechanism, i.e., the first motor 7-3, the second motor 7-4 and the third motor 7-20, respectively, for controlling the start and stop and the forward and reverse rotation of the three motors.

As shown in fig. 3 and 4, the hand rehabilitation exoskeleton actuator comprises a proximal interphalangeal joint adaptation mechanism 10 and a distal interphalangeal joint rehabilitation closed-loop mechanism 11 rotatably connected with the proximal interphalangeal joint adaptation mechanism 10. The hand rehabilitation exoskeleton based on rope driving has the same principle of rehabilitation of the little finger, the ring finger, the middle finger and the index finger, so that the principle and the installation mode of the hand rehabilitation exoskeleton which is worn by four fingers are the same, and compared with the hand rehabilitation exoskeleton which is worn by other four fingers, the thumb rehabilitation mechanism 12 worn by the thumb omits the remote interphalangeal joint rehabilitation closed-loop mechanism 11, so that the specific structure and the working principle of the hand rehabilitation exoskeleton actuator are described in detail below by taking the little finger as an example. The three phalanges of the finger sequentially comprise a proximal phalange, a middle phalange and a distal phalange from the root of the finger to the fingertip, wherein the joint between the proximal phalange and the middle phalange is a proximal fingertip joint, and the joint between the middle phalange and the distal phalange is a distal interphalangeal joint.

As shown in fig. 5, 6 and 13, the proximal interphalangeal joint adaptation mechanism 10 includes a third small finger cuff 3-5 worn on the proximal phalanx by a third small finger strap 6-6 and a second small finger cuff 3-4 worn on the middle phalanx by a second small finger strap 6-5. The top of the third fingerstall 3-5 is rotatably connected with a first connecting rod 10-1 through a first pin 10-9, and two sides of the end part of the first connecting rod 10-1 are fixedly connected with a seventh fixed pulley 9-9 and an eighth fixed pulley 9-10 which are coaxially sleeved on the outer side of the first pin 10-9 respectively. The seventh fixed pulley 9-9 and the eighth fixed pulley 9-10 are respectively used for fixing a third rope 9-11 and a fourth rope 9-12 of the pulley block transmission mechanism 9, and the third rope 9-11 and the fourth rope 9-12 pull the seventh fixed pulley 9-9 or the eighth fixed pulley 9-10 to rotate around the first pin 10-9 so as to drive the first connecting rod 10-1 to rotate clockwise or anticlockwise around the first pin 10-9.

The other end of the first connecting rod 10-1 is rotatably connected with a second connecting rod 10-2 through a second pin 10-10, the second pin 10-10 is fixed at the end part of the second connecting rod 10-2, the other end of the second connecting rod 10-2 is rotatably connected with a sliding block 10-3 through a third pin 10-11, and the third pin 10-11 is fixed at the top part of the sliding block 10-3. The top surface of the little finger sleeve 3-4 is fixedly provided with a slide rail base 10-4, and the slide block 10-3 is embedded in the slide rail base 10-4 in a sliding manner and can reciprocate along the length direction of the slide rail base 10-4. The two sides of the top of the sliding block 10-3 are respectively and rotatably connected with a push rod 10-5, the end part of the push rod 10-5 is rotatably sleeved on the outer side of the third pin 10-11, and the other end of the push rod 10-5 is rotatably provided with a roller 10-6. The two side surfaces of the third fingerstall 3-5 of the little finger are respectively fixedly connected with a fixing plate 10-8, one side of the fixing plate 10-8 is fixedly connected with a guide groove plate through a screw, the guide groove plate is positioned at the joint between the proximal ends of the little finger, the guide groove plate is provided with a second cam groove 10-7, and the roller 10-6 is embedded in the second cam groove 10-7 at the corresponding side in a rolling way and can freely roll in the second cam groove 10-7. A through groove communicated with the second cam groove 10-7 is formed in the lateral arc surface of the guide side plate, and the push rod 10-5 is movably positioned in the through groove. The profile of the second cam groove 10-7 is designed according to the joint motion track of the proximal interphalangeal joint of the little finger. The second pressure sensor 23 is arranged on the inner wall of the second cam groove 10-7, the roller 10-6 rolls the second pressure sensor 23 in the rolling process of the second cam groove 10-7, and the stretching force of the push rod 10-5 can be detected by the second pressure sensor 23.

