CN210114637U - Finger movement rehabilitation training robot based on lasso drive and myoelectricity control - Google Patents
Finger movement rehabilitation training robot based on lasso drive and myoelectricity control Download PDFInfo
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- CN210114637U CN210114637U CN201920388605.0U CN201920388605U CN210114637U CN 210114637 U CN210114637 U CN 210114637U CN 201920388605 U CN201920388605 U CN 201920388605U CN 210114637 U CN210114637 U CN 210114637U
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Abstract
The utility model discloses a finger motion rehabilitation training robot based on lasso drive and flesh electric control contains flesh electric induction bracelet, finger ectoskeleton subassembly, drive module, control module and base. When the device works, the arm of a patient directly wears the myoelectricity induction bracelet, myoelectricity signals of adduction and abduction of the finger of the patient are respectively input into the control system, the finger exoskeleton assembly is worn, the myoelectricity induction bracelet induces the electric signals of the patient, the expected movement of the finger is judged to be adduction/abduction, the expected movement is fed back to the control system, and the singlechip controls the movement of the actuator steering engine, so that the finger of the patient is assisted to perform rehabilitation training. The utility model discloses the effectual error that has reduced in the transmission course to ectoskeleton finger drive power is perpendicular to throughout and indicates the bone, avoids causing the damage to soft tissue on every side, and realizes the both-way drive.
Description
Technical Field
The utility model relates to the field of medical equipment, especially, relate to a finger motion rehabilitation training robot based on lasso drive and flesh electricity control.
Background
The hand is one of the important organs of human beings, and is an indispensable part of people's daily life. In recent years, factors such as cerebral apoplexy and accidental injury cause paralysis of the nervous system of hands, and the normal life of a patient is seriously influenced. According to Chinese stroke prevention and treatment reports (2018), the overall incidence and prevalence of stroke in China still tend to rise at an uncontrollable speed, the burden of stroke diseases on medical care personnel and family members is still increased continuously, and according to screening and intervention projects of high-risk groups of stroke, the stroke-normalized prevalence of 40-year-old and above people is increased from 1.89% in 2012 to 2.19% in 2016, wherein more than half of surviving patients are accompanied by hand dysfunction in different degrees.
Neurology demonstrates that the central system has plasticity, and the sensorimotor rehabilitation therapy stimulates the recombination of the cortex and strengthens the muscle acquisition through repetitive and high-frequency movement, thereby gradually recovering the motor function of the damaged limb. Early patients need a great amount of rehabilitation training to gradually recover the function of hand injury, the traditional manual rehabilitation training method has the problems of high cost, low efficiency and the like, and the treatment and evaluation depend on the experience of therapists, so that the rehabilitation evaluation lacks certain objectivity and accuracy.
Recent research and practice has shown that rehabilitation training using exoskeleton devices that combine electromechanical devices with control systems is feasible and effective. These devices allow for repetitive, precise movements and can be combined with appropriate sensors to assess the healing effects. At present, research aiming at a wounded finger rehabilitation training robot becomes one of hot research directions in the field of rehabilitation medicine.
The majority of rehabilitation mechanical equipment developed in the early development stage of the finger rehabilitation robot adopts an open-loop feedback-free control system, drives a mechanical structure to drive the fingers of a patient to do rehabilitation movement with a fixed track through a program solidified in a controller in advance, has no perception capability on the environment, cannot generate rehabilitation substitution feeling on the patient, and has lower rehabilitation effect than an induced rehabilitation strategy. The open-loop feedback-free finger rehabilitation robot mainly comprises: a finger wrist joint rehabilitative apparatus developed by French KINETEC; the German Otto Bock company develops a Wave Flex type finger rehabilitation device; as the awareness of the deficiencies of the open-loop control system deepens, the finger rehabilitation robot has gradually added angle, position and force sensors to form a closed-loop control system, the Rutgers finger rehabilitation device designed by Burdea, university of Rutgers, usa, which provides up to 16N force feedback per finger and is deployed in the palm for direct drive using a custom-made actuator. The method adopts an integrated non-contact Hall effect sensor and an infrared sensor as feedback information of closed-loop control.
