CN206183601U - Both hands tracking formula finger rehabilitation device - Google Patents
Both hands tracking formula finger rehabilitation device Download PDFInfo
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- CN206183601U CN206183601U CN201620740508.XU CN201620740508U CN206183601U CN 206183601 U CN206183601 U CN 206183601U CN 201620740508 U CN201620740508 U CN 201620740508U CN 206183601 U CN206183601 U CN 206183601U
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Abstract
The utility model discloses a both hands tracking formula finger rehabilitation device, indicate including three of normal hand end that structure and three of recovering hand end indicate the structure, rehabilitation process realizes that the unit is including perception unit, training learning unit and action executing and the monitor cell of moving, motion perception unit distributes respectively at normal hand and recovering hand, and its output all is connected with training learning unit input, action executing is connected with the motion perception unit output that resumes the hand with monitor cell's input, pulls patient's finger through the action custom of normal hand and does exercises, the device is at first manually measured as the result through II couples EMG sensors I, three -dimensional angle sensor I and three -dimensional angle sensor are normal to output carries out analysis, training and study for little control system, and control resumes the hand and holds and carry out symmetric motion little control system according to the judged result. The utility model discloses a both hands tracking formula is recovered to be designed, can resume and establish normal hand and contact with the symmetry of resumeing the hand by effective stimulus patient brain for the recovering of correlation function, and adopt three to indicate the structure, light in weight, portable are applicable to the family care.
Description
Technical field
The utility model belongs to rehabilitation medical instrument field, especially a kind of both hands tracking mode finger rehabilitation device, especially
The hand rehabilitation training of the hemiplegia patient caused suitable for headstroke.
Background technology
Cerebral apoplexy is a kind of acute cerebrovascular diseases.As China progresses into aging society, the incidence of disease of cerebral apoplexy
Rise year by year.Hemiplegia is the common sequelae of cerebral apoplexy, and patient symptom is mainly shown as side upper and lower extremities, face and lingualis bottom
Dyskinesia.
The upper limbs of hemiplegia patient recovers many since shoulder, is finally hand to upper arm, forearm.Upper limbs health so far
Research in apparatus for coating is mostly that, towards upper arm and forearm, hand directly affects Rehabilitation as the final stage recovered
Effect.The design of existing hand rehabilitation system based on the five fingers structure design, and in actual life, thumb, forefinger and in
Refer to this three often related other two finger motion when referring to motion, and three refer to and can almost complete an exhausted big portion for hand by this
Divide everyday actions.In addition, there is the motion blur sex chromosome mosaicism that kinematic accuracy is high and varies with each individual in finger gymnastic, thus only according to
Shared control finger rehabilitation device opponent's fingering row rehabilitation training is difficult to by single-ended finger rehabilitation device, rehabilitation efficacy is also subject to
Limitation.
The content of the invention
The purpose of this utility model is regarding to the issue above, to propose a kind of both hands tracking mode finger rehabilitation device, is used
Three refer to structure design, and lesion side finger movement is guided by the normal side finger movement of patient itself, progressively reach rehabilitation
Purpose.
In order to achieve the above object, the technical solution of the utility model is：A kind of both hands tracking mode finger rehabilitation device, its
It is characterised by：Both hands tracking mode finger rehabilitation device is by three finger structures of normal hand, three finger structure and microcontroller systems of recovery hand
System composition.
Described both hands tracking mode finger rehabilitation device include motion perception unit, training unit and action executing with
Monitoring unit；Described motion perception unit be respectively distributed to normal hand and recover hand, its output end with training unit
Input is connected；Described action executing is connected with the input of monitoring unit with the motion perception unit output end for recovering hand,
Patient's finger is drawn by the motor habit of normal hand to be moved.