The proximal interphalangeal joint adaptive mechanism 10 can help the patient to adapt the movement of the exoskeleton to the movement of the proximal interphalangeal joint during rehabilitation, and the mechanism adopts a slider-crank mechanism, and ensures that the rotation axis of the exoskeleton is aligned with the interphalangeal joint during movement by adjusting the joints of the exoskeleton, and simultaneously adapts to the changes of the lengths of different fingers. Even if the exoskeleton has self-adjusting capability, the contour line is designed by the motion track of the proximal interphalangeal joint, and by obtaining the detection data of the second pressure sensor 23, the force applied by the finger to the exoskeleton joint for executing the flexion and extension motion is obtained, so that the self-adapting effect of the slider-crank self-adapting mechanism is detected.

As shown in fig. 5, 6 and 13, the distal interphalangeal joint rehabilitation closed-loop mechanism 11 comprises a first little finger cuff 3-3 worn on a distal phalanx through a first little finger strap 6-4, the top of the first little finger cuff 3-3 is rotationally connected with a fourth connecting rod 11-2 through a fifth pin 11-4, the fifth pin 11-4 is fixedly arranged on the top of the first little finger cuff 3-3, the end part of the fourth connecting rod 11-2 is rotationally sleeved outside the fifth pin 11-4, and two bearings are adopted on two sides of the fourth connecting rod 11-2 to realize axial fixation of the first little finger cuff on the fifth pin 11-4. The other end of the fourth connecting rod 11-2 is rotatably connected with a third connecting rod 11-1 through a fourth pin 11-3, and the fourth pin 11-3 is fixedly connected with the third connecting rod 11-1. The other end of the third connecting rod 11-1 is rotatably connected to the top of the sliding block 10-3 through a third pin 11-3, and two sides of the third connecting rod 11-1 are axially fixed on the third pin 10-11 through circlips. The end of the fourth link 11-2 is fixedly provided with rope connecting posts on both sides of the rotating shaft at the rotating connection, respectively, for connecting the first rope 8-1 and the second rope 8-2 of the rope spring transmission mechanism 8, respectively, and the fourth link 11-2 is rotated clockwise or counterclockwise around the fourth pin 11-3 by traction of the first rope 8-1 and the second rope 8-2. The far-end interphalangeal joint rehabilitation closed-loop mechanism 11 takes the fourth connecting rod 11-2 as power input, the input force is equal to the force generated by compression or stretching of the spring at the end part of the first rope 8-1 or the second rope 8-2, and the rehabilitation closed-loop mechanism can perform four-finger far-end interphalangeal joint rehabilitation and can be expected to recover the grabbing capacity of fingertips.

The rope transmission mechanism comprises a rope spring transmission mechanism 8 and a pulley block transmission mechanism 9. As shown in fig. 9, the rope spring transmission mechanism 8 comprises a first rope 8-1 for stretching a finger and a second rope 8-2 for bending the finger, one end of the first rope 8-1 and one end of the second rope 8-2 are respectively and fixedly connected to two sides of a rotating shaft of the same pulley (such as the second pulley 7-12) in the pulley block at the output end of the fingertip stretching power assembly, the other end of the first rope 8-1 and the other end of the second rope 8-2 are respectively and fixedly connected to rope connecting columns at two sides of the rotating shaft of the same fourth connecting rod 11-2, the fourth connecting rod 11-2 can be rotated clockwise through the traction of the first rope 8-1, the distal phalanx is driven to rotate clockwise relative to the middle phalanx, so that the stretching action of the fingertip is realized, the fourth connecting rod 11-2 can be rotated anticlockwise through the traction of the second rope 8-2, the distal phalanx is driven to rotate anticlockwise relative to the middle phalanx, and the bending action is realized. Obviously, since the traction of the first rope 8-1 and the second rope 8-2 is achieved by the rotation of the second pulley 7-12, only one of the first rope 8-1 and the second rope 8-2 is in a tensioned traction state and the other is in a relaxed state when the second pulley 7-12 is rotated unidirectionally. The power output ends of the fingertip stretching and bending power assembly are correspondingly in transmission connection with the two power input ends of the four distal interphalangeal joint rehabilitation closed-loop mechanisms 11 through rope spring transmission mechanisms 8 of the four groups of rope transmission mechanisms respectively, so that the four distal interphalangeal joint rehabilitation closed-loop mechanisms 11 can be driven to synchronously execute straightening action or bending action.