Although long studied, the research and design of exoskeletal hands remains a challenging area. The key problems are how to reduce the discomfort of a patient caused by the heavy weight of equipment in long-term use, how to ensure that the output torque achieves the effective rehabilitation purpose on the premise of not causing additional damage to other parts, and how to generate man-machine interaction so as to maximize the subjective activity of the patient.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to the defect that involves in the background art, provide a finger motion rehabilitation training robot based on lasso drive and myoelectric control, through the myoelectric signal of myoelectric response module collection patient's arm and then the motion trend of prejudgement patient's muscle, utilize the myoelectric signal who draws to control the adduction/abduction motion that three executor helped the finger, accomplish the rehabilitation training that the patient anticipates.
The utility model discloses a solve above-mentioned technical problem and adopt following technical scheme:
the finger movement rehabilitation training robot based on lasso driving and myoelectric control comprises a myoelectric induction bracelet, a finger exoskeleton assembly, a driving module, a control module and a base;
the myoelectricity induction bracelet is used for being sleeved on the forearm where the finger needing to be trained is located, and is used for obtaining the myoelectricity signal of the arm and transmitting the myoelectricity signal to the control module;
the finger exoskeleton assembly comprises a back-of-hand wearing device, a proximal end finger sleeve, a middle end finger sleeve, a distal end finger sleeve, first to third driven winches, a fixed bearing, first to second fixed rods, first to third sliding blocks and first to third connecting rods;
the hand back wearing device, the near-end finger sleeve, the middle-end finger sleeve and the far-end finger sleeve are respectively used for being worn on the hand back, the near-end knuckle, the middle-end knuckle and the far-end knuckle of a finger needing rehabilitation training;
the first driven winch, the second driven winch and the third driven winch are all cylindrical, circular grooves surrounding the first driven winch, the third driven winch and the third driven winch are arranged on the side walls of the first driven winch and the third driven winch respectively, the circular grooves are used for winding the ropes, and fixing piles used for fixing the ropes are arranged in the circular grooves;
one end of the first fixed rod is coaxially and fixedly connected with the center of the first driven winch, and the other end of the first fixed rod is coaxially and fixedly connected with the inner ring of the fixed bearing; the outer ring of the fixed bearing is fixedly connected with the hand back wearing device, and the first fixed rod is perpendicular to the plane where the fingers are bent, so that the first driven winch is parallel to the plane where the fingers are bent;
the near-end finger sleeve is provided with a first sliding chute, a second sliding chute, a third sliding chute and a third sliding chute, wherein the first sliding chute, the second sliding chute and the third sliding chute are all parallel to a plane where fingers are bent; the first sliding block, the second sliding block, the third sliding block and the fourth sliding block are arranged in the first sliding groove, the second sliding groove and the third sliding groove respectively and can slide freely;
the first connecting rod to the second connecting rod are arranged in parallel; one end of the second fixed rod is vertically and fixedly connected with the first connecting rod, and the other end of the second fixed rod is vertically and fixedly connected with the second connecting rod; one end of each of the first connecting rod and the second connecting rod is hinged with the back of the hand wearing device, the other end of each of the first connecting rod and the second connecting rod is fixedly connected with the first sliding block and the second sliding block respectively, and the first connecting rod and the second connecting rod are parallel to the plane where the fingers are bent;
one end of the third connecting rod is fixedly connected with the side wall of the first driven winch, and the other end of the third connecting rod is fixedly connected with the third sliding block;
the tail end of the near-end finger stall is hinged with the root of the middle-end finger stall, and the tail end of the middle-end finger stall is hinged with the root of the far-end finger stall, so that the fingers can bend and freely rotate on the plane between the near-end finger stall and the middle-end finger stall and between the middle-end finger stall and the far-end finger stall;
the second driven capstan and the third driven capstan are respectively and fixedly arranged on the middle-end finger sleeve and the far-end finger sleeve, the rotating shafts of the second driven capstan and the near-end finger sleeve and the middle-end finger sleeve during rotation are coaxial, and the rotating shafts of the third driven capstan and the middle-end finger sleeve and the far-end finger sleeve during rotation are coaxial;
the back wearing device, the near-end finger sleeve and the middle-end finger sleeve are respectively provided with two stepped holes which are respectively used for being matched with the first driven winch, the second driven winch and the third driven winch;
the driving module comprises a first driving unit, a second driving unit, a third driving unit and a fourth driving unit;