Described motion perception unit includes EMG sensors I, three-dimensional perspective sensor I, three-dimensional perspective sensor II, hand
Metacarpus point, finger MCP joints, finger PIP joints, finger DIP joints, the fixing groove in finger MCP joints, finger PIP joints
Fixing groove, the fixing groove in finger DIP joints；
It is soft that described training unit includes that the hardware composition part and machine learning algorithm of micro control system are realized
The hardware composition part of part part, wherein micro control system includes microcontroller and motor driver；
Described action executing includes that EMG sensors II, three-dimensional perspective sensor III, three-dimensional perspective are sensed with monitoring unit
Device IV, motor driver, motor, palm portion, finger MCP joints, rotating wheel, finger PIP joints, finger DIP joints；
The motor I of described both hands tracking mode finger rehabilitation device, motor II and motor III are separately mounted to palm portion；
Motor IV and motor V are separately mounted to finger PIP joints；Described finger MCP joints are fixed on palmar hand by connects hinge
Position；Described finger PIP joints are connected by hinge with the adjustable chute in the MCP joints of finger；Described finger DIP is closed
Section is connected by rotary shaft with finger PIP joints；Rotating wheel C, rotating wheel I and rotating wheel II are connected through a screw thread difference respectively
It is fixed on motor I, motor II and motor III；Rotating wheel III, rotating wheel VII and rotating wheel B are fixed on palmar hand by rotary shaft
Position；Rotating wheel IV and rotating wheel V are fixed on thumb MCP joints by rotary shaft；Rotating wheel VI is by rotary shaft and thumb
DIP joints are connected；Rotating wheel VIII is connected by rotary shaft with the MCP joints of forefinger；Rotating wheel Ⅸ and gear II pass through screw thread
It is fastened on motor IV；Gear I and the fixed forefinger PIP joints of the intermeshing of gear II；Rotating wheel Ⅹ is by rotary shaft and food
The DIP joints of finger are connected；Rotating wheel A is connected by the nameless MCP joints of rotary shaft；Rotating wheel Ⅺ and gear IV pass through spiral shell
Line is fastened on motor V；Gear III and the fixed nameless PIP joints of the intermeshing of gear IV；Rotating wheel Ⅻ is by rotating
Axle is connected with the DIP joints of the third finger；
Described EMG sensors are placed in arm to gather electromyographic signal；Described three-dimensional perspective sensor I and three-dimensional perspective
Sensor II is respectively placed in each finger MCP joints and acquisition angles information, the He of three-dimensional perspective sensor III are come in each finger PIP joints
Three-dimensional perspective sensor IV is respectively placed in each finger MCP joints and each finger PIP joints and carrys out acquisition angles information.
Be respectively equipped with described finger MCP joints, finger PIP joints and finger DIP joints MCP joints fixing groove,
The fixing groove in PIP joints and the fixing groove in DIP joints；Fixing groove carries out patient's finger and both hands tracking mode finger rehabilitation device
Connection.
Its application method is comprised the following steps：
A) action of the normal hand of system senses patient：
The normal hand of patient makes elemental motion, EMG sensors I, three-dimensional perspective sensor I and three-dimensional perspective sensor II pair
The result of the action is measured, exported；
B) training of sample and study：
The signal that micro control system is exported by EMG sensors I, three-dimensional perspective sensor I and three-dimensional perspective sensor II
It is analyzed, trains and study；
C) to recovering the detection of hand and recognizing：
EMG sensors II are measured to the electromyographic signal that patient's recovery hand is produced and pass through it with output, micro control system
Preceding learning outcome judges that the action of patient is intended to；
D) motion at hand end is recovered：
Micro control system gives a response according to judged result, and control recovers hand end carries out symmetric motion；
E) feedback of patient motion information：
Three-dimensional perspective sensor III and three-dimensional perspective sensor IV action that patient makes is measured with output, and with
Learning outcome is contrasted；
F) optimization for resuming training：
Recover the contrast of work manually and learn again by patient, optimize rehabilitation training model, and then reach preferably extensive
Multiple effect.
Advantage of the present utility model is：1st, extracted using in the exercise habit of the normal hand of patient when device is used, without
It is to be set up with the subjective judgement of health care workers, can to the full extent ensures the safe and reliable of rehabilitation course；2nd, using double
The rehabilitation of hand tracking mode is designed, and can recover and set up normal hand to be contacted with the symmetrical of hand is recovered with effective stimulus brain in patients, is accelerated
The recovery of correlation function；3rd, on the premise of ensureing that hand can complete most everyday actions, refer to that mechanism designs using three, effectively
Rehabilitation system weight is alleviated, is easy to carry；Rehabilitation course can make model continue to optimize process when the 4th, using, and constantly train
Make rehabilitation exercise more accurately with efficiently.
Brief description of the drawings
Fig. 1 is a kind of overall structure block diagram of both hands tracking mode finger rehabilitation device involved by the utility model.
Fig. 2 is a kind of recovery hand left side structure schematic diagram of both hands tracking mode finger rehabilitation device involved by the utility model.
Fig. 3 is a kind of recovery hand right side structure schematic diagram of both hands tracking mode finger rehabilitation device involved by the utility model.
Fig. 4 is a kind of normal hand left side structure schematic diagram of both hands tracking mode finger rehabilitation device involved by the utility model.
Fig. 5 is a kind of normal hand right side structure schematic diagram of both hands tracking mode finger rehabilitation device involved by the utility model.
Fig. 6 is a kind of control flow chart of both hands tracking mode finger rehabilitation device involved by the utility model.