Specifically, the first wire sleeve 8-3 is sleeved on the outer side of the first rope 8-1, the second wire sleeve 8-4 is sleeved on the outer side of the second rope 8-2, the first wire sleeve 8-3 and the second wire sleeve 8-4 are fixed in the rod joint according to a preset track, so that the rope in the rod joint is prevented from bending in the traction process, and the rope in the wire sleeve can transfer traction according to a preset path of the wire sleeve. The outer side of one end of the first rope 8-1 connected with the fourth connecting rod 11-2 is sleeved with a second spring 8-8, one end of the second spring 8-8 is fixed on the fourth connecting rod 11-2, and the other end of the second spring is fixedly connected with the end of the first wire sleeve 8-3 through a second sleeve clamp 8-6. When the first rope 8-1 is stressed and stretched, the fourth connecting rod 11-2 rotates clockwise, so that the second spring 8-8 is compressed, the external force effect generated by the first rope 8-1 is to deform the second spring 8-8, and meanwhile, the second jacket 8-6 connects the second spring 8-8 with an exoskeleton joint, so that the second spring 8-8 is ensured not to bend under the action of gravity of the second spring 8-8, the rope and the like. Similarly, a first spring 8-7 is sleeved outside one end of the second rope 8-2 connected with the fourth connecting rod 11-2, one end of the first spring 8-7 is fixed on the fourth connecting rod 11-2, and the other end of the first spring is fixedly connected with the end part of the second wire sleeve 8-4 through a first jacket 8-5. When the second rope 8-2 is stressed and stretched, the fourth connecting rod 11-2 rotates anticlockwise, so that the first spring 8-7 is stretched, the external force effect generated by the second rope 8-2 is to deform the first spring 8-7, and meanwhile, the first jacket 8-5 connects the first spring 8-7 with an exoskeleton joint, so that the first spring 8-7 is ensured not to bend under the action of gravity of the first spring 8-7, the rope and the like.

As shown in fig. 10 to 12, the pulley block transmission mechanism 9 includes a pulley mount, a third rope 9-11 for stretching a finger, and a fourth rope 9-12 for bending a finger. The side of the pulley mounting frame is fixedly connected with an L-shaped fixed rod piece 21 through a screw, and the other side of the fixed rod piece 21 is fixedly connected with the top surface edge of the back hand rod piece 2 through a screw and corresponds to the metacarpophalangeal joint positions of the root parts of five fingers respectively. The side wall of the pulley mounting frame is internally provided with first cam grooves 9-15. One side of the third fingerstall 3-5 close to the pulley mounting frame is provided with an upper fixed rod fingerstall 9-14 worn on the near phalanx through a fourth binding belt 6-7 of the little finger, a fixed rod 9-13 is fixedly connected to the fixed rod fingerstall 9-14, two sides of the end part of the fixed rod 9-13 are respectively rotatably provided with a first movable pulley 9-1 and a second movable pulley 9-7, and the first movable pulley 9-1 and the second movable pulley 9-7 are respectively embedded in a first cam groove 9-15 on two sides in a rolling way.

One end of the third rope 9-11 and one end of the fourth rope 9-12 are respectively and fixedly connected to two sides of a rotating shaft of the same pulley (such as the fifth pulley 7-15) in the pulley block at the output end of the finger bending power assembly. A first fixed pulley 9-2 positioned above the first movable pulley 9-1, a second fixed pulley 9-3 positioned below the first movable pulley 9-2 and a third fixed pulley 9-4 are respectively rotatably arranged in a side wall of one side of the pulley mounting frame. The other end of the third rope 9-11 sequentially bypasses the first fixed pulley 9-1 and the second fixed pulley 9-3 through the upper side of the first fixed pulley 9-2, and then the upper side of the third fixed pulley 9-4 is fixedly connected to the bottom of the seventh fixed pulley 9-9 through the top of the seventh fixed pulley 9-9, and the third fixed pulley 9-4 is used for determining the output motion track of the third rope 9-11. Once the third rope 9-11 is forced, the first fixed pulley 9-2, the second fixed pulley 9-3 and the third fixed pulley 9-4 are rotated in situ, and the first movable pulley 9-1 moves in the first cam groove 9-15 and approaches to the side where the first fixed pulley 9-2 and the second fixed pulley 9-3 are located. At this time, the fixing rods 9-13 swing clockwise and upwards to force the proximal phalanges to rotate relative to the palm clockwise; the seventh fixed pulley 9-9 is pulled by the third rope 9-11 to rotate clockwise, so that the first connecting rod 10-1 is driven to rotate synchronously and in the same direction, and the middle phalanx rotates clockwise relative to the near phalanx, and thus, the corresponding finger performs stretching action to lift.