the first to third driving units comprise driving winches, steering engines, fixed frames, sliding frames, steel wire ropes, locking mechanisms and a plurality of pre-tightening bolts;
the fixed frame is fixedly connected with the base, and a fourth sliding groove is formed in the fixed frame; a fourth sliding block is arranged on the fourth sliding groove and can freely slide in the fourth sliding groove; the sliding frame is fixedly connected with the fourth sliding block, so that the sliding frame can freely slide relative to the fixed frame;
the locking mechanism is used for preventing the sliding frame from sliding relative to the fixed frame when the sliding frame is locked and enabling the sliding frame to slide relative to the fixed frame when the sliding frame is released;
the driving winch is cylindrical, circular grooves surrounding the driving winch are formed in the side walls of the driving winch and used for winding the ropes, and fixing piles used for fixing the ropes are arranged in the circular grooves;
the steering engine is fixed on the fixed frame, and the output end of the steering engine is coaxially and fixedly connected with the center of the driving winch and used for driving the driving winch to rotate;
the sliding frame is provided with two stepped holes for the steel wire to pass through;
the sliding frame is provided with bolt holes which correspond to and are matched with the early warning bolts one by one; the early warning bolt is in threaded connection with the corresponding bolt hole of the early warning bolt, and the tail end of the early warning bolt penetrates through the corresponding threaded hole of the early warning bolt to be abutted against the fixing frame;
the steel wire rope of the first driving unit penetrates through one stepped hole of the sliding frame and then winds around a circular groove of the driving winch, then sequentially penetrates through the other stepped hole of the sliding frame and one stepped hole of the hand back wearing device, then winds around the first driven winch and then penetrates through the other stepped hole of the hand back wearing device to form a closed loop, the steel wire rope of the first driving unit is fixedly connected with a fixing pile of the driving winch and a fixing pile of the first driven winch respectively, and a sleeve is arranged outside the steel wire rope between the sliding frame of the first driving unit and the hand back wearing device;
the steel wire of the second driving unit penetrates through one stepped hole of the sliding frame and then winds around a circular groove of the driving winch, then sequentially penetrates through the other stepped hole of the sliding frame and one stepped hole on the near-end finger stall, then winds around the second driven winch and then penetrates through the other stepped hole on the near-end finger stall to form a closed loop, the steel wire of the second driving unit is fixedly connected with a fixing pile of the driving winch and a fixing pile of the second driven winch respectively, and a sleeve is arranged outside the steel wire between the sliding frame of the second driving unit and the near-end finger stall;
the steel wire of the third driving unit passes through one stepped hole of the sliding frame and then winds the circular groove of the driving winch, sequentially passes through the other stepped hole of the sliding frame and one stepped hole on the middle-end finger sleeve, then winds the third driven winch and then passes through the other stepped hole on the middle-end finger sleeve to form a closed loop, the steel wire of the third driving unit is fixedly connected with a fixing pile of the driving winch and a fixing pile of the third driven winch respectively, and a sleeve is arranged outside the steel wire between the sliding frame of the third driving unit and the middle-end finger sleeve;
the control module is electrically connected with the myoelectricity induction bracelet, the steering engine of the first driving unit, the steering engine of the second driving unit and the steering engine of the third driving unit respectively and is used for controlling the steering engines of the first to third driving units to work according to the myoelectricity signals induced by the myoelectricity induction bracelet.
As the utility model discloses finger motion rehabilitation training robot further optimization scheme based on lasso drive and flesh electricity control, pretension bolt's number is 2.
As the utility model discloses finger motion rehabilitation training robot further optimization scheme based on lasso drive and flesh electric control, locking mechanism contains a plurality of locking unit, the locking unit contains locking bolt and locking nut.
As a further optimization scheme of the finger exercise rehabilitation training robot based on lasso drive and myoelectric control, the aperture of the stepped hole on the back wearing device on the side close to the first driven capstan is smaller than the aperture on the side far away from the first driven capstan; the aperture of the stepped hole on the proximal finger sleeve on the side close to the second driven capstan is smaller than the aperture of the stepped hole on the side far away from the second driven capstan; the aperture of the stepped hole on the middle-end finger sleeve on the side close to the third driven capstan is smaller than the aperture of the stepped hole on the side far away from the third driven capstan; the aperture of the stepped hole on the first to third driving unit sliding frames on the side close to the driving capstan is smaller than the aperture on the side far away from the driving capstan.
