CN208319499U - Hand ectoskeleton both hands are servo-actuated convalescence device - Google Patents

Abstract

The utility model relates to healing robot technical fields more particularly to a kind of hand ectoskeleton both hands to be servo-actuated convalescence device.The device includes that hand ectoskeleton suffers from hand rehabilitation device, hand ectoskeleton health hand dominates convalescence device, hand ectoskeleton health hand dominates convalescence device and is placed to health on hand, hand ectoskeleton health hand dominates convalescence device and connects controller by data signal line, controller connects hand ectoskeleton by control signal wire and suffers from hand rehabilitation device, it includes finger section that hand ectoskeleton, which suffers from hand rehabilitation device, the back of the hand portion, gloves and controller, finger section includes four finger mechanisms and a thumb mechanism, four finger mechanisms are respectively index finger mechanism, middle finger mechanism, nameless mechanism and little finger of toe mechanism, the mechanism composition of four finger mechanisms is identical, the first angle sensor and the first power source of each finger mechanism and the back of the hand portion are connect with the controller.Whole device can preferably realize autonomous targetedly rehabilitation training.

Description

Hand ectoskeleton both hands are servo-actuated convalescence device

Technical field

The utility model relates to healing robot technical field more particularly to the hand ectoskeleton both hands of a kind of hand and wrist Servo-actuated convalescence device.

Background technique

Hand is one of most important part of human body, and hand can not only complete many big and heavy work, and can also be engaged in and day Often the various fine activities of life close ties, the normal kinematics of hand are extremely important for people.Hand exercise obstacle meeting Strong influence daily life.Unfortunately, can all there be quite a few people every year and be led because disease is either unexpected The joint of cause hand, bone, nerve are damaged, and general impaired treatment requires opponent's fingering row and brakes for a long time, but It is adhesion and the muscle that prolonged braking due to joint tendon extravasated blood formation fibre modification, can cause finger-joint and tendon Atrophy.In addition, joint disease, hemiplegia caused by the cardiovascular diseases such as apoplexy also results in finger-joint tendon fibrosis and flesh The spasm atrophy of meat, ligament, to cause hand movement function obstacle.

Clinical research and practice have shown that, passive rehabilitation training facilitate restore obstacle of limb movement patient suffering limb fortune Dynamic function, and after the repetition training of lasting high intensity, patient hand's muscle power obtains certain raising, facilitates hand The recovery of function.And compelling element, the Mental imagery for hemiplegia paralytic occurred from the 1980s is treated Although these more traditional rehabilitation therapy methods such as method, task orientation training have certain superiority, but all next therewith High manpower consumption and the complexity of operation be still difficult to evade.In addition, patient can be accustomed to relying in long-term rehabilitation course Healthy singlehanded life, can avoid in daily life the functional recovery for being less useful for suffering from hand using hand is suffered from thus, research and development One kind can implement rehabilitation training and assist suffering from hand to complete wearing for daily basic function according to specific aim program to hand is suffered from Formula mechanical device is worn, the focus of many focus of attention is become.

Manpower is the extremely fine organ of an anatomical structure, and the freedom degree of finger is more, so the design to ectoskeleton Propose very high requirement.By the literature search discovery to the prior art, the domestic research to hand ectoskeleton is also in rising Step section, in this field, expansion research mainly has Tsinghua University, Shanghai Communications University, Fudan University, Harbin Institute of Technology, Zhejiang University etc..Wherein it is no lack of some outstanding research works, but generally still faces this some such problems:

(1) hand exoskeleton rehabilitation device is not light and handy enough, lacks portability, cannot assist suffering from hand and carries out the daily of various occasions The life activities of property.

(2) corresponding effective rehabilitation institution few to thumb, but thumb is dynamic for many hand routines Make to carry out being indispensable as what is grasped.

(3) patient is difficult to carry out autonomous targeted rehabilitation training.

Utility model content

The purpose of this utility model is the above problem faced for hand exoskeleton rehabilitation device of the existing technology, is mentioned A kind of servo-actuated convalescence device of hand ectoskeleton both hands is gone out, including hand ectoskeleton both hands are servo-actuated rehabilitation hand ectoskeleton both hands and are servo-actuated rehabilitation Device.Wherein, it includes that hand ectoskeleton suffers from hand rehabilitation device, normal hand ectoskeleton dominates health that hand ectoskeleton both hands, which are servo-actuated convalescence device, Apparatus for coating.

The technical solution of the utility model is:

A kind of servo-actuated convalescence device of hand ectoskeleton both hands, including hand ectoskeleton suffer from hand rehabilitation device, hand ectoskeleton health hand Leading convalescence device, hand ectoskeleton health hand dominate convalescence device and are placed to health on hand, and hand ectoskeleton health hand dominates rehabilitation Device connects controller by data signal line, and controller connects hand ectoskeleton by control signal wire and suffers from hand rehabilitation device；

Wherein, it includes finger section, the back of the hand portion and controller that hand ectoskeleton, which suffers from hand rehabilitation device,；The finger section includes four Finger mechanism and a thumb mechanism, four finger mechanisms are respectively index finger mechanism, middle finger mechanism, nameless mechanism and little finger of toe machine The mechanism composition of structure, four finger mechanisms is identical, and each finger mechanism includes three fingerstall, the first cable, the second cable, the One power source, first angle sensor and first gear, the bottom of each fingerstall are mounted on a finger joint connector；

Three fingerstall are respectively the first fingerstall, the second fingerstall and third fingerstall, and the first fingerstall and the second fingerstall are rotatablely connected, Second fingerstall and third fingerstall are rotatablely connected, and third fingerstall and the back of the hand portion are rotatablely connected, and the first fingerstall is equipped with the first line wheel, the One line wheel is located at the junction of the first fingerstall and the second fingerstall, and third fingerstall is equipped with the second line wheel, and the second line wheel is located at third The junction of fingerstall and the second fingerstall, one end of the first cable are fixed in the first line wheel, and the other end is fixed in the second line wheel, One end of second cable is fixed in the first line wheel, and the other end is fixed in the second line wheel, and the first cable intersects with the second cable, First power source is mounted on third fingerstall, and the output shaft of the first power source sequentially passes through first angle sensor and the first tooth The side of wheel, the second fingerstall is equipped with mate gear, and mate gear is engaged with first gear, and the first angle of each finger mechanism passes Sensor and the first power source and the back of the hand portion are connect with the controller.

The hand ectoskeleton both hands are servo-actuated convalescence device, and the back of the hand portion includes fixed plate, has been mounted side by side three in fixed plate A fingerstall control mechanism adds a thumb stall control mechanism, wherein three fingerstall control mechanisms are respectively the control of the first fingerstall Mechanism, the second fingerstall control mechanism and third fingerstall control mechanism, the first fingerstall control mechanism are connect with the index finger mechanism, the Two fingerstall control mechanisms are connect with the middle finger mechanism, third fingerstall control mechanism respectively with the nameless mechanism and described small Refer to mechanism connection, thumb stall control mechanism is connected with the thumb mechanism；

First fingerstall control mechanism, the second fingerstall control mechanism and third fingerstall control mechanism include sliding rail support, electricity Machine support, small-size rack, the second power source, second angle sensor and second gear, wherein sliding rail support is mounted on fixed plate On, sliding rail support is equipped with miniature guide rail, and motor support base is mounted in miniature guide rail and can slide in miniature guide rail, and second is dynamic Power source is mounted on motor support base, and the output shaft of the second power source sequentially passes through second angle sensor and second gear, small-sized Rack gear is mounted on sliding rail support, and second gear is engaged with the small-size rack；

First fingerstall control mechanism and the second fingerstall control mechanism also respectively include a connecting rod, the first fingerstall control mechanism One end of connecting rod is mounted on first motor support, and the other end is connect with the third fingerstall of index finger mechanism, and the second fingerstall controls machine One end of the connecting rod of structure is mounted on the second motor support base, and the other end is connect with the third fingerstall of middle finger mechanism；

Third fingerstall control mechanism further includes two connecting rods, and one end of two connecting rods of third fingerstall control mechanism is mounted on Third motor support base, the other end are successively connected with the third fingerstall of nameless mechanism and little finger of toe mechanism.