The side wall of the other side of the pulley mounting frame is respectively and rotatably provided with a fourth fixed pulley 9-5 and a fifth fixed pulley 9-6 which are positioned above the second movable pulley 9-7 and a sixth fixed pulley 9-8 which is positioned below the second movable pulley 9-7. The other end of the fourth rope 9-12 sequentially bypasses the fifth fixed pulley 9-6 and the second movable pulley 9-7 through the lower side of the fourth fixed pulley 9-5, and then winds to the top of the eighth fixed pulley 9-10 through the bottom of the eighth fixed pulley 9-10 from the upper side of the sixth fixed pulley 9-8 and is fixedly connected, and the sixth fixed pulley 9-8 is used for determining the output motion trail of the fourth rope 9-12. Once the fourth rope 9-12 is forced, the fourth fixed pulley 9-5, the fifth fixed pulley 9-6 and the sixth fixed pulley 9-8 are rotated in situ, and the second movable pulley 9-7 moves in the first cam groove 9-15 and approaches the side where the fifth fixed pulley 9-6 and the sixth fixed pulley 9-8 are located. At this time, the fixing rod 9-13 swings anticlockwise and downwards, forcing the proximal phalanx to rotate anticlockwise relative to the palm; the eighth fixed pulley 9-10 is pulled by the fourth rope 9-12 to rotate anticlockwise, so that the first connecting rod 10-1 is driven to synchronously rotate in the same direction, and the middle phalanx rotates anticlockwise relative to the near phalanx, so that the corresponding finger performs bending action to bend downwards. The power output ends of the finger stretching and bending power assembly are correspondingly in transmission connection with the two power input ends of the four near-end interphalangeal joint self-adapting mechanisms 10 through pulley block transmission mechanisms 9 of the four groups of rope transmission mechanisms respectively, so that the four near-end interphalangeal joint self-adapting mechanisms 10 can be driven to synchronously execute straightening action or bending action.

As shown in fig. 8, the power output ends of the thumb stretching and bending power assembly are respectively in corresponding transmission connection with the two power input ends of the thumb rehabilitation mechanism 12 through a group of pulley block transmission mechanisms 9, so as to drive the thumb rehabilitation mechanism 12 to execute straightening action or bending action. Since the thumb has only two joint bones, namely a proximal phalanx and a distal phalanx, the thumb rehabilitation device 12 only comprises a structure similar to the proximal interphalangeal joint self-adapting device 10, and omits the self-adapting structure consisting of the second cam groove 10-7, the roller 10-6, the push rod 10-5, the slide block 10-3 and the slide rail base 10-4, and particularly comprises a fixed rod finger sleeve 9-14 worn on the proximal phalanx through the thumb third binding band 6-3, a thumb second finger sleeve 3-2 worn on the proximal phalanx through the thumb second binding band 6-2 and positioned outside the fixed rod finger sleeve 9-14, and a thumb first finger sleeve 3-1 worn on the distal phalanx through the thumb first binding band 6-1. Similar to the proximal interphalangeal joint self-adapting mechanism 10, the top of the thumb second finger sleeve 3-2 is rotatably connected with a fifth connecting rod 12-2 through a fifth pin 12-1, and both sides of the end of the fifth connecting rod 12-2 are respectively and fixedly connected with a ninth fixed pulley 12-3 and a tenth fixed pulley 12-4 coaxially sleeved outside the fifth pin 12-1. The other end of the fifth connecting rod 12-2 is rotatably connected with a sixth connecting rod 12-6 through a sixth pin 12-5, the sixth pin 12-5 is fixed at the end of the sixth connecting rod 12-6, and the other end of the sixth connecting rod 12-6 is rotatably connected with the top of the thumb first fingerstall 3-1 through a seventh pin 12-7.

One end of a third rope 9-11 of the pulley block transmission mechanism 9 arranged at the metacarpophalangeal joint position of the thumb is wound from the top of the ninth pulley 7-22 to the bottom and fixed, one end of a fourth rope 9-12 is wound from the bottom of the other ninth pulley 7-22 to the top and fixed, so that the ends of the third rope 9-11 and the fourth rope 9-22 are respectively fixed on two sides of a rotating shaft of the ninth pulley 7-22, the forward rotation of the third motor 7-20 can drive the forward rotation of the ninth pulley 7-22 to stretch the third rope 9-11, thereby driving the thumb rehabilitation mechanism 12 to execute finger stretching action, and the reverse rotation of the third motor 7-20 can drive the reverse rotation of the ninth pulley 7-22 to stretch the fourth rope 9-12, thereby driving the thumb rehabilitation mechanism 12 to execute finger bending action. The third rope 9-11 and the fourth rope 9-12 remain one in a tensioned state and the other in a relaxed state.