The utility model adopts the above technical scheme to compare with prior art, have following technological effect:
1. the resin is selected as a material, a 3D printing technology is adopted, the characteristics of high strength and light weight are met, the surface muscle burden of a patient is reduced as much as possible on the premise of overcoming a series of resistance in the rehabilitation process, and secondary damage is avoided;
2. the exoskeleton finger driving force is always vertical to the phalanx, so that the damage to surrounding soft tissues is avoided, and bidirectional driving is realized;
3. the myoelectric induction module replaces a traditional fixed training mode, the myoelectric signals of the arms of a patient are induced to prejudge the movement direction of the fingers to be completed, and then the driving system is controlled to enable the exoskeleton fingers to drive the patient to complete corresponding adduction/abduction movement, so that the human-computer interaction function is realized.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic perspective view of the middle finger exoskeleton assembly according to the present invention in a bent state;
FIG. 3 is an exploded view of the middle finger exoskeleton assembly of the present invention;
fig. 4 is a schematic structural diagram of a first driving unit in the present invention;
fig. 5 is a schematic diagram of the implementation process of the control system of the present invention.
In the figure, 1-myoelectricity induction bracelet, 2-finger exoskeleton component, 3-base, 4-third driving unit, 5-second driving unit, 6-first driving unit, 7-back of hand wearing device, 8-near end finger stall, 9-middle end finger stall, 10-far end finger stall, 11-first driven capstan, 12-second driven capstan, 13-third driven capstan, 14-fixed bearing, 15-first fixed rod, 16-second fixed rod, 17-first slide block, 18-second slide block, 19-third slide block, 20-third slide block, 21-first connecting rod, 22-second connecting rod, 23-third connecting rod, 24-stepped hole on middle end finger stall, 25-driving capstan, 26-steering engine, 27-fixed frame, 28-sliding frame, 29-steel wire, 30-locking mechanism, 31-pre-tightening bolt and 32-sleeve.
Detailed Description
The technical scheme of the utility model is further explained in detail with the attached drawings as follows:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in fig. 1, fig. 2 and fig. 3, the utility model discloses a finger exercise rehabilitation training robot based on lasso drive and myoelectric control, which comprises a myoelectric induction bracelet, a finger exoskeleton component, a drive module, a control module and a base;
the myoelectricity induction bracelet is used for being sleeved on the forearm where the finger needing to be trained is located, and is used for obtaining the myoelectricity signal of the arm and transmitting the myoelectricity signal to the control module;
the finger exoskeleton assembly comprises a back-of-hand wearing device, a proximal end finger sleeve, a middle end finger sleeve, a distal end finger sleeve, first to third driven winches, a fixed bearing, first to second fixed rods, first to third sliding blocks and first to third connecting rods;
the hand back wearing device, the near-end finger sleeve, the middle-end finger sleeve and the far-end finger sleeve are respectively used for being worn on the hand back, the near-end knuckle, the middle-end knuckle and the far-end knuckle of a finger needing rehabilitation training;
the first driven winch, the second driven winch and the third driven winch are all cylindrical, circular grooves surrounding the first driven winch, the third driven winch and the third driven winch are arranged on the side walls of the first driven winch and the third driven winch respectively, the circular grooves are used for winding the ropes, and fixing piles used for fixing the ropes are arranged in the circular grooves;
one end of the first fixed rod is coaxially and fixedly connected with the center of the first driven winch, and the other end of the first fixed rod is coaxially and fixedly connected with the inner ring of the fixed bearing; the outer ring of the fixed bearing is fixedly connected with the hand back wearing device, and the first fixed rod is perpendicular to the plane where the fingers are bent, so that the first driven winch is parallel to the plane where the fingers are bent;
the near-end finger sleeve is provided with a first sliding chute, a second sliding chute, a third sliding chute and a third sliding chute, wherein the first sliding chute, the second sliding chute and the third sliding chute are all parallel to a plane where fingers are bent; the first sliding block, the second sliding block, the third sliding block and the fourth sliding block are arranged in the first sliding groove, the second sliding groove and the third sliding groove respectively and can slide freely;
the first connecting rod to the second connecting rod are arranged in parallel; one end of the second fixed rod is vertically and fixedly connected with the first connecting rod, and the other end of the second fixed rod is vertically and fixedly connected with the second connecting rod; one end of each of the first connecting rod and the second connecting rod is hinged with the back of the hand wearing device, the other end of each of the first connecting rod and the second connecting rod is fixedly connected with the first sliding block and the second sliding block respectively, and the first connecting rod and the second connecting rod are parallel to the plane where the fingers are bent;
one end of the third connecting rod is fixedly connected with the side wall of the first driven winch, and the other end of the third connecting rod is fixedly connected with the third sliding block;
the tail end of the near-end finger stall is hinged with the root of the middle-end finger stall, and the tail end of the middle-end finger stall is hinged with the root of the far-end finger stall, so that the fingers can bend and freely rotate on the plane between the near-end finger stall and the middle-end finger stall and between the middle-end finger stall and the far-end finger stall;
the second driven capstan and the third driven capstan are respectively and fixedly arranged on the middle-end finger sleeve and the far-end finger sleeve, the rotating shafts of the second driven capstan and the near-end finger sleeve and the middle-end finger sleeve during rotation are coaxial, and the rotating shafts of the third driven capstan and the middle-end finger sleeve and the far-end finger sleeve during rotation are coaxial;
the back wearing device, the near-end finger sleeve and the middle-end finger sleeve are respectively provided with two stepped holes which are respectively used for being matched with the first driven winch, the second driven winch and the third driven winch;
the driving module comprises a first driving unit, a second driving unit, a third driving unit and a fourth driving unit;
as shown in fig. 4, each of the first to third driving units includes a driving winch, a steering engine, a fixed frame, a sliding frame, a wire cable, a locking mechanism, and a plurality of pre-tightening bolts;
the fixed frame is fixedly connected with the base, and a fourth sliding groove is formed in the fixed frame; a fourth sliding block is arranged on the fourth sliding groove and can freely slide in the fourth sliding groove; the sliding frame is fixedly connected with the fourth sliding block, so that the sliding frame can freely slide relative to the fixed frame;
the locking mechanism is used for preventing the sliding frame from sliding relative to the fixed frame when the sliding frame is locked and enabling the sliding frame to slide relative to the fixed frame when the sliding frame is released;
the driving winch is cylindrical, circular grooves surrounding the driving winch are formed in the side walls of the driving winch and used for winding the ropes, and fixing piles used for fixing the ropes are arranged in the circular grooves;
the steering engine is fixed on the fixed frame, and the output end of the steering engine is coaxially and fixedly connected with the center of the driving winch and used for driving the driving winch to rotate;
the sliding frame is provided with two stepped holes for the steel wire to pass through;
the sliding frame is provided with bolt holes which correspond to and are matched with the early warning bolts one by one; the early warning bolt is in threaded connection with the corresponding bolt hole of the early warning bolt, and the tail end of the early warning bolt penetrates through the corresponding threaded hole of the early warning bolt to be abutted against the fixing frame;
the steel wire rope of the first driving unit penetrates through one stepped hole of the sliding frame and then winds around a circular groove of the driving winch, then sequentially penetrates through the other stepped hole of the sliding frame and one stepped hole of the hand back wearing device, then winds around the first driven winch and then penetrates through the other stepped hole of the hand back wearing device to form a closed loop, the steel wire rope of the first driving unit is fixedly connected with a fixing pile of the driving winch and a fixing pile of the first driven winch respectively, and a sleeve is arranged outside the steel wire rope between the sliding frame of the first driving unit and the hand back wearing device;
the steel wire of the second driving unit penetrates through one stepped hole of the sliding frame and then winds around a circular groove of the driving winch, then sequentially penetrates through the other stepped hole of the sliding frame and one stepped hole on the near-end finger stall, then winds around the second driven winch and then penetrates through the other stepped hole on the near-end finger stall to form a closed loop, the steel wire of the second driving unit is fixedly connected with a fixing pile of the driving winch and a fixing pile of the second driven winch respectively, and a sleeve is arranged outside the steel wire between the sliding frame of the second driving unit and the near-end finger stall;
the steel wire of the third driving unit passes through one stepped hole of the sliding frame and then winds the circular groove of the driving winch, sequentially passes through the other stepped hole of the sliding frame and one stepped hole on the middle-end finger sleeve, then winds the third driven winch and then passes through the other stepped hole on the middle-end finger sleeve to form a closed loop, the steel wire of the third driving unit is fixedly connected with a fixing pile of the driving winch and a fixing pile of the third driven winch respectively, and a sleeve is arranged outside the steel wire between the sliding frame of the third driving unit and the middle-end finger sleeve;
the control module is electrically connected with the myoelectricity induction bracelet, the steering engine of the first driving unit, the steering engine of the second driving unit and the steering engine of the third driving unit respectively and is used for controlling the steering engines of the first to third driving units to work according to the myoelectricity signals induced by the myoelectricity induction bracelet.
The number of the pre-tightening bolts is preferably set to be 2, the locking mechanism comprises a plurality of locking units, and the locking units can only use the locking bolts and can also adopt the forms of the locking bolts and locking nuts.
The aperture of the stepped hole on the back wearing device on the side close to the first driven capstan is smaller than the aperture of the stepped hole on the side far away from the first driven capstan; the aperture of the stepped hole on the proximal finger sleeve on the side close to the second driven capstan is smaller than the aperture of the stepped hole on the side far away from the second driven capstan; the aperture of the stepped hole on the middle-end finger sleeve on the side close to the third driven capstan is smaller than the aperture of the stepped hole on the side far away from the third driven capstan; the aperture of the stepped hole on the first to third driving unit sliding frames on the side close to the driving capstan is smaller than the aperture on the side far away from the driving capstan.
As shown in fig. 5, the working principle of the control system of the device is that the arm of the patient directly wears the myoelectric induction bracelet, the myoelectric signals of the adduction and the abduction of the finger of the patient are respectively input into the control system, the exoskeleton mechanism is well worn, the exoskeleton mechanism is fixed with the finger through a bandage, and the semi-open mechanism enables the patient to be more comfortable in the rehabilitation training process. The device is dressed with the back of the hand still with the bandage fixed to the back of the hand, the bandage is provided with the magic subsides, can adjust the elasticity degree according to patient's back of the hand size. The pre-tightening bolts in the three driving units are respectively adjusted to change the screwing depth, so that proper pre-tightening force is provided for the system, the driving steel wire rope is ensured to be in a tensioning state in the transmission process, and the accuracy of force and displacement in the transmission process is ensured. The rehabilitation training mode is set according to the paralysis degree of the patient, the speed, the bending degree and the like of the finger movement during the design training are designed, and parameters in the Arduino control program are properly changed. The myoelectricity bracelet senses the electric signal of a patient, judges whether the expected movement of the fingers is adduction/abduction, feeds back the expected movement to the control system, and controls the movement of the actuator steering engine through the single chip microcomputer, so that the fingers of the patient are assisted to perform rehabilitation training.