In figure, 1 is motor I, and 2 is motor II, and 3 is rotating wheel I, and 4 is palm portion, and 5 is motor III, and 6 is rotating wheel
II, 7 is rotating wheel III, and 8 is rotating wheel IV, and 9 is rotating wheel V, and 10 is thumb MCP joints, and 11 is rotating wheel VI, 12 thumb DIP
Joint, 13 be rotating wheel VII, 14 be rotating wheel VIII, 15 forefinger MCP joints, 16 for forefinger MCP joints fixing groove, 17 is gear
I, 18 is rotating wheel Ⅸ, and 19 is gear II, and 20 is forefinger PIP joints, and 21 is rotating wheel Ⅹ, and 22 is forefinger DIP joints, and 23 is tooth
Wheel III, 24 is rotating wheel Ⅺ, and 25 is gear IV, and 26 is rotating wheel Ⅻ, and 27 is the regulating tank in forefinger MCP joints, and 28 is motor
IV, 29 is the fixing groove in forefinger DIP joints, and 30 is third finger DIP joints, and 31 is the fixing groove in third finger DIP joints, and 32 is nothing
Name refers to PIP joints, and 33 is motor V, and 34 is third finger MCP joints, and 35 is the fixing groove in third finger MCP joints, and 36 is the third finger
The regulating tank in MCP joints, 37 is rotating wheel A, and 38 is rotating wheel B, and 39 is palm portion fixing groove, and 40 is rotating wheel C.
Specific embodiment
As illustrated, a kind of both hands tracking mode finger rehabilitation device, including motion perception unit, training unit and dynamic
Perform and monitoring unit；Described motion perception unit be respectively distributed to normal hand and recover hand, its output end with training
Unit input is connected；Input of the described action executing with monitoring unit and the motion perception unit output for recovering hand
End connection, draws patient's finger and is moved by the motor habit of normal hand.
A kind of each finger structure of both hands tracking mode finger rehabilitation device is similar to, therefore is described by taking forefinger as an example here,
Other fingers are similar to：
Described motion perception unit includes EMG sensors I, three-dimensional perspective sensor I, three-dimensional perspective sensor II, hand
Metacarpus point（4）, thumb MCP joints（10）, forefinger MCP joints（15）, third finger MCP joints（34）, forefinger PIP joints（20）、
Nameless PIP joints（32）, thumb DIP joints（12）, forefinger DIP joints（22）, third finger DIP joints（30）；Described instruction
Practicing unit includes the software section that the hardware composition part and machine learning algorithm of micro control system are realized；Described is dynamic
Making execution unit includes EMG sensors II, three-dimensional perspective sensor III, three-dimensional perspective sensor IV, motor driver, motor I
（1）, motor II（2）, motor III（5）, motor IV（28）, motor V（33）.
The control unit in described forefinger MCP joints includes motor II（2）, rotating wheel I（3）, rotating wheel VII（13）, rotate
Wheel VIII（14）, finger MCP joints（15）.
Described forefinger PIP joints and the control unit in forefinger DIP joints include motor IV（28）, gear I（17）, gear
Ⅱ（19）, rotating wheel III（18）, rotating wheel Ⅹ（21）, forefinger PIP joints（20）, forefinger DIP joints（22）.
The motor I of described both hands tracking mode finger rehabilitation device（1）, motor II（2）With motor III（5）It is separately mounted to
Palm portion（4）；Motor IV（28）With motor V（33）It is separately mounted to forefinger PIP joints（20）, third finger PIP joints
（32）；Thumb MCP joints（10）, forefinger MCP joints（15）, third finger MCP joints（34）It is fixed on by connects hinge respectively
Palm portion（4）；Thumb DIP joints（12）, forefinger PIP joints（20）, third finger PIP joints（32）Pass through hinge and thumb respectively
Refer to MCP joints（10）, forefinger MCP joints（15）, third finger MCP joints（34）Adjustable chute be connected；Forefinger DIP joints
（22）, third finger DIP joints（30）Respectively by rotary shaft and forefinger PIP joints（20）, third finger PIP joints（32）It is connected
Connect；Rotating wheel（40）, rotating wheel I（3）With rotating wheel II（6）It is connected through a screw thread respectively and is separately fixed at motor I（1）, motor
Ⅱ（2）With motor III（5）On；Rotating wheel III（7）, rotating wheel VII（13）With rotating wheel B（38）Palm is fixed on by rotary shaft
Part（4）；Rotating wheel IV（8）With rotating wheel V（9）Thumb MCP joints are fixed on by rotary shaft（10）Place；Rotating wheel VI
（11）By rotary shaft and the DIP joints of thumb（12）It is connected；Rotating wheel VIII（14）By rotary shaft and the MCP joints of forefinger
（15）It is connected；Rotating wheel Ⅸ（18）With gear II（19）It is connected through a screw thread and is fixed on motor IV（28）；Gear I（17）With gear
Ⅱ（19）The fixed forefinger PIP joints of intermeshing（20）；Rotating wheel Ⅹ（21）By rotary shaft and the DIP joints of forefinger（22）Phase
Connection；Rotating wheel A（37）By rotary shaft and nameless MCP joints（34）It is connected；Rotating wheel Ⅺ（24）With gear IV（25）
It is connected through a screw thread and is fixed on motor V（33）；Gear III（23）With gear IV（25）The fixed nameless PIP of intermeshing is closed
Section（30）；Rotating wheel Ⅻ（26）By rotary shaft and nameless DIP joints（30）It is connected.