The hand ectoskeleton both hands are servo-actuated convalescence device, and the thumb mechanism that hand ectoskeleton suffers from hand rehabilitation device includes thumb First fingerstall, the second fingerstall of thumb, thumb third fingerstall mechanism, the first cable of thumb, the second cable of thumb, thumb first angle Sensor, thumb first gear, the first power source of thumb, thumb third fingerstall mechanism include that third knuckle applicator ring and third refer to Save gear；

Wherein, the first fingerstall of thumb and the second fingerstall of thumb are rotatablely connected, in the second fingerstall of thumb and thumb third fingerstall The rotation connection of third knuckle gear, third knuckle gear and third knuckle applicator ring be connected, third knuckle applicator ring and the back of the hand The small rod of thumb stall control mechanism in portion is rotatablely connected；The first fingerstall of thumb is equipped with the first line wheel of thumb, thumb the One line wheel is located at the junction of the first fingerstall of thumb Yu the second fingerstall of thumb, and thumb third fingerstall is equipped with the second line wheel of thumb, The second line wheel of thumb is located at the junction of thumb third fingerstall Yu the second fingerstall of thumb, is coaxially connected with third knuckle gear, depending on For a part；One end of the first cable of thumb is fixed in the first line wheel of thumb, and the other end is fixed in the second line wheel of thumb, One end of the second cable of thumb is fixed in the first line wheel of thumb, and the other end is fixed in the second line wheel of thumb, thumb First Line Cable intersects with the second cable of thumb, and the first power source of thumb is mounted on the second fingerstall of thumb, the output of the first power source of thumb Axis sequentially passes through thumb first angle sensor and thumb first gear, and third knuckle gear is engaged with thumb first gear, thumb Refer to that first angle sensor and the first power source of thumb and the back of the hand portion are connect with the controller.

The hand ectoskeleton both hands are servo-actuated convalescence device, and the thumb stall control mechanism in the back of the hand portion includes an internal gear Connecting rod, a small rod, thumb motor support base, the second power source of thumb, thumb second gear, thumb second angle is bent to pass Sensor；Wherein, thumb motor support base is fixedly connected with hand back plate, and the second power source of thumb is mounted on thumb motor support base, thumb Refer to that the output shaft of the second power source sequentially passes through thumb second angle sensor and thumb second gear, thumb second gear and interior The engagement of tooth bending connecting rod, small rod and internal gear bending connecting rod rotation connection.

The hand ectoskeleton both hands are servo-actuated convalescence device, and rack gear mounting groove is arranged on sliding rail support, passes through bonding Small-size rack is bonded in the rack gear mounting groove of sliding rail support by mode.

The hand ectoskeleton both hands are servo-actuated convalescence device, and it includes finger section, the back of the hand portion that hand ectoskeleton, which suffers from hand rehabilitation device, The finger section that the hand ectoskeleton health hand dominates convalescence device includes four finger mechanisms, is thumb mechanism, index finger machine respectively Structure, middle finger mechanism, nameless mechanism；Wherein index finger mechanism, middle finger mechanism, nameless mechanism include second knuckle fingerstall machine Structure, third knuckle fingerstall mechanism, MCP joint link lever mechanism；Second knuckle fingerstall mechanism includes second equipped with mate gear Finger joint fingerstall, and the fingerstall connector being connected to below fingerstall；Third knuckle fingerstall mechanism includes third knuckle fingerstall, pinion gear Axis, third knuckle angular transducer, fingerstall connector, pinion shaft are mounted on the top of third knuckle fingerstall, with second knuckle The mate gear of fingerstall side engages, and third knuckle angular transducer is mounted on gear shaft, and fingerstall connector is connected to third The lower section of finger joint fingerstall；MCP joint link lever mechanism includes MCP connecting rod, connecting rod and MCP angular transducer, MCP angular transducer It is mounted at the rotation connection of MCP connecting rod and connecting rod.

The hand ectoskeleton both hands are servo-actuated convalescence device, and hand ectoskeleton health hand dominates the thumb mechanism packet of convalescence device Include third knuckle applicator ring, third knuckle gear sheet, thumb second knuckle fingerstall, leading small rod, bending connecting rod, thumb master Lead angular transducer, thumb dominate second angle sensor, thumb dominate second angle sensor be mounted on bending connecting rod with At the rotation connection of hand backboard；Thumb dominates angular transducer and is mounted on thumb second knuckle fingerstall and third knuckle applicator ring Rotation vice division chief, third knuckle gear sheet is in third knuckle applicator ring and the perpendicular side in thumb the first two articulation center Plane is connected, and the center of third knuckle gear sheet is overlapped with the joint the thumb PIP centre of gyration, and is nibbled with pinion shaft It closes, second angle sensor measures the rotation angle of gear shaft.

The hand ectoskeleton both hands are servo-actuated convalescence device, dominate the index finger machine of convalescence device in hand ectoskeleton health hand Structure, middle finger mechanism, in nameless mechanism, second knuckle fingerstall mechanism and third knuckle fingerstall mechanism are rotatablely connected；Refer in third It saves in fingerstall mechanism, gear shaft is rotatablely connected above third knuckle fingerstall with fingerstall, third knuckle fingerstall mechanism and the joint MCP Link mechanism rotation connection；Wherein the MCP connecting rod in MCP joint link lever mechanism and connecting rod form rotation connection；The joint MCP connects The connecting rod of linkage and the back of the hand portion are rotatablely connected；In thumb mechanism, thumb second knuckle fingerstall and third knuckle applicator ring Rotation connection, third knuckle applicator ring and leading small rod are rotatablely connected, and dominate small rod and bending connecting rod rotation connection, curved Bent connecting rod and the back of the hand portion are rotatablely connected.

The hand ectoskeleton both hands are servo-actuated convalescence device, and hand ectoskeleton health hand dominates the back of the hand portion packet in convalescence device Hand backboard and palm connector are included, the both ends of palm connector are connected on hand backboard.

The advantages of the utility model and beneficial effect are:

1, inventor is in applied application for a patent for invention (application number: the needle proposed in 201710060563.3) before Line coupling and the crank block combination drive scheme of opponent's exoskeleton rehabilitation device have good portability and reliability, in order to Auxiliary, which suffers from hand and carries out the routine life activities of different occasions, provides possibility.On the basis of this combination drive scheme, this The complete exoskeleton rehabilitation system that utility model proposes has increased setting for thumb drives mechanism newly with auxiliary for the rehabilitation of thumb Meter can more fully help to suffer from hand progress health so that convalescence device can realize that the number of degrees of freedom of finger movement further increases Refreshment white silk and everyday actions auxiliary (and in the convalescence device in Patent No. 201710060563.3 before four refer to mechanisms Layout optimization design is done).Simultaneously, the utility model will be directed to rehabilitation institution's high integration of different finger joints in the back of the hand machine On structure, while its control system can be mounted on the forearm of people, make whole system easy donning and portable degree is high.Finally, whole A device realize can to patient carry out passive rehabilitation training and routine hand movement auxiliary after, joined a kind of dermoskeleton Bone both hands are servo-actuated method of rehabilitation, and except it is upper it is described suffer from hand rehabilitation exoskeleton device in addition to normal hand ectoskeleton master, It can preferably realize autonomous targetedly rehabilitation training, improve the effect of rehabilitation training.

2, the hand ectoskeleton both hands in the utility model are servo-actuated convalescence device, by controlling the first power source and second simultaneously Power source, and under the cooperation of the line coupled motions in the first line wheel and the second line wheel, can be realized the hand of patient mostly certainly By the movement spent, temper it effectively.Device has carried out appropriate in nameless and little finger of toe third knuckle driving Coupling, using a power source to its freedom degree drive, meet it is practical under the premise of, further simplify device structure, protect The portability of device is held；Device in the utility model can reasonably be arranged first according to the actual needs of rehabilitation training The radius of line wheel and the second line wheel, when the shape of first line wheel and second line wheel is circle, the First Line The ratio between the radius of the radius of wheel and second line wheel can be selected in as 1~2.2 (preferred value 1.83), and the device is made to reach different Exercise effect；Most of components of device in the utility model can be process by 3D printing technique, make its with The matching of patient is more preferable, to reach optimal rehabilitation efficacy.

Detailed description of the invention

Fig. 1 is the structural schematic diagram that the utility model hand ectoskeleton suffers from hand rehabilitation device；

Fig. 2 is the structural schematic diagram that the utility model hand ectoskeleton health hand dominates convalescence device.

Fig. 3-Fig. 4 is the structural schematic diagram of the utility model thumb mechanism.Wherein, Fig. 3 is main view；Fig. 4 is perspective view.

Fig. 5-Fig. 7 is the structural schematic diagram of the first fingerstall of the utility model, the second fingerstall and third fingerstall.Wherein, Fig. 5 is Main view；Fig. 6 is stereogram exploded view；Fig. 7 is top exploded view.

Fig. 8 is the attachment structure schematic diagram of index finger mechanism provided by the utility model Yu the first fingerstall control mechanism.

Fig. 9 is thumb mechanism entirety assembling schematic diagram provided by the utility model.

Figure 10 is the schematic diagram in the joint the utility model thumb DIP, the joint MCP and the joint CMC.

Figure 11 is the bending process schematic diagram of the first fingerstall and the second fingerstall provided by the utility model.

Figure 12 be Dan Zhi mechanism provided by the utility model (such as: index finger mechanism or middle finger mechanism) be bending state when knot Structure schematic diagram.

Wherein: 1 index finger mechanism；2 middle finger mechanisms；3 nameless mechanisms；4 little finger of toe mechanisms；5 first fingerstall；6 second fingerstall；7 Third fingerstall；8 first cables；9 second cables；10 first power sources；11 first angle sensors；12 first gears；14 first Line wheel；15 second line wheels；16 mate gears；17 fixed plates；18 first fingerstall control mechanisms；19 second fingerstall control mechanisms；20 Third fingerstall control mechanism；21 sliding rail supports；22 motor support bases；23 small-size racks；24 second power sources；25 second angles sensing Device；26 second gears；27 connecting rods；28 miniature guide rails；40 thumb stall control mechanisms；41 internal gears are bent connecting rod；42 little Lian Bar；43 thumb motor support bases；44 the second power sources of thumb；45 thumb second gears；46 thumb second angle sensors；47 thumbs Mechanism；48 the first fingerstall of thumb；49 the second fingerstall of thumb；50 thumb third fingerstall mechanisms；51 third knuckle applicator rings；52 thirds Finger joint gear；53 the first cables of thumb；54 the second cables of thumb；55 thumb first angle sensors；56 thumb first gears；57 The first power source of thumb；58 the first line wheels of thumb；59 the second line wheels of thumb；60 thumb mechanisms；61 index finger mechanisms；62 middle finger machines Structure；63 nameless mechanisms；64 second knuckle fingerstall mechanisms；65 third knuckle fingerstall mechanisms；66, MCP joint link lever mechanism；67 match Close gear；68 second knuckle fingerstall；70 third knuckle fingerstall；71 pinion shafts；72 third knuckle angular transducers；74, MCP connects Bar；75 connecting rods；76, MCP angular transducer；77 third knuckle applicator rings；78 thumb second knuckle fingerstall；79 leading little Lian Bar；80 bending connecting rods；81 thumbs dominate angular transducer；82 thumbs dominate second angle sensor；83 hand backboards；Third Finger joint gear sheet 84.

Specific embodiment

In the specific implementation process, the utility model provides a kind of servo-actuated method of rehabilitation of hand ectoskeleton both hands, comprising:

(1) by displacement sensing apparatus by healthy hand (unlimited right-hand man) carry out various routine movements (such as: grab Hold) each articulations digitorum manus real-time measurement comes out.

(2) by measurement obtain healthy hands movement when each finger joint angle displacement data, be transferred to will to suffer from hand into Row rehabilitation training either assists the hand exoskeleton device for suffering from hand.

(3) exoskeleton device for obtaining the angle displacement data of healthy finger segments is gone using the angle displacement as target position Hand is suffered from driving, is allowed and is suffered from hand and make and the identical movement of health hand.

Wherein, by displacement sensing apparatus by healthy hand (unlimited right-hand man) carry out various routine movements (such as: Grasping) each articulations digitorum manus real-time angle displacement is when measuring, comprising:

I: the device (i.e. the hand ectoskeleton health hand dominates convalescence device) of measurement angle data is worn on health On hand, and make each revolute pair articulation axle center line of ectoskeleton and the revolute pair joint rotational axis of corresponding finger-joint Heart line is overlapped.

II: the joint MCP can be considered as to one when to the measurement for carrying out MCP cradle head angle displacement and be connected to fixed machine The revolute pair of frame is dominated the four-bar mechanism principle of convalescence device using hand ectoskeleton health hand, is measured with angular transducer and remove MCP The angular displacement of other secondary outer revolute pairs of articulation, by calculating the angular displacement data to obtain the joint MCP indirectly.

III: when carrying out the measurement of angle displacement to the joint PIP, the above-mentioned survey in the displacement of MCP joint angles can also be used The method of four-bar mechanism principle used in amount measures, but before patent application (application number: 201710060563.3) driving second knuckle is that motor is driven by direct geared in, so in the measurement joint PIP angular displacement Data are that angular transducer is placed in gearing shaft, by the angle displacement that PIP revolute pair is calculated.

IV: when carrying out the measurement of angle displacement to the joint DIP, above-mentioned two methods can be used.Because of the joint DIP Surrounding space is enough, angular transducer directly can also be directly installed on the joint DIP side, its centre of gyration is made to pass through DIP The centre of gyration in joint directly measures the angle displacement of DIP.But in the present invention, because manpower is transported naturally Coupled relation when dynamic between DIP and the joint PIP is more strong, and drives in the joint DIP that hand ectoskeleton suffers from hand rehabilitation device Dynamic part uses the line coupling scheme of drive lacking, can be directly direct by calculating coupled relation by the angular displacement in the joint PIP Obtain the angular displacement data in the joint DIP.In the utility model, is coupled and closed using the movement by calculating the joint PIP joint D IP System, the angular displacement data in the joint DIP are obtained with PIP angular displacement data, referring to before patent application (application number: 201710060563.3)。

V: the record of angle displacement data can be realized with transmission by single-chip microcontroller.

In the specific implementation process, in order to solve volume existing for hand exoskeleton rehabilitation device of the existing technology it is big, The problem of weight is big, portability is poor and the quantity of the mechanical linkage of whole device is more, and structure is complicated, the utility model is also A kind of servo-actuated convalescence device of hand ectoskeleton both hands is provided, including hand ectoskeleton suffers from hand rehabilitation device, hand ectoskeleton health hand master Convalescence device is led, hand ectoskeleton health hand dominates convalescence device and is placed to health on hand, and hand ectoskeleton health hand dominates rehabilitation dress It sets and controller is connected by data signal line, controller connects hand ectoskeleton by control signal wire and suffers from hand rehabilitation device, entirely It is wearable that hand ectoskeleton both hands are servo-actuated convalescence device.

As shown in Fig. 1, Fig. 3-Fig. 9, Figure 12, the utility model hand ectoskeleton suffers from hand rehabilitation device setting finger section, the back of the hand Portion, gloves and controller, structure specifically include that index finger mechanism 1, middle finger mechanism 2, nameless mechanism 3, little finger of toe mechanism 4, first Fingerstall 5, the second fingerstall 6, third fingerstall 7, the first cable 8, the second cable 9, the first power source 10, first angle sensor 11, First gear 12, the first line wheel 14, the second line wheel 15, mate gear 16, fixed plate 17, the first fingerstall control mechanism 18, second Fingerstall control mechanism 19, third fingerstall control mechanism 20, sliding rail support 21, motor support base 22, small-size rack 23, the second power source 24, second angle sensor 25, second gear 26, connecting rod 27, miniature guide rail 28, thumb stall control mechanism 40, internal gear are curved Bent connecting rod 41, small rod 42, thumb motor support base 43, the second power source of thumb 44, thumb second gear 45, second jiao of thumb Spend sensor 46, thumb mechanism 47, the first fingerstall of thumb 48, the second fingerstall of the thumb 49, (thumb the of thumb third fingerstall mechanism 50 Tri-finger stall mechanism 50 includes third knuckle applicator ring 51 and third knuckle gear 52), the first cable of thumb 53, the second cable of thumb 54, thumb first angle sensor 55, thumb first gear 56, the first power source of thumb 57, the first line wheel of thumb 58, thumb Two line wheels 59 etc., specific structure is as follows:

The finger section that the hand ectoskeleton suffers from hand rehabilitation device includes four finger mechanisms (including index finger mechanism 1, middle finger machine Structure 2, nameless mechanism 3, little finger of toe mechanism 4 etc.) and a thumb mechanism 47 (including thumb stall control mechanism 40 etc.), this finger The finger mechanism that mechanism and hand ectoskeleton health hand recited above dominate convalescence device is different.Four finger mechanisms are food respectively Refer to mechanism 1, middle finger mechanism 2, nameless mechanism 3, little finger of toe mechanism 4, wherein index finger mechanism 1, middle finger mechanism 2, nameless mechanism 3 Component part is identical, though and the component part of little finger of toe mechanism 4 and index finger mechanism 1, middle finger mechanism 2,3 phase of nameless mechanism Together, but in order to which space layout is convenient, it is changed into mirror image placement.Each finger mechanism includes three fingerstall, the first cable 8, the second cable 9 (line coupling is used), the first power source 10, first angle sensor 11 and first gear 12, the bottom of each fingerstall Portion is mounted on a finger joint connector.

As shown in Fig. 3-Fig. 7, three fingerstall are respectively the first fingerstall 5, the second fingerstall 6 and third fingerstall 7, the first fingerstall 5 It being rotatablely connected with the second fingerstall 6, the second fingerstall 6 is rotatablely connected with third fingerstall 7, and third fingerstall 7 and the back of the hand portion are rotatablely connected, the One fingerstall 5 is equipped with the first line wheel 14, and the first line wheel is located at the junction of the first fingerstall 5 and the second fingerstall 6, on third fingerstall 7 Equipped with the second line wheel 15, the second line wheel 15 is located at the junction of third fingerstall 7 and the second fingerstall 6, and one end of the first cable 8 is fixed In the first line wheel 14, the other end is fixed in the second line wheel 15, and one end of the second cable 9 is fixed in the first line wheel 14, separately One end is fixed in the second line wheel 15, and the first cable 8 intersects with the second cable 9, and the first power source 10 is mounted on third fingerstall 7 On, the output shaft of the first power source 10 sequentially passes through first angle sensor 11 and first gear 12, the one side of the second fingerstall 6 Equipped with mate gear 16, mate gear 16 is engaged with first gear 12, the first angle sensor 11 of each finger mechanism and One power source 10 and the back of the hand portion are connect with the controller.In addition, the another side of the second fingerstall 6 is equipped with bilateral company Unilateral connector 7-1 is arranged in the side of fitting 6-1, third fingerstall 7.

The back of the hand portion that the hand ectoskeleton suffers from hand rehabilitation device includes fixed plate 17, be mounted side by side in fixed plate 17 there are three Fingerstall control mechanism adds a thumb stall control mechanism, wherein three fingerstall control mechanisms are respectively the first fingerstall control machine Structure 18, the second fingerstall control mechanism 19 and third fingerstall control mechanism 20, the first fingerstall control mechanism 18 and the index finger mechanism 1 Connection, the second fingerstall control mechanism 19 connect with the middle finger mechanism 2, third fingerstall control mechanism 20 respectively with the third finger Mechanism 3 and the little finger of toe mechanism 4 connection, thumb stall control mechanism are connected with the thumb mechanism.

As shown in Fig. 1, Fig. 8, Figure 12, the first fingerstall control mechanism 18, the second fingerstall control mechanism 19 and third fingerstall control Mechanism 20 processed include sliding rail support 21, motor support base 22 (wherein the first fingerstall control mechanism it is corresponding be first motor support, It is third motor support base that it is the second motor support base, corresponding third fingerstall control mechanism that second fingerstall control mechanism is corresponding, often The shape of a motor support base slightly has difference), small-size rack 23, the second power source 24, second angle sensor 25 and second gear 26.Wherein sliding rail support 21 is mounted in fixed plate 17, and sliding rail support 21 is equipped with miniature guide rail 28, and motor support base 22 is mounted on It can slide in miniature guide rail 28 and in miniature guide rail 28, the second power source 24 is mounted on motor support base 22, the second power source 24 output shaft sequentially passes through second angle sensor 25 and second gear 26, and small-size rack 23 is mounted on sliding rail support 21, Second gear 26 is engaged with the small-size rack 23.Specifically, rack gear mounting groove can be set on sliding rail support 21, by viscous Small-size rack 23 is bonded in the rack gear mounting groove of sliding rail support 21 by the mode of knot.

First fingerstall control mechanism 18 and the second fingerstall control mechanism 19 also respectively include a connecting rod 27, the control of the first fingerstall One end of the connecting rod 27 of mechanism 18 is mounted on first motor support 22, and the other end is connect with the third fingerstall 7 of index finger mechanism 1, One end of the connecting rod 27 of second fingerstall control mechanism 19 is mounted on the second motor support base 22, and the of the other end and middle finger mechanism 2 Tri-finger stall 7 connects.

Third fingerstall control mechanism 20 further includes two connecting rods 27, and the one of two connecting rods 27 of third fingerstall control mechanism 20 End is mounted on third motor support base 22, and the other end is successively connected with the third fingerstall 7 of nameless mechanism 3 and little finger of toe mechanism 4.

The thumb stall control mechanism 40 in the back of the hand portion includes that an internal gear is bent connecting rod 41, a small rods 42, thumb Refer to motor support base 43, the second power source of thumb 44, thumb second gear 45, thumb second angle sensor 46.Wherein, thumb electricity Machine support 43 is fixedly connected with hand back plate 17, and the second power source of thumb 44 is mounted on thumb motor support base 43, and thumb second is dynamic The output shaft in power source 44 sequentially passes through thumb second angle sensor 46 and thumb second gear 45, thumb second gear 45 and interior Tooth bending connecting rod 41 engages, and small rod 42 and internal gear bending connecting rod 41 are rotatablely connected.

The thumb mechanism 47 that hand ectoskeleton suffers from hand rehabilitation device includes the first fingerstall of thumb 48, the second fingerstall of thumb 49, thumb Refer to third fingerstall mechanism 50 (thumb third fingerstall mechanism 50 includes third knuckle applicator ring 51 and third knuckle gear 52), thumb First cable 53, the second cable of thumb 54, thumb first angle sensor 55, thumb first gear 56, the first power source of thumb 57。

Wherein, the first fingerstall of thumb 48 and the second fingerstall of thumb 49 are rotatablely connected, the second fingerstall of thumb 49 and thumb third Third knuckle gear 52 in fingerstall is rotatablely connected, and third knuckle gear 52 and third knuckle applicator ring 51 are connected, third knuckle The small rod 42 of thumb stall control mechanism 40 in applicator ring 51 and the back of the hand portion is rotatablely connected.The first fingerstall of thumb 48 is equipped with The first line wheel of thumb 58 (see Fig. 3-Fig. 4, Fig. 9), the first line wheel of thumb are located at the first fingerstall of thumb 48 and the second fingerstall of thumb 49 Junction, thumb third fingerstall 50 is equipped with the second line wheel of thumb 59, and the second line wheel of thumb 59 is located at thumb third fingerstall 50 With the junction of the second fingerstall of thumb 49, one end of the first cable of thumb 53 is fixed in the first line wheel of thumb 58, and the other end is solid It is scheduled in the second line wheel of thumb 59, one end of the second cable of thumb 54 is fixed in the first line wheel of thumb 58, and the other end is fixed on In the second line wheel of thumb 59, the first cable of thumb 53 intersects with the second cable of thumb 54, and the first power source of thumb 57 is mounted on thumb Refer on the second fingerstall 49, the output shaft of the first power source of thumb 57 sequentially passes through thumb first angle sensor 55 and thumb first Gear 56, third knuckle gear 52 are engaged with thumb first gear 56, the first power of thumb first angle sensor 55 and thumb Source 57 and the back of the hand portion are connect with the controller.

As shown in Fig. 2, hand ectoskeleton health hand, which dominates convalescence device, is put into health on hand for displacement data acquisition, will be good for The displacement data of health hand is transmitted to controller, issues order-driven hand ectoskeleton by controller and suffers from hand rehabilitation device.Outside the hand Bone health hand dominates convalescence device and finger section, the back of the hand portion is arranged, and structure includes: thumb mechanism 60, index finger mechanism 61, middle finger Mechanism 62, nameless mechanism 63 (for finger section), second knuckle fingerstall mechanism 64, third knuckle fingerstall mechanism 65, MCP are closed Save link mechanism 66, mate gear 67, second knuckle fingerstall 68, fingerstall connector, third knuckle fingerstall 70, pinion shaft 71, Third knuckle angular transducer 72, MCP connecting rod 74, connecting rod 75, MCP angular transducer 76, (thumb portion) third knuckle are worn It wears ring 77, thumb second knuckle fingerstall 78, leading small rod 79, bending connecting rod 80, thumb and dominates angular transducer 81, thumb Leading second angle sensor 82, hand backboard 83 etc., specific structure is as follows:

The finger section that the hand ectoskeleton health hand dominates convalescence device includes four finger mechanisms, is thumb mechanism respectively 60, index finger mechanism 61, middle finger mechanism 62, nameless mechanism 63.Wherein index finger mechanism 61, middle finger mechanism 62, nameless mechanism 63 Component part be identical (size difference only in terms of length, width, height, motion principle are all identical), include the Two finger joint fingerstall mechanisms 64, third knuckle fingerstall mechanism 65, MCP joint link lever mechanism 66.Second knuckle fingerstall mechanism 64 includes There are the second knuckle fingerstall 68 equipped with mate gear 67, and the fingerstall connector being connected to below fingerstall.Third knuckle fingerstall machine Structure 65 includes third knuckle fingerstall 70, pinion shaft 71, third knuckle angular transducer 72, fingerstall connector.Pinion shaft 71 It is mounted on the top of third knuckle fingerstall 70, is engaged with the mate gear 67 of 68 side of second knuckle fingerstall, third knuckle angle Sensor 72 is mounted on gear shaft 71, and fingerstall connector is connected to the lower section of third knuckle fingerstall 70.MCP joint link lever mechanism 66 include MCP connecting rod 74, connecting rod 75 and MCP angular transducer 76, and MCP angular transducer 76 is mounted on MCP connecting rod 74 and connects At the rotation connection of hack lever 75.

The thumb mechanism that hand ectoskeleton health hand dominates convalescence device includes third knuckle applicator ring 77, third knuckle gear Piece 84, thumb second knuckle fingerstall 78, leading small rod 79, bending connecting rod 80, thumb dominate angular transducer 81, thumb master Second angle sensor 82 is led, thumb dominates turn that second angle sensor 82 is mounted on bending connecting rod 80 and hand backboard 83 Dynamic junction.Thumb dominates the rotation that angular transducer 81 is mounted on thumb second knuckle fingerstall 68 and third knuckle applicator ring 77 Vice division chief, third knuckle gear sheet 84 are flat in third knuckle applicator ring 77 and the perpendicular side in thumb the first two articulation center Face is connected, and the center of third knuckle gear sheet 84 is overlapped with the joint the thumb PIP centre of gyration, and is nibbled with pinion shaft 71 It closes, second angle sensor 82 can measure the rotation angle of gear shaft 71.

In the index finger mechanism 61, Zhong Zhi mechanism 62, nameless mechanism 63 that hand ectoskeleton health hand dominates convalescence device, the Two finger joint fingerstall mechanisms 64 and third knuckle fingerstall mechanism 65 are rotatablely connected；In third knuckle fingerstall mechanism 65, gear shaft 71 It is rotatablely connected above third knuckle fingerstall 70 with fingerstall, third knuckle fingerstall mechanism 65 and MCP joint link lever mechanism 76 rotate Connection；Wherein the MCP connecting rod 74 in MCP joint link lever mechanism 76 and connecting rod 75 form rotation connection；MCP joint link lever mechanism Connecting rod 75 and hand backboard 83 be rotatablely connected.In thumb mechanism, thumb second knuckle fingerstall 78 and third knuckle are worn Ring 77 is rotatablely connected, and third knuckle applicator ring 77 and leading small rod 79 are rotatablely connected, and dominates small rod 79 and bending connecting rod 80 rotation connections, bending connecting rod 80 and hand backboard 83 are rotatablely connected.

It includes hand backboard 83 and palm connector that hand ectoskeleton health hand, which dominates the back of the hand portion in convalescence device, and palm connects The both ends of fitting are connected on hand backboard 83.

It is noted that the hand ectoskeleton of the utility model full version suffer from hand rehabilitation device than before (number of patent application: 201710060563.3) it has done and has been improved (see Fig. 5-Fig. 7) in the design aspect of three fingerstall:

1: the gear for being attached to the second fingerstall originally being changed to patch type, while the line wheel side of the second fingerstall is subtracted Patch gear is attached to line wheel side by way of screw either other fixations by thickness；

2: optimizing the design of the first fingerstall；

3: optimizing the design of third fingerstall.

Keep the structure of device more compact the direct benefit that these places optimize, carries out four finger mechanisms respectively Self-movement when will not generate and interfere with each other, while also because the space occupied of device between each finger reduces, further Increase the comfort of patient's wearing.

4: in terms of fingerstall control mechanism, improvement has also been made in terms of nameless and little finger of toe control, connection is nameless The connecting rod of the fingerstall of little finger of toe third knuckle has all been connected on a motor support base, because unknown in practical daily life campaign Refer to that the movement coupled relation of little finger of toe is more strong, thus share controller joint drive this mode meet it is practical before Putting can make device more compact compact instead, increase portability, see Fig. 1.

In the utility model, thumb structure and other differences of four fingers mechanism in design:

(1) cradle head that the thumb first knuckle designed only passes through side is connected with second knuckle fingerstall；

(2) design of thumb second knuckle fingerstall and the placement of thumb second knuckle power source and other four referred to mechanisms Difference, difference is that the power source for driving thumb second knuckle has been placed on thumb second knuckle fingerstall, corresponding It is the motor slot on thumb second knuckle fingerstall.And the power source of other four fingers mechanism driving second knuckles has been placed on third and has referred to It saves on fingerstall, corresponding is the motor slot of third knuckle fingerstall.Meanwhile in order to cooperate thumb second knuckle power source drive Second knuckle fingerstall, be connected third knuckle gear on third knuckle applicator ring.However cooperate the in other four fingers mechanisms The gear patch of two finger joint power source drive second knuckle fingerstall is connected with second knuckle fingerstall.

(3) there are two parts for the third knuckle mechanism of thumb: third knuckle applicator ring and third knuckle gear 52.And four Refer to third knuckle only one part in mechanism.

Hand ectoskeleton suffers from the hand back part of hand rehabilitation device by one piece of hand back plate, and motor support base can pass through with hand back plate Various ways are fixed together, and can also be integrally formed with 3D printing, the when integrally formed mode that the utility model uses.

The use process and principle of the servo-actuated convalescence device of the hand ectoskeleton both hands of the utility model hand and wrist are as follows:

One: the wearing mode with finger: the fixed plate 17 in the back of the hand portion (can be taken by finger joint connector for nylon Button), and be respectively provided with fixing groove in two sides of each fingerstall, velcro fastener can be passed through the fixing groove on fingerstall and It is linked together by way of suture with fingerstall, it, can when needing to carry out rehabilitation training using the device in the utility model With by gloves band, the back of the hand portion of the device is located on the back of the hand of patient at this time, and by the nylon hook band of velcro fastener and Buddhist nun Imperial suede band is torn, and the first fingerstall 5 of the device is stuck in the distal end finger joint of manpower, the middle-end that the second fingerstall 6 is stuck in manpower refers to On section, third fingerstall 7 is stuck in the left knee of manpower, and by the nylon hook band and nylon of the velcro fastener of each fingerstall bottom Suede band is bonded together again, so the hand ectoskeleton both hands in the utility model can be servo-actuated convalescence device and consolidated with manpower It is also such for being scheduled on and dominating the wearing of convalescence device for hand ectoskeleton health hand together.

Two: the design principle of thumb mechanism

The movement of thumb be for the overwhelming majority executes activitiess of daily life (for example grasp) it is indispensable, even Play certain decisive action.Because devising thumb rehabilitation institution for the integrality and practicability of entire mechanism.

As shown in Figure 10, when analyzing thumb movement, it was found that the kinematic relation of thumb is different from other fingers:

I: the root joint of thumb, that is, joint CMC is able to carry out the movement of 3D range, is equivalent to ball pair.

II: thumb can pass through CMC articulation center and be put down around one when executing revolution movement around the joint CMC Row is moved in the axis of middle finger.Especially when thumb stretches, the third knuckle of thumb can be along a circular conical surface (fortune for this thumb Dynamic description relationship, which is called, does " surgeons method ") movement, although actually thumb is when executing various movements Motion profile can become more complicated, but the method for this description movement of thumb most of the time is for realizing that thumb is main It is enough in terms of function.

III: the joint DIP and the joint MCP of thumb front end can only realize the rotary motion of single-degree-of-freedom.

For the kinematics situation of thumb, determine to use ectoskeleton solution below:

I: the third knuckle of thumb is driven with a set of four-bar mechanism.

II: the first two joint (joint DIP, MCP) of thumb is driven with line coupling scheme.

After carrying out the preliminary kinematics experiment of thumb, it is found that the covering device can satisfy basic thumb movement demand, it can It completes such as to movements such as the palm, stretching, extensions.

Thumb four-bar mechanism measuring angle principle: parallelogram principle；

In the present invention, the principle of line coupling is referring to Chinese patent application (application number 201710060563.3), when After the hand ectoskeleton both hands that patient has dressed the utility model are servo-actuated convalescence device, the axle center of the first line wheel 14 and the DIP of manpower The axis of rotation in joint (Distal Interphalangeal Point, distal interphalangeal joint) is overlapped, the axis of the second line wheel 15 The axis of rotation in the joint PIP (Proximal Interphalangeal Point, proximal phalangeal joints) of the heart and manpower is overlapped. Such as Fig. 1, Fig. 8, Figure 12, the first fingerstall 5 of each finger mechanism is identical with the principle of 6 rotoflector of the second fingerstall, herein with food It is illustrated for finger mechanism 1, can refer to Fig. 8, Figure 11, Figure 12, the second fingerstall 6 is rotated around third fingerstall 7 and first refers to Set 5 is as follows around the principle of the second fingerstall 6 rotation:

The output shaft of first power source 10 drives first gear 12 to be rotated, due to first gear 12 and the second fingerstall 6 On mate gear 16 engage, therefore by gear drive, will drive mate gear 16 and rotated, referring to Fig. 8, if in Fig. 8 First gear 12 rotate clockwise, then mate gear 16 can be made to rotate according to the direction of solid arrow in Fig. 8, due to cooperating teeth The structure that wheel 16 and the second fingerstall 6 are integrated, therefore the second fingerstall 6 and the first fingerstall 5 can be made to rotate relative to third fingerstall 7 Certain angle.As shown in figure 11, the first fingerstall 5 and the second fingerstall 6 from straight configuration are changed into bending state, i.e. Figure 11 at this time In M state be converted into N-state, the middle-end finger joint of patient and distal end finger joint can be made to be bent certain angle at this time；When first When fingerstall 5 is rotated relative to third fingerstall 7, due to the first line wheel 14, the second line wheel 15, the first cable 8 and the second cable 9 Line coupled motions, the first fingerstall 5 can be made to rotate a certain angle relative to the second fingerstall 6.It 1. and is 2. second referring to Figure 11 3. and 4. two fixing points in line wheel 15 are the two fixing points in the first line wheel 14, the first cable 8 and the second cable 9 can Think steel wire tightrope, the both ends of the first cable 8 be separately fixed at fixed point 2. with fixed point 3. on, the both ends point of the second cable 9 Be not fixed on fixed point 1. with fixed point 4. on, the first cable 8 and the second cable 9 intersect, when the first fingerstall 5 refers to relative to third When set 7 is rotated, the first line wheel 14 is rotated around the second line wheel 15.As shown in figure 11, but due to the first cable 8 and The both ends of two cables 9 are fixed, and therefore, the first cable 8 is wound in the first line wheel 14, while the second cable 9 is second It is wound in line wheel 15, therefore opposite second fingerstall 6 of the first fingerstall 5 can be made to rotate a certain angle, it can make patient Distal end finger joint rotated around the joint DIP, the first power source 10 continues that first gear 12 is driven to rotate, 5 He of the first fingerstall Second fingerstall 6 is converted to L state from N-state, therefore in the present invention, is only driven by first power source 10 It is dynamic, then the second fingerstall 6 can be made to rotate a certain angle and make around third fingerstall 7 by way of line coupled motions First fingerstall 5 rotates a certain angle around the second fingerstall 6, without being respectively provided with mechanical linkage at each finger-joint, saves The quantity of a large amount of mechanical linkage, the structure of the device greatly simplified and alleviates weight.

In the present invention, the shape of the first line wheel 14 and the second line wheel 15 can be round, the half of the first line wheel 14 Diameter can be identical with the radius of the second line wheel 15, i.e. structure shown in Fig. 1 and Figure 11.At this point, the first fingerstall 5 is around the The angular speed of two fingerstall 6 rotation is identical as the angular speed that the second fingerstall 6 is rotated around third fingerstall 7, i.e. the transmission ratio of line coupling It is 1；When the radius difference of the radius of the first line wheel 14 and the second line wheel 15, the first fingerstall 5 surrounds the angle of the second fingerstall 6 rotation Speed is different from the angular speed that the second fingerstall 6 is rotated around third fingerstall 7, if the radius of the first line wheel 14 is the second line wheel 15 Twice of radius.At this point, the first fingerstall 5 is the second fingerstall 6 around the rotation of third fingerstall 7 around the angular speed of the second fingerstall 6 rotation The transmission ratio of the 1/2 of the angular speed turned, i.e. line coupling is 2；When the shape of the first line wheel 14 and the second line wheel 15 is circle, The transmission ratio of line coupling is stable drive ratio.In the present invention, the transmission ratio of line coupling may be variable ratio, i.e., by the One line wheel 14 and the second line wheel 15 are designed as gradual change radius line wheel, and the radius of line wheel is not definite value.When the first line wheel 14 and second When line wheel 15 is gradual change radius, the first fingerstall 5 refers to respect to the second fingerstall 6 around third around the angular speed of the second fingerstall 6 rotation The angular speed of 7 rotation of set is to continue variation.However manpower one naturally stretching, extension or curved motion sequence in, the joint DIP Opposite angular speed to the joint PIP is also to continue change.So with gradual change radius line wheel being better able to that finger is allowed to reach one Natural motion sequence, more favorably and rehabilitation efficacy.But can also be according to when the actual conditions or practical manufacture of patient the considerations of, The shape of reasonable design the first line wheel 14 and the second line wheel 15.

In the present invention, the first fingerstall control mechanism 18 control index finger mechanism 1 third fingerstall 7 around the back of the hand portion into What the principle of row rotation and the third fingerstall 7 of the second fingerstall control mechanism 19 control middle finger mechanism 2 were rotated around the back of the hand portion Principle is identical, is illustrated by taking the first fingerstall control mechanism 18 as an example, referring to Fig. 8, Figure 12 and Fig. 1, the second power source 24 it is defeated Shaft drives second gear 26 to be rotated, and second gear 26 carries out horizontal movement on small-size rack 23, so that motor support base 22 slide in miniature guide rail 28, and the left knee of the index finger of patient and the third fingerstall 7 of index finger mechanism 1 pass through finger joint connector It is fixed, it can be considered a monolithic linkage, the monolithic linkage and the first fingerstall control mechanism 18 constitute a slider-crank mechanism, when Motor support base 22 in miniature guide rail 28 when sliding, and third fingerstall 7 and the left knee of patient are fixed together, therefore can make Third fingerstall 7 is rotated around the back of the hand portion, i.e., third fingerstall 7 drives the left knee of patient to surround the joint MCP (Metacarpophalangeal Point, metacarpophalangeal joints) are bent.

Three: in the present invention, controller be can be that (Programmable Logic Controller, can by PLC Programmed logic controller), single-chip microcontroller or arduino microcontroller and motor drive module composition, controller do not show in figure Out；First power source and the second power source can be micromotor, and micromotor can be subtracting for model GA12YN20-380 The revolving speed of speed motor, reduction ratio 1:380, decelerating motor is 34r/min, and first angle sensor and second angle sensor can To be the angular sensor of model SV01A103AEA01R00, the electricity of other models can also be selected according to the actual situation Machine and angular transducer.In terms of controlling program, program mainly includes the parts such as data acquisition filtering, PID control.

In terms of filtering, feedback transducer uses village field SV01A103AEA01R00 angular sensor, electricity when rotation Resistance is gradually increased from zero, and after turning over a complete cycle, resistance zero, sensor has apparent fluctuation and noise here.For This handles input signal, makes the wave for obtaining stable and continuous by increasing intermediate parameter, using the methods of limit filtration Shape stablizes control, is reliable.

In terms of PID control, prolonged debugging has been carried out on model machine, by the analysis to shake waveform, has been had selected One group of more appropriate parameter.9 decelerating motors on model machine can receive a pid control signal every about 10ms respectively, can It is more accurately controlled with realizing.

In addition, the material of the components of the device in the utility model can select plastics or lightweight according to the actual situation Metal.

The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model Within the scope of shield.

Claims (9)

1. a kind of hand ectoskeleton both hands are servo-actuated convalescence device, which is characterized in that suffer from hand rehabilitation device, hand dermoskeleton including hand ectoskeleton Bone health hand dominates convalescence device, and hand ectoskeleton health hand dominates convalescence device and is placed to health on hand, hand ectoskeleton health hand Leading convalescence device connects controller by data signal line, and controller connects hand ectoskeleton by control signal wire and suffers from hand rehabilitation Device；

Wherein, it includes finger section, the back of the hand portion and controller that hand ectoskeleton, which suffers from hand rehabilitation device,；The finger section includes four fingers Mechanism and a thumb mechanism, four finger mechanisms are respectively index finger mechanism, middle finger mechanism, nameless mechanism and little finger of toe mechanism, The mechanism composition of four finger mechanisms is identical, and each finger mechanism includes three fingerstall, the first cable, the second cable, first Power source, first angle sensor and first gear, the bottom of each fingerstall are mounted on a finger joint connector；

Three fingerstall are respectively the first fingerstall, the second fingerstall and third fingerstall, and the first fingerstall and the second fingerstall are rotatablely connected, and second Fingerstall and third fingerstall are rotatablely connected, and third fingerstall and the back of the hand portion are rotatablely connected, and the first fingerstall is equipped with the first line wheel, First Line Wheel is located at the junction of the first fingerstall and the second fingerstall, and third fingerstall is equipped with the second line wheel, and the second line wheel is located at third fingerstall With the junction of the second fingerstall, one end of the first cable is fixed in the first line wheel, and the other end is fixed in the second line wheel, and second One end of cable is fixed in the first line wheel, and the other end is fixed in the second line wheel, and the first cable intersects with the second cable, and first Power source is mounted on third fingerstall, and the output shaft of the first power source sequentially passes through first angle sensor and first gear, the The side of two fingerstall is equipped with mate gear, and mate gear is engaged with first gear, the first angle sensor of each finger mechanism It is connect with the controller with the first power source and the back of the hand portion.

2. hand ectoskeleton both hands according to claim 1 are servo-actuated convalescence device, which is characterized in that the back of the hand portion includes solid Fixed board is mounted side by side that there are three fingerstall control mechanisms in fixed plate plus a thumb stall control mechanism, wherein three fingerstall Control mechanism is respectively the first fingerstall control mechanism, the second fingerstall control mechanism and third fingerstall control mechanism, the first fingerstall control Mechanism processed is connect with the index finger mechanism, and the second fingerstall control mechanism is connect with the middle finger mechanism, third fingerstall control mechanism It is connect respectively with the nameless mechanism and the little finger of toe mechanism, thumb stall control mechanism is connected with the thumb mechanism；

First fingerstall control mechanism, the second fingerstall control mechanism and third fingerstall control mechanism include sliding rail support, motor branch Seat, small-size rack, the second power source, second angle sensor and second gear, wherein sliding rail support is mounted in fixed plate, sliding Rail support is equipped with miniature guide rail, and motor support base is mounted in miniature guide rail and can slide in miniature guide rail, the second power source It is mounted on motor support base, the output shaft of the second power source sequentially passes through second angle sensor and second gear, small-size rack It is mounted on sliding rail support, second gear is engaged with the small-size rack；

First fingerstall control mechanism and the second fingerstall control mechanism also respectively include a connecting rod, the connecting rod of the first fingerstall control mechanism One end be mounted on first motor support, the other end is connect with the third fingerstall of index finger mechanism, the second fingerstall control mechanism One end of connecting rod is mounted on the second motor support base, and the other end is connect with the third fingerstall of middle finger mechanism；

Third fingerstall control mechanism further includes two connecting rods, and one end of two connecting rods of third fingerstall control mechanism is mounted on third Motor support base, the other end are successively connected with the third fingerstall of nameless mechanism and little finger of toe mechanism.

3. hand ectoskeleton both hands according to claim 1 or 2 are servo-actuated convalescence device, which is characterized in that hand ectoskeleton suffers from hand The thumb mechanism of convalescence device includes the first fingerstall of thumb, the second fingerstall of thumb, thumb third fingerstall mechanism, thumb First Line Cable, the second cable of thumb, thumb first angle sensor, thumb first gear, the first power source of thumb, thumb third fingerstall machine Structure includes third knuckle applicator ring and third knuckle gear；

Wherein, the first fingerstall of thumb and the second fingerstall of thumb are rotatablely connected, and the in the second fingerstall of thumb and thumb third fingerstall The rotation connection of three finger joint gears, third knuckle gear and third knuckle applicator ring are connected, in third knuckle applicator ring and the back of the hand portion Thumb stall control mechanism small rod rotation connection；The first fingerstall of thumb is equipped with the first line wheel of thumb, thumb First Line Wheel is located at the junction of the first fingerstall of thumb and the second fingerstall of thumb, and thumb third fingerstall is equipped with the second line wheel of thumb, thumb Second line wheel is located at the junction of thumb third fingerstall Yu the second fingerstall of thumb, is coaxially connected with third knuckle gear, is considered as one A part；One end of the first cable of thumb is fixed in the first line wheel of thumb, and the other end is fixed in the second line wheel of thumb, thumb One end of second cable is fixed in the first line wheel of thumb, and the other end is fixed in the second line wheel of thumb, the first cable of thumb with The second cable of thumb intersects, and the first power source of thumb is mounted on the second fingerstall of thumb, the output shaft of the first power source of thumb according to Secondary to pass through thumb first angle sensor and thumb first gear, third knuckle gear engages with thumb first gear, thumb the One angular transducer and the first power source of thumb and the back of the hand portion are connect with the controller.

4. hand ectoskeleton both hands according to claim 2 are servo-actuated convalescence device, which is characterized in that the thumb stall in the back of the hand portion Control mechanism includes that an internal gear is bent connecting rod, a small rod, thumb motor support base, the second power source of thumb, thumb Second gear, thumb second angle sensor；Wherein, thumb motor support base is fixedly connected with hand back plate, the second power source of thumb It is mounted on thumb motor support base, the output shaft of the second power source of thumb sequentially passes through thumb second angle sensor and thumb Two gears, thumb second gear and internal gear bending connecting rod engagement, small rod and internal gear bending connecting rod rotation connection.

5. hand ectoskeleton both hands according to claim 2 are servo-actuated convalescence device, which is characterized in that be arranged on sliding rail support Small-size rack is bonded in the rack gear mounting groove of sliding rail support by rack gear mounting groove by way of bonding.

6. hand ectoskeleton both hands according to claim 1 are servo-actuated convalescence device, which is characterized in that hand ectoskeleton suffers from hand rehabilitation Device includes finger section, the back of the hand portion, and the finger section that the hand ectoskeleton health hand dominates convalescence device includes four finger mechanisms, It is thumb mechanism, index finger mechanism, middle finger mechanism, nameless mechanism respectively；Wherein index finger mechanism, middle finger mechanism, nameless mechanism It include second knuckle fingerstall mechanism, third knuckle fingerstall mechanism, MCP joint link lever mechanism；Second knuckle fingerstall mechanism includes There are the second knuckle fingerstall equipped with mate gear, and the fingerstall connector being connected to below fingerstall；Third knuckle fingerstall mechanism packet Third knuckle fingerstall, pinion shaft, third knuckle angular transducer, fingerstall connector are included, pinion shaft is mounted on third knuckle The top of fingerstall is engaged with the mate gear of second knuckle fingerstall side, and third knuckle angular transducer is mounted on gear shaft, Fingerstall connector is connected to the lower section of third knuckle fingerstall；MCP joint link lever mechanism includes MCP connecting rod, connecting rod and MCP angle Sensor, MCP angular transducer are mounted at the rotation connection of MCP connecting rod and connecting rod.

7. hand ectoskeleton both hands according to claim 6 are servo-actuated convalescence device, which is characterized in that hand ectoskeleton health hand master Lead convalescence device thumb mechanism include third knuckle applicator ring, third knuckle gear sheet, thumb second knuckle fingerstall, dominate it is small Connecting rod, bending connecting rod, thumb dominate angular transducer, thumb dominates second angle sensor, and thumb is dominated second angle and passed Sensor is mounted at the rotation connection of bending connecting rod and hand backboard；Thumb dominates angular transducer and is mounted on the finger of thumb second The rotation vice division chief of fingerstall and third knuckle applicator ring is saved, third knuckle gear sheet is closed in third knuckle applicator ring and thumb the first two It saves the perpendicular side plane of center of rotation to be connected, the center of third knuckle gear sheet and the joint thumb PIP centre of gyration weight It closes, and is engaged with pinion shaft, second angle sensor measures the rotation angle of gear shaft.

8. hand ectoskeleton both hands according to claim 6 are servo-actuated convalescence device, which is characterized in that in hand ectoskeleton health hand It dominates in the index finger mechanism, middle finger mechanism, nameless mechanism of convalescence device, second knuckle fingerstall mechanism and third knuckle fingerstall machine Structure rotation connection；In third knuckle fingerstall mechanism, gear shaft is rotatablely connected above third knuckle fingerstall with fingerstall, and third refers to Save fingerstall mechanism and the rotation connection of MCP joint link lever mechanism；The wherein MCP connecting rod and frame linking rod in MCP joint link lever mechanism At rotation connection；The connecting rod of MCP joint link lever mechanism and the back of the hand portion are rotatablely connected；In thumb mechanism, thumb second knuckle Fingerstall and the rotation connection of third knuckle applicator ring, third knuckle applicator ring and leading small rod are rotatablely connected, dominate small rod and It is bent connecting rod rotation connection, bending connecting rod and the back of the hand portion are rotatablely connected.

9. hand ectoskeleton both hands according to claim 6 are servo-actuated convalescence device, which is characterized in that hand ectoskeleton health hand master Leading the back of the hand portion in convalescence device includes hand backboard and palm connector, and the both ends of palm connector are connected to hand backboard On.