The utility model discloses simple structure, convenient operation, it is with low costs. The driving device is separated from the exoskeleton mechanism by a certain distance in a lasso driving mode, the burden of a movement joint is effectively reduced, the lightweight structural design is realized, and the control performance and the safety performance of the system are improved. Reasonable motion parameters are formulated for patients with different paralysis degrees, and the rehabilitation training device is more targeted and realizes the maximization of rehabilitation training effect. The myoelectric induction module replaces a traditional fixed training mode, the myoelectric signals of the arms of a patient are induced to prejudge the movement direction of the fingers to be completed, and then the driving system is controlled to enable the exoskeleton fingers to drive the patient to complete corresponding adduction/abduction movement, so that the human-computer interaction function is realized.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. The finger movement rehabilitation training robot based on lasso driving and myoelectric control is characterized by comprising a myoelectric induction bracelet, a finger exoskeleton assembly, a driving module, a control module and a base;
the myoelectricity induction bracelet is used for being sleeved on the forearm where the finger needing to be trained is located, and is used for obtaining the myoelectricity signal of the arm and transmitting the myoelectricity signal to the control module;
the finger exoskeleton assembly comprises a back-of-hand wearing device, a proximal end finger sleeve, a middle end finger sleeve, a distal end finger sleeve, first to third driven winches, a fixed bearing, first to second fixed rods, first to third sliding blocks and first to third connecting rods;
the hand back wearing device, the near-end finger sleeve, the middle-end finger sleeve and the far-end finger sleeve are respectively used for being worn on the hand back, the near-end knuckle, the middle-end knuckle and the far-end knuckle of a finger needing rehabilitation training;
the first driven winch, the second driven winch and the third driven winch are all cylindrical, circular grooves surrounding the first driven winch, the third driven winch and the third driven winch are arranged on the side walls of the first driven winch and the third driven winch respectively, the circular grooves are used for winding the ropes, and fixing piles used for fixing the ropes are arranged in the circular grooves;
one end of the first fixed rod is coaxially and fixedly connected with the center of the first driven winch, and the other end of the first fixed rod is coaxially and fixedly connected with the inner ring of the fixed bearing; the outer ring of the fixed bearing is fixedly connected with the hand back wearing device, and the first fixed rod is perpendicular to the plane where the fingers are bent, so that the first driven winch is parallel to the plane where the fingers are bent;
the near-end finger sleeve is provided with a first sliding chute, a second sliding chute, a third sliding chute and a third sliding chute, wherein the first sliding chute, the second sliding chute and the third sliding chute are all parallel to a plane where fingers are bent; the first sliding block, the second sliding block, the third sliding block and the fourth sliding block are arranged in the first sliding groove, the second sliding groove and the third sliding groove respectively and can slide freely;
the first connecting rod to the second connecting rod are arranged in parallel; one end of the second fixed rod is vertically and fixedly connected with the first connecting rod, and the other end of the second fixed rod is vertically and fixedly connected with the second connecting rod; one end of each of the first connecting rod and the second connecting rod is hinged with the back of the hand wearing device, the other end of each of the first connecting rod and the second connecting rod is fixedly connected with the first sliding block and the second sliding block respectively, and the first connecting rod and the second connecting rod are parallel to the plane where the fingers are bent;
one end of the third connecting rod is fixedly connected with the side wall of the first driven winch, and the other end of the third connecting rod is fixedly connected with the third sliding block;
the tail end of the near-end finger stall is hinged with the root of the middle-end finger stall, and the tail end of the middle-end finger stall is hinged with the root of the far-end finger stall, so that the fingers can bend and freely rotate on the plane between the near-end finger stall and the middle-end finger stall and between the middle-end finger stall and the far-end finger stall;
the second driven capstan and the third driven capstan are respectively and fixedly arranged on the middle-end finger sleeve and the far-end finger sleeve, the rotating shafts of the second driven capstan and the near-end finger sleeve and the middle-end finger sleeve during rotation are coaxial, and the rotating shafts of the third driven capstan and the middle-end finger sleeve and the far-end finger sleeve during rotation are coaxial;
the back wearing device, the near-end finger sleeve and the middle-end finger sleeve are respectively provided with two stepped holes which are respectively used for being matched with the first driven winch, the second driven winch and the third driven winch;
the driving module comprises a first driving unit, a second driving unit, a third driving unit and a fourth driving unit;
the first to third driving units comprise driving winches, steering engines, fixed frames, sliding frames, steel wire ropes, locking mechanisms and a plurality of pre-tightening bolts;
the fixed frame is fixedly connected with the base, and a fourth sliding groove is formed in the fixed frame; a fourth sliding block is arranged on the fourth sliding groove and can freely slide in the fourth sliding groove; the sliding frame is fixedly connected with the fourth sliding block, so that the sliding frame can freely slide relative to the fixed frame;
the locking mechanism is used for preventing the sliding frame from sliding relative to the fixed frame when the sliding frame is locked and enabling the sliding frame to slide relative to the fixed frame when the sliding frame is released;
the driving winch is cylindrical, circular grooves surrounding the driving winch are formed in the side walls of the driving winch and used for winding the ropes, and fixing piles used for fixing the ropes are arranged in the circular grooves;
the steering engine is fixed on the fixed frame, and the output end of the steering engine is coaxially and fixedly connected with the center of the driving winch and used for driving the driving winch to rotate;
the sliding frame is provided with two stepped holes for the steel wire to pass through;
the sliding frame is provided with bolt holes which correspond to and are matched with the early warning bolts one by one; the early warning bolt is in threaded connection with the corresponding bolt hole of the early warning bolt, and the tail end of the early warning bolt penetrates through the corresponding threaded hole of the early warning bolt to be abutted against the fixing frame;
the steel wire rope of the first driving unit penetrates through one stepped hole of the sliding frame and then winds around a circular groove of the driving winch, then sequentially penetrates through the other stepped hole of the sliding frame and one stepped hole of the hand back wearing device, then winds around the first driven winch and then penetrates through the other stepped hole of the hand back wearing device to form a closed loop, the steel wire rope of the first driving unit is fixedly connected with a fixing pile of the driving winch and a fixing pile of the first driven winch respectively, and a sleeve is arranged outside the steel wire rope between the sliding frame of the first driving unit and the hand back wearing device;
the steel wire of the second driving unit penetrates through one stepped hole of the sliding frame and then winds around a circular groove of the driving winch, then sequentially penetrates through the other stepped hole of the sliding frame and one stepped hole on the near-end finger stall, then winds around the second driven winch and then penetrates through the other stepped hole on the near-end finger stall to form a closed loop, the steel wire of the second driving unit is fixedly connected with a fixing pile of the driving winch and a fixing pile of the second driven winch respectively, and a sleeve is arranged outside the steel wire between the sliding frame of the second driving unit and the near-end finger stall;
the steel wire of the third driving unit passes through one stepped hole of the sliding frame and then winds the circular groove of the driving winch, sequentially passes through the other stepped hole of the sliding frame and one stepped hole on the middle-end finger sleeve, then winds the third driven winch and then passes through the other stepped hole on the middle-end finger sleeve to form a closed loop, the steel wire of the third driving unit is fixedly connected with a fixing pile of the driving winch and a fixing pile of the third driven winch respectively, and a sleeve is arranged outside the steel wire between the sliding frame of the third driving unit and the middle-end finger sleeve;
the control module is electrically connected with the myoelectricity induction bracelet, the steering engine of the first driving unit, the steering engine of the second driving unit and the steering engine of the third driving unit respectively and is used for controlling the steering engines of the first to third driving units to work according to the myoelectricity signals induced by the myoelectricity induction bracelet.
2. The lasso-drive and myoelectric-control-based finger motor rehabilitation training robot according to claim 1, wherein the number of the pre-tightening bolts is 2.
3. The lasso-driven and myoelectric-controlled finger motor rehabilitation training robot based on claim 1, wherein the locking mechanism comprises a plurality of locking units, and the locking units comprise locking bolts and locking nuts.
4. The lasso drive and myoelectric control based finger motor rehabilitation training robot as recited in claim 1, wherein the step hole on the back-wearing device has a smaller aperture on the side close to the first driven capstan than on the side far from the first driven capstan; the aperture of the stepped hole on the proximal finger sleeve on the side close to the second driven capstan is smaller than the aperture of the stepped hole on the side far away from the second driven capstan; the aperture of the stepped hole on the middle-end finger sleeve on the side close to the third driven capstan is smaller than the aperture of the stepped hole on the side far away from the third driven capstan; the aperture of the stepped hole on the first to third driving unit sliding frames on the side close to the driving capstan is smaller than the aperture on the side far away from the driving capstan.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920388605.0U CN210114637U (en) | 2019-03-26 | 2019-03-26 | Finger movement rehabilitation training robot based on lasso drive and myoelectricity control |
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| CN201920388605.0U CN210114637U (en) | 2019-03-26 | 2019-03-26 | Finger movement rehabilitation training robot based on lasso drive and myoelectricity control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109907939A (en) * | 2019-03-26 | 2019-06-21 | 南京航空航天大学 | Finger motion rehabilitation image training robot based on lasso trick driving and myoelectric control |
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2019
- 2019-03-26 CN CN201920388605.0U patent/CN210114637U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109907939A (en) * | 2019-03-26 | 2019-06-21 | 南京航空航天大学 | Finger motion rehabilitation image training robot based on lasso trick driving and myoelectric control |
| CN109907939B (en) * | 2019-03-26 | 2024-02-02 | 南京航空航天大学 | Finger movement rehabilitation training robot based on lasso driving and myoelectricity control |
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