The control system is fixedly arranged on the small arm rod piece 1 and is electrically connected with the control end of the finger driving mechanism, the sensor system is arranged on each power transmission position and the phalanges of the finger driving mechanism and is in transmission connection with the control system, and the sensor system detects the running state information of the finger driving mechanism and transmits the running state information to the control system. Specifically, as shown in fig. 1, the control system includes a single-chip microcomputer 28, a motor controller 32, a lithium battery 30, a single-chip microcomputer switch 29 and an exoskeleton scram switch 31, which are respectively and fixedly mounted on the forearm link 1. Specifically, the singlechip 28 and the motor controller 32 are respectively and fixedly installed on the surface of the second small arm support 1-3, the lithium battery 30 is embedded in a battery box and is respectively and electrically connected with the singlechip 28 and the motor controller 32 through leads, and the battery box is fixedly installed on the top surface of the first small arm support 1-1. The singlechip switch 29 is connected in series to the power supply end line of the singlechip 28, and is used for controlling the on-off of a circuit of the singlechip 28, and the exoskeleton emergency stop switch 31 is arranged on the surface of the battery box and connected in series to the output bus line of the lithium battery 30, so that the exoskeleton can be stopped rapidly at any time. The motor controller 32 is electrically connected with the first motor 7-3, the second motor 7-4 and the third motor 7-20 respectively, and is used for driving and controlling the start and stop and the forward and reverse rotation of the three motors.

As shown in fig. 3, 4, 7 and 8, the sensor system includes a second encoder 7-2 coaxially fixedly provided on a motor shaft of the first motor 7-3, a first encoder 7-1 coaxially fixedly provided on a motor shaft of the second motor 7-4, a third encoder 7-19 coaxially fixedly provided on a motor shaft of the third motor 7-20, a first angle sensor 25 coaxially fixed on a rotational shaft position of the fourth link 11-2 of the four distal interphalangeal joint rehabilitation closed-loop mechanism 11, a second angle sensor 26 coaxially fixed on a rotational shaft position of the first link 10-1 of the four proximal interphalangeal joint adapting mechanism 10, a first pressure sensor 22 mounted on a distal phalanx of the four digits (excluding the thumb), a third pressure sensor 24 mounted on a proximal phalanx of the four digits, a second pressure sensor 23 mounted on an inner wall of the four second cam grooves 10-7, and a tension sensor 27 mounted on the third rope 9-11 for stretching the four digits. The signal outputs of the sensor system are each connected to a signal input of the single-chip microcomputer 28.

Referring to fig. 15, a rehabilitation training method for hand rehabilitation exoskeleton based on rope driving includes the following steps:

S20, starting the sensing system and the control system to operate;

s30, each angle sensor, each tension sensor, each pressure sensor and each encoder in the sensor system acquire motion information of the hands of the wearer and motion information of the finger driver mechanism, the acquired information is sent to the singlechip, the singlechip performs real-time analysis processing on the received information data, and can acquire and display relevant motion information such as rope tension, joint motion angle, finger pressure and the like of the wearer, and the singlechip sends instruction control to the motor controller to control each motor to work in a coordinated manner and operate according to a preset control program;

in this step, the specific response mode of the finger driver mechanism to the control signal is as follows:

s401, driving fingers to bend by hand rehabilitation exoskeleton:

the finger bending power assembly is electrified and outputs forward control moment, the pulley block transmission mechanism 9 drives the fixed rods 9-13 and the near-end interphalangeal joint self-adapting mechanism 10 to sequentially rotate anticlockwise, the fixed rods 9-13 drive the near phalanges to rotate anticlockwise relative to the palm, and the near-end interphalangeal joint self-adapting mechanism 10 drives the middle phalanges to rotate anticlockwise relative to the near phalanges, so that the fingers are driven to perform bending motion. The method comprises the following steps: the second motor 7-4 is electrified and rotates positively to output control moment, the fifth pulley 7-15, the sixth pulley 7-16, the seventh pulley 7-17 and the eighth pulley 7-18 are driven to synchronously rotate positively after the moment is amplified through the transmission of the second planetary reducer 7-6 and the meshing transmission between the second driving bevel gear 7-9 and the second driven bevel gear 7-10, the four pulleys simultaneously pull the four fourth ropes 9-12 to force the four fourth ropes 9-12, and the four second movable pulleys 9-7 move along the corresponding first cam grooves 9-15 to the corresponding fifth fixed pulleys 9-6 and the corresponding second fixed pulleys 9-8 under the action of the corresponding fourth ropes 9-12, and the corresponding fixed rods 9-13 move downwards to force the near phalanges of the four fingers to bend downwards; meanwhile, the fourth rope 9-12 makes the first connecting rod 10-1 rotate anticlockwise by pulling the fixed stress point at the upper end of the eighth fixed pulley 9-10, so that the bending process of phalanges in four fingers is synchronously realized.

The fingertip stretching and bending power assembly is electrified and outputs forward control moment, the distal interphalangeal joint rehabilitation closed-loop mechanism 11 is driven to rotate anticlockwise through the rope spring transmission mechanism 8, and the distal interphalangeal joint rehabilitation closed-loop mechanism 11 drives the distal phalanx to rotate anticlockwise relative to the middle phalanx, so that the fingertip is driven to perform bending motion. The method comprises the following steps: the first motor 7-3 is electrified and rotates positively, a control moment is output, the first pulley 7-11, the second pulley 7-12, the third pulley 7-13 and the fourth pulley 7-14 are driven to synchronously rotate positively after the moment is amplified through the transmission of the first planetary reducer 7-5 and the meshing transmission between the first driving bevel gear 7-7 and the first driven bevel gear 7-8, the four pulleys simultaneously pull the four second ropes 8-2 to enable the four second ropes to be stressed, and the four second ropes 8-2 respectively pull the corresponding fourth connecting rods 11-2 to rotate anticlockwise, so that the bending process of the far phalanges is completed. The first motor 7-3 and the second motor 7-4 cooperate to complete the synchronous bending process of four fingers.

The thumb stretching and bending power assembly is electrified and outputs forward control moment, the thumb rehabilitation mechanism 12 is driven to rotate anticlockwise through the pulley block transmission mechanism, and the thumb rehabilitation mechanism drives the far phalanx to rotate anticlockwise relative to the near phalanx so as to drive the thumb to perform bending motion. The method comprises the following steps: the third motor 7-20 is electrified and rotates positively to drive the ninth pulley 7-22 to rotate anticlockwise, the fourth rope 9-12 fixed on the ninth pulley 7-22 starts to bear force, the second movable pulley 9-7 moves to the sides of the fifth fixed pulley 9-6 and the second fixed pulley 9-8 along the first cam groove 9-15 under the action of the fourth rope 9-12 to drive the fixed rod 9-13 to move downwards, and the proximal phalanx of the thumb is forced to bend downwards; meanwhile, the fourth rope 9-12 makes the fifth connecting rod 12-2 rotate anticlockwise by pulling the fixed stress point at the upper end of the ninth fixed pulley 12-3, so that the bending process of the thumb far phalanx is synchronously realized. The first motor 7-3, the second motor 7-4 and the third motor 7-20 work cooperatively to complete the synchronous bending process of five fingers.

The singlechip 28 receives the angle data detected by each first angle sensor 25 and each second angle sensor 26, and judges the bending angle; the singlechip 28 judges whether the fingertip force of each finger can reach the minimum fingertip force 10N required by daily life grabbing according to the pressure data detected by each first pressure sensor 22; the singlechip 28 judges the self-adapting effect of the crank slider self-adapting mechanism in the bending process according to the pressure data detected by each second pressure sensor 23.

S402, driving fingers to stretch by hand rehabilitation exoskeleton:

the finger stretching power assembly is electrified and outputs reverse control moment, the pulley block transmission mechanism 9 drives the fixing rods 9-13 and the near-end interphalangeal joint self-adapting mechanism 10 to sequentially rotate clockwise, the fixing rods 9-13 drive the near phalanges to rotate clockwise relative to the palm, and the near-end interphalangeal joint self-adapting mechanism 10 drives the middle phalanges to rotate clockwise relative to the near phalanges, so that the fingers are driven to stretch. The method comprises the following steps: the second motor 7-4 is electrified and reversely rotates to output control moment, the fifth pulley 7-15, the sixth pulley 7-16, the seventh pulley 7-17 and the eighth pulley 7-18 are driven to synchronously reversely rotate after the moment is amplified through the transmission of the second planetary reducer 7-6 and the meshing transmission between the second driving bevel gear 7-9 and the second driven bevel gear 7-10, the four pulleys simultaneously pull the four third ropes 9-11 to bear force, and the four first movable pulleys 9-1 move to the corresponding first fixed pulleys 9-2 and the second fixed pulleys 9-3 along the respective first cam grooves 9-15 under the action of the corresponding third ropes 9-11 to drive the respective fixed rods 9-13 to upwards move so as to upwards stretch the near phalanges; meanwhile, the third rope 9-11 makes the first connecting rod 10-1 rotate clockwise by pulling the fixed stress point at the lower end of the seventh fixed pulley 9-9, so that the stretching process of the phalanges in the four fingers is synchronously realized.

The fingertip stretching power assembly is electrified and outputs reverse control moment, the distal interphalangeal joint rehabilitation closed-loop mechanism 11 is driven to rotate clockwise through the rope spring transmission mechanism 8, and the distal interphalangeal joint rehabilitation closed-loop mechanism 11 drives the distal phalanx to rotate clockwise relative to the middle phalanx, so that the fingertip is driven to stretch. The method comprises the following steps: the first motor 7-3 is electrified and reversely rotates to output control moment, the first pulley 7-11, the second pulley 7-12, the third pulley 7-13 and the fourth pulley 7-14 are driven to synchronously reversely rotate after the moment is amplified through the transmission of the first planetary reducer 7-5 and the meshing transmission between the first driving bevel gear 7-7 and the first driven bevel gear 7-8, the four pulleys simultaneously pull the four first ropes 8-1 to enable the four first ropes 8-1 to be stressed, and the four first ropes 8-1 respectively pull the corresponding fourth connecting rods 11-2 to rotate clockwise to finish the stretching process of the distal phalanges. The first motor 7-3 and the second motor 7-4 cooperate to complete the synchronous stretching process of four fingers.

The thumb stretching power assembly is electrified and outputs reverse control moment, the thumb rehabilitation mechanism 12 is driven to rotate clockwise through the pulley block transmission mechanism, and the thumb rehabilitation mechanism 12 drives the far phalanx to rotate clockwise relative to the near phalanx, so that the thumb is driven to stretch. The third motor 7-20 is electrified and reversely rotates to drive the ninth pulley 7-22 to rotate clockwise, the third rope 9-11 fixed on the ninth pulley 7-22 starts to bear force, the first movable pulley 9-1 moves to the side where the first fixed pulley 9-2 and the second fixed pulley 9-3 are located along the first cam groove 9-15 under the action of the third rope 9-11 to drive the fixed rod 9-13 to move upwards, and the proximal phalanges of the thumb are forced to stretch upwards; meanwhile, the third rope 9-11 makes the fifth connecting rod 12-2 rotate clockwise by pulling the fixed stress point at the lower end of the tenth fixed pulley 12-4, so that the stretching process of the distal phalanx of the thumb is synchronously realized. The first motor 7-3, the second motor 7-4 and the third motor 7-20 work cooperatively to complete the synchronous stretching process of five fingers.

The singlechip 28 receives the angle data detected by each of the first angle sensor 25 and the second angle sensor 26, and judges the stretching angle; the singlechip 28 judges the self-adapting effect of the crank slider self-adapting mechanism in the stretching process according to the pressure data detected by each second pressure sensor 23. Because finger stretching of a stroke patient is more difficult, the singlechip 28 obtains stretching resistance overcome by stretching the finger of the stroke patient according to the received pressure data detected by the tension sensor 27, and the driving parameters or training program of the exoskeleton are convenient to adjust so as to achieve better rehabilitation effect.

The invention provides a hand rehabilitation exoskeleton robot based on rope driving, which adopts a rope driving rigid connecting rod exoskeleton robot, provides auxiliary rehabilitation force and moment based on finger bending grabbing capacity of stroke patients and the requirement of fingers on overcoming stretching resistance, performs force control of a far-end interphalangeal joint through the expansion and contraction amount of a spring, and drives a near phalangeal and middle phalangeal to bend or stretch by pulling a rod to rotate and a movable pulley to move in a cam groove through rope stress, wherein the rope transmits force to the rod joint to assist the bending or stretching of the fingers. By arranging the cam groove and the self-adaptive crank block mechanism, the adaptability and the use comfort of the equipment can be improved. The hand rehabilitation exoskeleton has good wearability and comfortable wearing, can be suitable for patients with different finger sizes, and is suitable for rehabilitation training of hands of stroke patients.

The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims

1. Hand rehabilitation exoskeleton based on rope drive, its characterized in that: the hand rehabilitation robot comprises a control system, a sensor system, a finger driver mechanism, a forearm rod piece worn on the forearm, a back rod piece worn on the back of the hand, four hand rehabilitation exoskeleton execution mechanisms respectively worn on non-thumbs, and a thumb rehabilitation mechanism worn on the thumbs;

2. A rope-driven hand rehabilitation exoskeleton as claimed in claim 1, wherein: the proximal interphalangeal joint self-adaptive mechanism comprises a third fingerstall worn on a proximal phalanx and a second fingerstall worn on a middle phalanx, the top of the third fingerstall is rotationally connected with a first connecting rod, the other end of the first connecting rod is rotationally connected with a second connecting rod, the other end of the second connecting rod is rotationally connected with a sliding block, the top surface of the second fingerstall is fixedly provided with a sliding rail base, and the sliding block is slidingly embedded in the sliding rail base;

3. A rope-driven hand rehabilitation exoskeleton as claimed in claim 2, wherein: the far-end interphalangeal joint rehabilitation closed-loop mechanism comprises a first dactylotheca worn on a far phalanx, the top of the first dactylotheca is rotationally connected with a fourth connecting rod, the other end of the fourth connecting rod is rotationally connected with a third connecting rod, rope connecting columns are fixedly arranged on two sides of a rotating shaft of the rotating joint of the end part of the fourth connecting rod respectively, and the other end of the third connecting rod is rotationally connected to the top of the sliding block.

4. A rope-driven hand rehabilitation exoskeleton as claimed in claim 3, wherein: the finger stretching and bending power assembly and the finger tip stretching and bending power assembly comprise a speed reducer fixedly arranged on the small arm rod piece, a motor fixedly connected to the power input end of the speed reducer, a driving bevel gear fixedly connected to the power output end of the speed reducer, a driven bevel gear rotatably arranged on the small arm rod piece and meshed with the driving bevel gear for transmission, and a pulley block coaxially arranged with the driven bevel gear;

5. A rope-driven hand rehabilitation exoskeleton as claimed in claim 4 wherein: the transmission ratio of the driving bevel gear to the driven bevel gear is 5-2:1.

6. A rope-driven hand rehabilitation exoskeleton as claimed in claim 4 wherein: the rope spring transmission mechanism comprises a first rope used for stretching fingers and a second rope used for bending fingers, one end of the first rope and one end of the second rope are respectively and fixedly connected to two sides of a rotating shaft of the same pulley in the pulley block at the output end of the fingertip stretching power assembly, and the other end of the first rope and the other end of the second rope are respectively and fixedly connected to rope connecting columns on two sides of the rotating shaft of the same fourth connecting rod.

7. A rope-driven hand rehabilitation exoskeleton as claimed in claim 4 wherein: the pulley block transmission mechanism comprises a pulley mounting frame, a third rope for stretching fingers and a fourth rope for bending fingers, a first cam groove is formed in the side wall of the pulley mounting frame, an upper fixed rod finger sleeve worn on a near phalanx is arranged on one side of the third finger sleeve, which is close to the pulley mounting frame, a fixed rod is fixedly connected to the fixed rod finger sleeve, a first movable pulley and a second movable pulley are respectively rotatably arranged on two sides of the end part of the fixed rod, and the first movable pulley and the second movable pulley are respectively embedded in the first cam grooves on the two sides in a rolling way;

8. A rope-driven hand rehabilitation exoskeleton as claimed in claim 2, wherein: the control system comprises a single chip microcomputer, a motor controller, a lithium battery, a single chip microcomputer switch and an exoskeleton emergency stop switch which are respectively and fixedly arranged on the forearm rod piece, wherein the single chip microcomputer is connected with the motor controller, the motor controller is respectively connected with a power source of the finger driver mechanism, each signal output end of the sensor system is respectively connected with a signal input end of the single chip microcomputer, the lithium battery is respectively connected with the single chip microcomputer and the motor controller, the exoskeleton emergency stop switch is connected in series with an output end of the lithium battery, and the single chip microcomputer switch is connected in series with a power supply end of the single chip microcomputer.

9. The rehabilitation training method for the hand rehabilitation exoskeleton based on rope driving is characterized by comprising the following steps of:

s20, starting the sensing system and the control system to operate;

10. The rehabilitation training method based on rope-driven hand rehabilitation exoskeleton of claim 9, wherein in step S40, the specific response mode of the finger driver mechanism to the control signal is as follows:

S401, driving fingers to bend by hand rehabilitation exoskeleton:

the fingertip stretching and bending power assembly is electrified and outputs forward control moment, the distal interphalangeal joint rehabilitation closed-loop mechanism is driven to rotate anticlockwise through the rope spring transmission mechanism, and the distal interphalangeal joint rehabilitation closed-loop mechanism drives the distal phalanx to rotate anticlockwise relative to the middle phalanx, so that the fingertip is driven to perform bending motion;

s402, driving fingers to stretch by hand rehabilitation exoskeleton: