CN209004585U - A kind of hand functional training driving device - Google Patents

A kind of hand functional training driving device Download PDF

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Publication number
CN209004585U
CN209004585U CN201820681439.9U CN201820681439U CN209004585U CN 209004585 U CN209004585 U CN 209004585U CN 201820681439 U CN201820681439 U CN 201820681439U CN 209004585 U CN209004585 U CN 209004585U
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China
Prior art keywords
moving member
drive rod
finger
connecting rod
drive
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CN201820681439.9U
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Chinese (zh)
Inventor
王勇
武壮
卢涛
王海瑞
杨岩江
贺良国
张彦
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Hefei University of Technology
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Hefei University of Technology
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Abstract

The utility model discloses a kind of hand functional training driving devices, including rack, the moving member being slidably connected in the rack, the first drive rod and the second drive rod;One end ball-joint of first drive rod is on the moving member, the other end of first drive rod is hinged in finger training mechanism, also on the moving member, the other end of second drive rod is connected in finger training mechanism with the connection type that second drive rod and the moving member can be made to be constituted slider-rocker mechanism for ball-joint for one end of second drive rod.When the utility model is used, the bending stretching, extension training of finger both may be implemented, the interior receipts Outward Bound of finger also may be implemented.

Description

A kind of hand functional training driving device
Technical field
The utility model relates to rehabilitation training equipment technical fields, relate in particular to a kind of hand functional training driving dress It sets.
Background technique
Most of daily routines of people need the participation of hand that could complete, therefore hemiplegic patient is helped to improve and restore hand Motor function is an important content of hemiparalysis recovery.Country's medical resource is nervous at present, and the generally existing postoperative rehabilitation of patient Unconspicuous phenomenon.
There are some finger joint training devices can be by driving digital flexion stretching, extension to perform physical exercise, such as application number in the prior art Exoskeleton-type rehabilitation mechanical finger disclosed in Chinese patent application for 201710566105.7.But the driving of this finger Mechanism can only realize the bending stretching, extension training of finger, but cannot achieve the interior receipts Outward Bound of finger.
Utility model content
The technical problem to be solved by the utility model is to provide one kind can be realized simultaneously digital flexion stretching, extension and interior receipts The hand functional training driving device of Outward Bound.
In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution: a kind of hand functional training driving dress It sets, including rack, the moving member being slidably connected in the rack, the first drive rod and the second drive rod;
On the moving member, the other end of first drive rod is hinged on for one end ball-joint of first drive rod In finger training mechanism, one end of second drive rod also ball-joint on the moving member, second drive rod it is another One end is connected to finger instruction with the connection type that second drive rod and the moving member can be made to be constituted slider-rocker mechanism Practice in mechanism.
Further, the other end of second drive rod is connected in finger training mechanism by flexural pivot, the flexural pivot By ball seat, the sphere rotated and the club that is fixed on sphere can be constituted relative to ball seat, second drive rod it is another End is rotatably connected on the club of the flexural pivot.
Further, finger training mechanism is rotatably connected in the rack, is connected with connecting rod in finger training mechanism, The other end of second drive rod is rotatably connected on the connecting rod.
Further, the other end of second drive rod is equipped with multiple axis holes.
It further, further include the first drive module for driving the moving member to move back and forth, described first Drive module includes motor, shaft coupling and lead screw, and the output end of the motor is connect by the shaft coupling with the lead screw, institute Lead screw is stated to connect across the moving member and being threadedly engaged with the moving member.
It further, further include the second drive module for driving the moving member to move back and forth, described second Drive module includes drive shaft and connecting rod, and one end of the connecting rod is hinged on the moving member, the connecting rod The other end is hinged at the eccentric position of the drive shaft, and the moving member is collectively formed with the connecting rod, the drive shaft Slider-crank mechanism.
Further, one end of the connecting rod is hinged on the moving member by articulated support, the connecting rod One end be hinged in the articulated support, the articulated support is fixed on the moving member.
The beneficial effects of the utility model are embodied in:
In the utility model, when moving member does reciprocating linear motion, two kinds of movements may be implemented, first is that: the first drive rod Finger training mechanism is directly driven to drive finger to carry out bending stretching routine;Second is that: it is connecting rod by the second drive rod, with movement Part is made sliding block input, and finger training mechanism is driven to swing, and outreach fortune is received in metacarpophalangeal joints (carpomaetacarpal joint of thumb) to realize It is dynamic, the expansion action of clenching fist of the five fingers is imitated, achievees the purpose that each joint of training finger comprehensively.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of an embodiment of the present invention.
Fig. 2 is the structural schematic diagram of another embodiment of the utility model.
Fig. 3 is the structural schematic diagram that the utility model one implements middle finger joint training device.
Fig. 4 is enlarged drawing at A in Fig. 1.
Fig. 5 is the structural schematic diagram of articulated support during the utility model one is implemented.
Fig. 6 is the action principle figure that central projection mechanism is rotated during the utility model one is implemented.
Fig. 7 is the action principle figure of length adjustment mechanism during the utility model one is implemented.
Fig. 8 is that the utility model another kind realizes the connected mode schematic diagram for constituting slider-rocker mechanism.
The label of each component in attached drawing are as follows: 10 racks, 20 moving members, 30 finger joint training devices, 301 hand engaging members, 302 first connecting rods, 303 second connecting rods, 304 third connecting rods, 305 supporting elements, 306 transmission rods, 307 fourth links, 308 the 5th Connecting rod, 309 six-bar linkages, 01 distal phalanx, 02 middle phalanx, 03 proximal phalanx, 04 palm, 401 first drive rods, 402 Two drive rods, the club of 403 first flexural pivots, 404 fingerstall, 405 connecting rods, 501 motors, 502 shaft couplings, 503 lead screws, 504 hands Handle, 505 drive shafts, 506 connecting rods, 507 bearing blocks, 508 articulated supports, 60 pedestals.
Specific embodiment
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.It should be noted that not conflicting In the case where, the features in the embodiments and the embodiments of the present application can be combined with each other.
Referring to Fig. 1.
The utility model hand functional training driving device, including rack 10, the movement being slidably connected in the rack 10 Part 20, the first drive rod 401 and the second drive rod 402;
One end ball-joint of first drive rod 401 on the moving member 20, first drive rod 401 it is another End is hinged in finger training mechanism, and also ball-joint is on the moving member 20 for one end of second drive rod 402, and described the The other end of two drive rods 402 is can make second drive rod 402 be constituted slider-rocker mechanism with the moving member 20 Connection type is connected in finger training mechanism.
When moving member does reciprocating linear motion, two kinds of movements may be implemented, first is that: the first drive rod drives finger training machine Structure drives the finger to carry out bending stretching routine;Second is that: it is connecting rod, the rocker slider machine constituted with moving member by the second drive rod Structure input, drives finger training mechanism side-sway, to receive abduction exercise in metacarpophalangeal joints (carpomaetacarpal joint of thumb), imitates the five fingers Opening is clenched fist movement, achievees the purpose that each joint of training finger comprehensively.
It is described below two kinds and realizes the mode for constituting rocker slider.
The first is that referring to fig. 4, the other end of second drive rod 402 is connected to finger training mechanism by flexural pivot On, the flexural pivot by ball seat, the sphere rotated and the club 403 that is fixed on sphere can be constituted relative to ball seat, described the The other end of two drive rods 402 is rotatably connected on the club 403 of the flexural pivot.
Second is that, referring to Fig. 8, finger training mechanism is rotatably connected in the rack 10, solid in finger training mechanism It is connected to connecting rod 405, the other end of second drive rod 402 is rotatably connected on the connecting rod 405.
Such two ways, structure is simple, is easy production, directly formation slider-rocker mechanism.
In one embodiment, the other end of second drive rod 402 is equipped with multiple axis holes.It designs, may be implemented in this way Change 402 length of the second drive rod, realizes that interior abduction exercise amplitude of receiving is adjustable, to adapt to different use demands.
It in one embodiment, further include the first driving for driving the moving member 20 to move back and forth referring to Fig. 1 Module, first drive module include motor 501, shaft coupling 502 and lead screw 503, and the output end of the motor 501 passes through institute Shaft coupling 502 is stated to connect with the lead screw 503, the lead screw 503 pass through the moving member 20 and with 20 screw thread of moving member It is cooperatively connected.In use, motor rotates, after converting by lead screw, circular motion becomes linear motion, i.e. promotion moving member It does reciprocating linear motion.
It in one embodiment, referring to fig. 2, further include for driving the second driving that the moving member 20 moves back and forth Module, second drive module include drive shaft 505 and connecting rod 506, and one end of the connecting rod 506 is hinged on described On moving member 20, the other end of the connecting rod 506 is hinged at the eccentric position of the drive shaft 505, the moving member 20 Slider-crank mechanism is collectively formed with the connecting rod 506, the drive shaft 505.In use, rotate driving axis circles And power is provided, push moving member to do reciprocating linear motion by the slider-crank mechanism of composition.
Drive shaft can also use motor drive, when manual, handle 504, the drive shaft is arranged with manual actuation 505 is affixed with the handle 504, and the handle 504 is rotatably installed in the rack 10.
In one embodiment, referring to Fig. 1, the connecting rod 506 is length adjustable structure.It is needed with adapting to different uses It asks.In specific implementation, connecting rod can be made to seperated two-part, multiple pin holes being spaced apart are provided on every section, realize length It spends adjustable.
In specific implementation, referring to fig. 2, the handle 504 is rotatably installed in the rack 10 by two bearing blocks 507 On.
In one embodiment, it is hinged on referring to fig. 2 with Fig. 5, one end of the connecting rod 506 by articulated support 508 On the moving member 20, one end of the connecting rod 506 is hinged in the articulated support 508, the articulated support 508 It is fixed on the moving member 20;In specific implementation, articulated support is equipped with support shaft, and one end rotation of connecting rod is set in In the support shaft.
Above-mentioned finger training mechanism can be outer disclosed in the Chinese patent application application No. is 201710566105.7 Any equipment that finger can be tempered by moving member and the driving of the first drive rod such as skeleton-type rehabilitation mechanical finger.
Certainly, above-mentioned finger training mechanism can also be as follows using the structure of utility model people designed, designed:
Below referring again to Fig. 3.
In one embodiment, the finger training mechanism includes more than two hands being successively spaced apart from front to back Engaging member is provided with for carrying the position in each adjacent two hand engaging member between each adjacent two hand engaging member In front side hand engaging member relative to be located at rear side hand engaging member carry out reciprocating rotation center of rotation projector mechanism;
The center of rotation projector mechanism includes that first connecting rod 302, second connecting rod 303, third connecting rod 304 and setting exist The supporting element 305 on the hand engaging member 301 positioned at rear side in each adjacent two hand engaging member 301, described first One end of connecting rod 302 is hinged and connected with the supporting element 305, the other end of the first connecting rod 302 and the second connecting rod 303 One end be hinged and connected, before being located in the other end of the second connecting rod 303 and each adjacent two hand engaging member 301 The hand engaging member 301 of side is hinged and connected, and one end of the third connecting rod 304 is hinged and connected with the supporting element 305, and described The middle part (part i.e. between one end and the other end of second connecting rod) of the other end of three-link 304 and the second connecting rod 303 It is hinged and connected, and the hinged center in one end of the second connecting rod 303, the hinged center of the other end, the hinged center in middle part are positioned at same On straight line, the first connecting rod 302, the second connecting rod 303, the third connecting rod 304 and the supporting element 305 constitute parallel Quadrangular mechanism.
The action principle of above-mentioned this center of rotation projector mechanism is: referring to Fig. 6, ABCD represents center of rotation projection in figure Each hinged center of the parallelogram mechanism of mechanism, E are a bit on BC extended line, represent the hinged of the other end of second connecting rod Center, when the movement of above-mentioned parallelogram lindage, E point certain point F can move in a circle (can be two-way) on AD extended line, wherein empty Quasi- rod piece EF is parallel and equal with AB, CD, as long as F point is projected to movement of finger joint center, the hand knot of front side when implementation The center of rotation of the hand engaging member of component opposite posterior can be overlapped with movement of finger joint center, to eliminate sliding Phenomenon, referred to as center of rotation projector mechanism (can also claim instantaneous projector mechanism), in this way the branch in two neighboring hand engaging member Under the action of support and center of rotation projector mechanism, joint can be realized and rotate repeatedly, achieve the purpose that exercise.
Existing healing hand function device is not often because ectoskeleton center of rotation and hand joint center of rotation are overlapped, meeting Relative sliding phenomenon is generated, causes secondary injury, and the ectoskeleton center of rotation projector mechanism and finger-joint of the utility model Compatible degree is very high, is suitable for articulation central characteristics and carries out rehabilitation training to finger joint, can effectively ensure that exercise effect.
In one embodiment, five finger training mechanisms are set altogether, are respectively used to five fingers of corresponding training hand, and Four hand engaging members 301 are arranged in the finger joint training device altogether, refer to for corresponding respectively from front to back with remote section Bone 01, middle phalanx 02, proximal phalanx 03 and palm 04 are fixed to each other.It designs in this way, is just applicable in each phalanges of human finger Need of exercise, each joint of training patient, the flexible bandage of the hand engaging member 301 or Elastic buckle and hand are mutually solid It is fixed.Wherein, the finger training mechanism of corresponding middle finger can save the second drive rod.
In one embodiment, 305 position of supporting element is adjustably connected on the hand engaging member 301, to adapt to The length of different finger joints.
In specific implementation, can be by realizing that position is adjustable with flowering structure: the supporting element 305 be slidably connected at the hand On engaging member 301, and the direction that is slidably matched of the supporting element 305 and the hand engaging member 301 is perpendicular in the rotation Each articulated shaft of heart projector mechanism.After part to be supported slides into suitable position, pass through pin between supporting element and hand connector It is fixed.
In one embodiment, in addition to the supporting element 305 for being located at rearmost, at least one supporting element 305 is adjacent with rear side Supporting element 305 between be provided with for adjusting the phase between at least one described supporting element 305 and the hand engaging member 301 To the length adjustment mechanism of position.Because hand engaging member is distributed from front to back, naturally limit center of rotation projector mechanism and Supporting element therein is also to be distributed from front to back.
In one embodiment, the length adjustment mechanism include transmission rod 306, fourth link 307, the 5th connecting rod 308 with And six-bar linkage 309, one end of the six-bar linkage 309 and one end of the 5th connecting rod 308 are hinged and connected, the described 6th connects The other end of bar 309 is hinged and connected at least one described supporting element 305, one end of the transmission rod 306 and described at least one The supporting element 305 that the rear side of a supporting element 305 is adjacent is hinged and connected, one end of the fourth link 307 and it is described at least One supporting element 305 is hinged and connected, the other end of the fourth link 307 and the 5th connecting rod 308, the transmission rod 306 Constitute compound hinges, and hinge joint and institute between one end of the fourth link 307 and at least one described supporting element 305 The equal position of hinge joint stated between the other end of fourth link 307 and the 5th connecting rod 308 is adjustable, the fourth link 307, 5th connecting rod 308, the six-bar linkage 309 and at least one described supporting element 305 constitute parallelogram mechanism.
The action principle of above-mentioned this length adjustment mechanism is: referring to Fig. 7, it is assumed that the initially corresponding length tune of finger joint length Each hinged center for saving the parallelogram mechanism of mechanism is N-M-P-Q, and O is the hinged center of one end of transmission rod, when nearly section When phalanges length changes, it is still parallelogram mechanism that MN, PQ, which are set according to distance h is increased after finger joint length adjustment, is passed The initial angle and rod length of power bar do not change, in conjunction with parallelogram lindage opposite side constant speed Variation Features, after change Its characteristics of motion of parallel four-bar force transmission mechanism does not change, i.e., does not influence the characteristics of motion of junior's coupling mechanism, therefore can With the light relative position for realizing change supporting element and hand engaging member, to adapt to the need of exercise of the phalanges of different length.
Existing healing hand function device is substantially non-adjustable on finger size, does not accomplish to adapt to patient's finger joint length, and The utility model can adapt to patient and refer to length by the supporting element and length adjustment mechanism of sliding setting, it is ensured that ectoskeleton energy It is adapted with patient's finger, improves the hand rehabilitation training effect of patient.
In addition, the length adjustment mechanism of this structure can be adjacent with front side center of rotation project coupling, to be formed Linkage.
In specific implementation, by least one described supporting element 305 and the 5th connecting rod 308 open up respectively it is multiple between Every distribution respectively for articulated shaft across adjustment hole realize and fourth link hinge joint position it is adjustable.
In one embodiment, it is contemplated that fabrication error can be adjusted suitably in assembling process, the fourth link 307 The other end and the transmission rod 306 between hinge joint position it is adjustable.It specifically can be multiple by being opened up on transmission rod What is be spaced apart realizes respectively for the adjustment hole that articulated shaft passes through.
In one embodiment, one end of the first connecting rod 302 is hinged and connected with the supporting element 305 with flexural pivot, described One end of transmission rod 306 and one end of the supporting element 305, the third connecting rod 304 collectively form compound hinges with flexural pivot.This Sample design can also be realized to drive and receive Outward Bound in finger while digital flexion stretching, extension.
In one embodiment, the other end of the six-bar linkage 309 and one end of the first connecting rod 302 are connected as a body And it shares a hinged revolute pair and is hinged and connected with the supporting element.It designs, can simplify the internal structure of an organization, length adjustment mechanism passes through branch in this way Support member, six-bar linkage and first connecting rod are coupled with center of rotation projector mechanism, are formed and are interlocked, six-bar linkage and the in specific implementation One connecting rod can make finger realize horizontal stretching state at 90 angles.
It is previously noted that there are two types of realize the mode for constituting rocker slider.
First connecting rod when using first way, referring to 1 and Fig. 4, in the center of rotation projector mechanism of rearmost 302 one end is hinged and connected with the supporting element 305 with the first flexural pivot, described in the center of rotation projector mechanism of rearmost One end of third connecting rod 304 is hinged and connected with the supporting element 305 with the second flexural pivot;
One end ball-joint of first drive rod 401 on the moving member 20, first drive rod 401 it is another End and the other end of the third connecting rod 304 of the center of rotation projector mechanism of rearmost, the middle part structure of the second connecting rod 303 At compound hinges, also ball-joint is on the moving member 20 for one end of second drive rod 402, second drive rod 402 The other end be rotatably connected on the club 403 of first flexural pivot.
Existing flexural pivot is generally made of ball seat, the sphere that can be rotated relative to ball seat and the club being fixed on sphere, In specific implementation, one end of the first connecting rod 302 be fixed on the sphere of first flexural pivot and with the second drive rod 402 In flexural pivot opposite sides, the supporting element 305 is fixed on the ball seat of first flexural pivot.
When using the second way, the supporting element 305 of rearmost is rotatably connected in the rack 10, rearmost Connecting rod 405 is connected on the supporting element 305, the other end of second drive rod 402 is rotatably connected on the connecting rod On 405.In this way, one end of the first connecting rod in the center of rotation projector mechanism of rearmost and the supporting element Between, it does not need to use ball between one end and the supporting element of the third connecting rod in the center of rotation projector mechanism of rearmost Hinge is hinged, it is only necessary to general hinge.
When moving member does reciprocating linear motion, two kinds of movements may be implemented, first is that: in perpendicular, the first drive rod Second connecting rod is driven, promotes center of rotation projector mechanism to move, directly contributes arthrogryposis, arthrogryposis then causes to be attached thereto Length adjustment mechanism movement, and coupled previous center of rotation projector mechanism also moves therewith, directly contributes next Arthrogryposis, and so on, the bending stretching of the five fingers can be imitated;Second is that: in horizontal plane, made by the second drive rod For connecting rod, moving member inputs linear reciprocating motion as sliding block, and the club of the first flexural pivot of driving shakes, and drives metacarpophalangeal joints (thumb Refer to articulatio carpometacarpicus communis) in receive outreach, imitate unfolding slave opening to movement of clenching fist is gathered for the five fingers, reach comprehensively train finger it is each The purpose in joint.
The five fingers unified driving form may be implemented in the utility model, drives outside healing hand function in horizontal plane and vertical plane Bone receives abduction exercise and bending stretching routine in carrying out, and simulation normal person's finger joint is unfolded to gathering the posture clenched fist from opening. Play the rehabilitation training effect to finger joint.
In the utility model, the power source of mechanism connection should be reciprocating motion form and speed is unsuitable too fast, first adapt to whole The scope of activities of body mechanism starts in a reciprocating motion in every 2 seconds or slower speed.
In specific implementation, it is respectively provided with fingerstall 404 on each hand engaging member, facilitating will cover respectively to the five fingers of rehabilitation personnel It is located on training system.Fingerstall 404 is not proper cannula structure, it can be understood as a clamping groove plate, user's Finger joint is stuck in clamping groove plate, is fixed each finger joint of patient's finger using flexible bandage or Elastic buckle etc..
The settable one layer of textile material in each hand engaging member surface or other soft materials keep finger not direct in training Finger joint part itself is contacted, the generation for squeezing phenomenon is also reduced, finger mount also should be the soft materials such as viscosity.
Above-mentioned healing hand function training ectoskeleton ensure that the articulations digitorum manus centre of motion and ectoskeleton during the motion turn Dynamic center is overlapped, and does not generate sliding phenomenon always;The difference that can be adapted for patient refers to length, solves the suitable of ectoskeleton and manpower Answering property problem;Additionally motor can be provided to patient and strong side drives two kinds of training modes, preferably meet the individual character of patient Change rehabilitation training demand;Practical human hand movement can be really imitated, bending stretching, extension and interior receipts Outward Bound is carried out, is conducive to improve The hand rehabilitation training effect of patient, has excellent promotional value in rehabilitation field.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in All changes in justice and range are embraced therein, and should not treat any reference in the claims as limiting Related claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the embodiments can also be appropriately combined, and forming those skilled in the art can With the other embodiments of understanding.

Claims (7)

1. a kind of hand functional training driving device, it is characterised in that: including rack, the movement being slidably connected in the rack Part, the first drive rod and the second drive rod;
On the moving member, the other end of first drive rod is hinged on finger for one end ball-joint of first drive rod In training institution, also ball-joint is on the moving member for one end of second drive rod, the other end of second drive rod Finger training machine is connected to the connection type that second drive rod and the moving member can be made to be constituted slider-rocker mechanism On structure.
2. hand functional training driving device as described in claim 1, it is characterised in that: the other end of second drive rod is logical It crosses flexural pivot to be connected in finger training mechanism, the flexural pivot is by ball seat, the sphere that can be rotated relative to ball seat and is fixed on ball Club on body is constituted, and the other end of second drive rod is rotatably connected on the club of the flexural pivot.
3. hand functional training driving device as described in claim 1, it is characterised in that: finger training mechanism is rotatably connected on institute It states in rack, connecting rod is connected in finger training mechanism, the other end of second drive rod is rotatably connected on the frame linking On bar.
4. hand functional training driving device as claimed in claim 2 or claim 3, it is characterised in that: second drive rod it is another End is equipped with multiple axis holes.
5. the hand functional training driving device as described in claims 1 or 2 or 3, it is characterised in that: further include described for driving The first drive module that moving member moves back and forth, first drive module include motor, shaft coupling and lead screw, the electricity The output end of machine is connect by the shaft coupling with the lead screw, the lead screw across the moving member and with the moving member spiral shell Line is cooperatively connected.
6. the hand functional training driving device as described in claims 1 or 2 or 3, it is characterised in that: further include described for driving The second drive module that moving member moves back and forth, second drive module include drive shaft and connecting rod, the company One end of extension bar is hinged on the moving member, and the other end of the connecting rod is hinged at the eccentric position of the drive shaft, The moving member and the connecting rod, the drive shaft collectively form slider-crank mechanism.
7. hand functional training driving device as claimed in claim 6, it is characterised in that: one end of the connecting rod passes through hinged Supporting element is hinged on the moving member, and one end of the connecting rod is hinged in the articulated support, the hinged support Part is fixed on the moving member.
CN201820681439.9U 2018-05-08 2018-05-08 A kind of hand functional training driving device Active CN209004585U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108524196A (en) * 2018-05-08 2018-09-14 合肥工业大学 A kind of hand functional training driving device
CN112641598A (en) * 2020-12-15 2021-04-13 中国科学院自动化研究所 Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108524196A (en) * 2018-05-08 2018-09-14 合肥工业大学 A kind of hand functional training driving device
CN108524196B (en) * 2018-05-08 2024-04-09 合肥工业大学 Hand function exercise driving device
CN112641598A (en) * 2020-12-15 2021-04-13 中国科学院自动化研究所 Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions
CN112641598B (en) * 2020-12-15 2021-10-15 中国科学院自动化研究所 Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions

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