Described EMG sensors are placed in arm to gather electromyographic signal；Described three-dimensional perspective sensor I and three-dimensional perspective
Sensor II is respectively placed in forefinger MCP joints（15）With forefinger PIP joints（20）Come acquisition angles information, three-dimensional perspective sensor
III and three-dimensional perspective sensor IV be respectively placed in forefinger MCP joints（15）With forefinger PIP joints（20）Carry out acquisition angles information.
It is specific as follows when it is used：
A) acquisition of training signal：
The forefinger mechanism of the normal hand in both hands tracking mode finger gymnastic robot is by forefinger MCP arthrodesises groove, food
Refer to PIP arthrodesises groove and forefinger DIP fixing grooves, be fixed on the normal finger of auxiliary patient's training.Remedy finger mechanism leads to
Cross forefinger MCP arthrodesis grooves（16）, forefinger PIP arthrodesises groove and forefinger DIP fixing grooves（29）It is fixed on the finger of patient
On.When the normal finger for aiding in patient's training makes action, three-dimensional perspective sensor and EMG sensors are the signal for detecting
It is sent in microcontroller, microcontroller controlled by motor after signal transacting the action of finger, allows patient to carry out
Rehabilitation training.
B) action in forefinger MCP joints：
Motor II (2) is rotated and drives rotating wheel I（3）Rotate, rotating wheel I（3）Rotating wheel VII is driven by Timing Belt（13）
With rotating wheel VIII（14）Rotation, rotating wheel VIII（14）Rotation drive forefinger MCP joints（15）Make corresponding actions.
C) action in forefinger PIP joints：
Motor IV（28）Rotation driven gear II（19）Rotation, gear II（19）With gear I（17）Between pass through gear
Transmission, gear I（17）Rotation drive forefinger PIP joints（20）Make corresponding actions.
D) action in forefinger DIP joints：
Motor IV（28）Drive forefinger PIP joints（20）Rotating wheel III is driven while making action（18）Rotation, turn
Driving wheel Ⅸ（18）Rotating wheel Ⅹ is driven by Timing Belt（21）Rotation, rotating wheel Ⅹ（21）Rotation drive forefinger DIP joints
（22）Make corresponding actions.
A kind of both hands tracking mode finger rehabilitation device, be to reach preferable rehabilitation efficacy, the step of its rehabilitation course：
A) action of the normal hand of system senses patient
The normal hand of patient makes elemental motion, EMG sensors I, three-dimensional perspective sensor I and three-dimensional perspective sensor II pair
The result of the action is measured, exported；
B) training of sample and study
The signal that micro control system is exported by EMG sensors I, three-dimensional perspective sensor I and three-dimensional perspective sensor II
It is analyzed, trains and study；
C) to recovering the detection of hand and recognizing
EMG sensors II are measured to the electromyographic signal that patient's recovery hand is produced and pass through it with output, micro control system
Preceding learning outcome judges that the action of patient is intended to；
D) motion at hand end is recovered
Micro control system recovers hand end according to judged result control carries out symmetric motion；
E) feedback of patient motion information
Three-dimensional perspective sensor III and three-dimensional perspective sensor IV action that patient makes is measured with output, and with
Learning outcome is contrasted；
F) optimization for resuming training
Recover the contrast of work manually and learn again by patient, optimize rehabilitation training model, and then reach preferably extensive
Multiple effect, rehabilitation training model is extracted from the exercise habit of the normal hand of patient, without the subjective judgement by health care workers
Set up.
Claims (1)
1. a kind of both hands tracking mode finger rehabilitation device, it is characterised in that：Both hands tracking mode finger rehabilitation device is by normal hand
The three three finger structures and micro control system composition for referring to structure, recovering hand；
Described both hands tracking mode finger rehabilitation device includes motion perception unit, training unit and action executing and monitoring
Unit；Described motion perception unit is respectively distributed to normal hand and recovers hand, and its output end is input into training unit
End connection；Described action executing is connected with the input of monitoring unit with the motion perception unit output end for recovering hand, passes through
Motor habit traction patient's finger of normal hand is moved；
Described motion perception unit includes EMG sensors I, three-dimensional perspective sensor I, three-dimensional perspective sensor II, palmar hand
Point, finger MCP joints, finger PIP joints, finger DIP joints, the fixing groove in finger MCP joints, the fixation in finger PIP joints
Groove, the fixing groove in finger DIP joints；
Described training unit includes the hardware composition part of micro control system, the hardware composition part bag of micro control system
Include microcontroller and motor driver；
Described action executing includes EMG sensors II, three-dimensional perspective sensor III, three-dimensional perspective sensor with monitoring unit
IVth, motor driver, motor, palm portion, finger MCP joints, rotating wheel, finger PIP joints, finger DIP joints；
Motor I, motor II and motor III are separately mounted to palm portion；Motor IV and motor V are separately mounted to finger PIP passes
Section；Described finger MCP joints are fixed on palm part by connects hinge；Described finger PIP joints pass through hinge and hand
The adjustable chute in the MCP joints of finger is connected；Described finger DIP joints are connected by rotary shaft with finger PIP joints；
Rotating wheel C, rotating wheel I and rotating wheel II are connected through a screw thread are separately fixed on motor I, motor II and motor III respectively；Turn
Driving wheel III, rotating wheel VII and rotating wheel B are fixed on palm part by rotary shaft；Rotating wheel IV and rotating wheel V pass through rotary shaft
It is fixed on thumb MCP joints；Rotating wheel VI is connected by rotary shaft with the DIP joints of thumb；Rotating wheel VIII is by rotating
Axle is connected with the MCP joints of forefinger；Rotating wheel Ⅸ and gear II are connected through a screw thread and are fixed on motor IV；Gear I and gear II
The fixed forefinger PIP joints of intermeshing；Rotating wheel Ⅹ is connected by rotary shaft with the DIP joints of forefinger；Rotating wheel A is by turning
The nameless MCP joints of moving axis are connected；Rotating wheel Ⅺ and gear IV are connected through a screw thread and are fixed on motor V；Gear III and gear
The fixed nameless PIP joints of IV intermeshing；Rotating wheel Ⅻ is connected by rotary shaft with the DIP joints of the third finger；
Described EMG sensors are placed in arm to gather electromyographic signal；Described three-dimensional perspective sensor I and three-dimensional perspective are sensed
Device II is respectively placed in each finger MCP joints and each finger PIP joints and comes acquisition angles information, three-dimensional perspective sensor III and three-dimensional
Angular transducer IV is respectively placed in each finger MCP joints and each finger PIP joints and carrys out acquisition angles information；
The fixing groove in MCP joints, PIP is respectively equipped with described finger MCP joints, finger PIP joints and finger DIP joints to close
The fixing groove of section and the fixing groove in DIP joints；Be attached for patient's finger and both hands tracking mode finger rehabilitation device by fixing groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620740508.XU CN206183601U (en) | 2016-07-14 | 2016-07-14 | Both hands tracking formula finger rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620740508.XU CN206183601U (en) | 2016-07-14 | 2016-07-14 | Both hands tracking formula finger rehabilitation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206183601U true CN206183601U (en) | 2017-05-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620740508.XU Expired - Fee Related CN206183601U (en) | 2016-07-14 | 2016-07-14 | Both hands tracking formula finger rehabilitation device |
Country Status (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106074089A (en) * | 2016-07-14 | 2016-11-09 | 南昌大学 | A kind of both hands tracking mode finger gymnastic robot system |
| CN109394475A (en) * | 2018-11-15 | 2019-03-01 | 南昌大学 | A kind of autonomous adjustable detachable the five fingers manipulators in rehabilitation of finger spacing |
-
2016
- 2016-07-14 CN CN201620740508.XU patent/CN206183601U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106074089A (en) * | 2016-07-14 | 2016-11-09 | 南昌大学 | A kind of both hands tracking mode finger gymnastic robot system |
| CN109394475A (en) * | 2018-11-15 | 2019-03-01 | 南昌大学 | A kind of autonomous adjustable detachable the five fingers manipulators in rehabilitation of finger spacing |
| CN109394475B (en) * | 2018-11-15 | 2023-10-03 | 南昌大学 | Five-finger rehabilitation manipulator capable of autonomously adjusting and disassembling finger spacing |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |