CN210301638U - Rigid-flexible coupling type exoskeleton hand rehabilitation training device - Google Patents
Rigid-flexible coupling type exoskeleton hand rehabilitation training device Download PDFInfo
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- CN210301638U CN210301638U CN201822014946.XU CN201822014946U CN210301638U CN 210301638 U CN210301638 U CN 210301638U CN 201822014946 U CN201822014946 U CN 201822014946U CN 210301638 U CN210301638 U CN 210301638U
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Abstract
The utility model discloses a rigid-flexible coupling type exoskeleton hand rehabilitation training device, wherein the output end of a control unit is connected with a motor driving unit; one end of the force transmission unit is connected with the motor driving unit, and the other end of the force transmission unit is connected with the hand execution unit; the output end of the hand execution unit is contacted with the affected finger of the patient, and the driving force is transmitted to the affected finger through the force transmission unit to carry out flexion and extension actions. The utility model adopts rigid-flexible coupling drive, has accurate motion transmission, no rigid impact and rigid mechanism safety protection; the drive unit and the control unit are both arranged on the back of the forearm, so that the wearing burden of the hand of a patient can be relieved, and the forearm is light in weight, portable and easy to wear; a linear push rod motor is matched with a joint torsion spring to carry out hand stretching and hand bending actions; the hand rehabilitation device has two modes of key control and voice control, can provide multiple rehabilitation modes for patients, is simple to operate, and is suitable for community rehabilitation and family rehabilitation of patients with hand dysfunction.
Description
Technical Field
The utility model relates to a recovered medical robot technical field especially relates to a just gentle manifold type ectoskeleton hand rehabilitation training device.
Background
Stroke is one of the high morbidity of the elderly population, and has high morbidity, disability rate and recurrence rate. After stroke, many functional injuries are often accompanied, such as speech function, upper limb movement function, lower limb movement function, etc., wherein the upper limb movement function is damaged more. The hand is an indispensable part of normal living activities of people, and the hand function accounts for 90% of the upper limb function, which shows the importance of hand rehabilitation. The conventional rehabilitation therapy adopts one-to-one or one-to-many rehabilitation therapy for patients by physical therapists. Based on the rehabilitation requirement, a large number of researchers develop the hand rehabilitation robot.
Hand rehabilitation robots that have been put to practical use at home and abroad are basically bulky, such as the exohard robot of the feso company and the pneumatic hand rehabilitation robot of the hai yi liter company. The patient can only carry out rehabilitation training at a designated place, and the product obviously reduces the timeliness of the rehabilitation of the patient.
It has been found through the search literature that patent publication No. CN105496728A discloses a soft robotic glove for hand motor function rehabilitation, which can assist the hand dysfunction patient in rehabilitation training, but the device has certain disadvantages: 1) the device has larger integral volume and no portability, and a patient can only train in a corresponding medical institution; 2) the forward and reverse rotation of a single motor is adopted to drive the fingers to bend and extend, so that return errors are generated in the movement process of the rope, and the fingers cannot normally move.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned defect of prior art, the utility model aims to solve the technical problem that a rigid-flexible coupling formula ectoskeleton hand rehabilitation training device is provided, its simple structure, the quality is light, and is small, and convenient operation can supply the patient to carry out rehabilitation training and daily life in outdoor or family and assist, reaches the purpose of final recovery patient hand motion function.
In order to achieve the above object, the utility model provides a rigid-flexible coupling type exoskeleton hand rehabilitation training device, which comprises a control unit, a motor driving unit, a force transmission unit and a hand execution unit; the output end of the control unit is connected with the motor driving unit; one end of the force transmission unit is connected with the motor driving unit, and the other end of the force transmission unit is connected with the hand execution unit; the output end of the hand execution unit is contacted with the affected finger of the patient, and the force transmission unit transmits the driving force to the affected finger to perform flexion and extension actions;
the hand execution unit comprises a hand palm plate, a hand cover plate, a metacarpophalangeal joint coil spring, a metacarpophalangeal joint connecting rod, a metacarpophalangeal joint pulley, a metacarpophalangeal joint guide pulley, a metacarpophalangeal joint fixing frame, a joint binding band, a near-end interphalangeal joint connecting rod, a near-end interphalangeal joint fixing frame, a near-end interphalangeal joint coil spring, a near-end interphalangeal joint guide pulley, a. The transverse shaft is arranged on the hand palm plate, the metacarpophalangeal joint pulley, the metacarpophalangeal joint coil spring and the metacarpophalangeal joint connecting rod and connected to the transverse shaft, the metacarpophalangeal joint guide pulley and the metacarpophalangeal joint connecting rod coil spring are respectively connected to two sides of the metacarpophalangeal joint connecting rod, the metacarpophalangeal joint connecting rod is connected to the metacarpophalangeal joint fixing frame, the near-end interphalangeal joint connecting rod is connected with the metacarpophalangeal joint fixing frame and the near-end interphalangeal joint fixing frame, the near-end interphalangeal joint coil spring and the near-end interphalangeal joint guide pulley are respectively connected to two sides of the near-end;
the motor driving unit comprises a forearm support frame, a linear push rod motor and a forearm bandage; the end of the linear push rod motor is connected with the steel wire rope, the tail end of the linear push rod motor is fixed on the motor forearm support frame, and the tail end of the linear push rod motor is connected with the control unit;
the force transmission unit comprises a front arm spool quick joint, a Teflon pipe, a steel wire rope, a hand spool quick joint and a steel wire rope connecting clamp; wherein forearm spool quick-operation joint erection is fixed on forearm support frame, the installation of hand spool quick-operation joint is fixed on the hand palm board, install respectively at Teflon pipe installation both ends forearm spool quick-operation joint with on the quick-operation joint of hand spool, wire rope passes in the Teflon pipe, wire rope one end connect in on the near-end interphalangeal joint mount, wire rope passes in proper order near-end interphalangeal joint leading pulley metacarpophalangeal joint pulley Teflon pipe, the wire rope other end connect in on the sharp push rod motor.
The hand execution unit adopts PLA material and 40Cr material.
The hand palm board, metacarpophalangeal joint fixing frame, near-end interphalangeal joint fixing frame and forearm support frame all adopt the curved surface design, increase the laminating nature of device and people.
The utility model has the advantages that:
1. the utility model adopts rigid-flexible coupling drive, has accurate motion transmission, no rigid impact and rigid mechanism safety protection;
2. the driving unit and the control unit of the utility model are both arranged on the back of the forearm, thus reducing the wearing burden of the hand of the patient;
3. the utility model adopts the linear push rod motor to cooperate with the joint torsional spring to carry out the hand stretching and hand bending and stretching actions;
4. the utility model discloses there are button control and speech control two kinds of modes, can provide multiple recovered mode, easy operation for the patient. The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings, so as to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a block diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a schematic view of a single finger mechanism of the present invention;
FIG. 4 is a partial schematic view of the force transfer unit of the present invention;
in the figure: 1 front arm conduit quick joint, 2 steel wire rope, 3 linear push rod motor, 4 front arm support frames, 5 front arm binding bands, 6 control units, 7 hand palm plates, 8 hand binding bands, 9 hand cover plates, 10 Teflon tubes, 11 hand conduit quick joints, 12 metacarpophalangeal joint pulleys, 13 transverse shafts, 14 metacarpophalangeal joint guide pulleys, 15 proximal interphalangeal joint guide pulleys, 16 metacarpophalangeal joint torsion springs, 17 proximal interphalangeal joint coil springs, 18 proximal interphalangeal joint connecting rods, 19 proximal interphalangeal joint fixing frames, 20 metacarpophalangeal joint fixing frames, 21 metacarpophalangeal joint connecting rods and 22 metacarpophalangeal joint connecting rod coil springs.
Detailed Description
In this embodiment, the present invention provides a rigid-flexible coupling type exoskeleton hand rehabilitation training device, as shown in fig. 1 to 4, which includes a control unit, a motor driving unit, a force transmission unit and a hand execution unit; the output end of the control unit is connected with the motor driving unit; one end of the force transmission unit is connected with the motor driving unit, and the other end of the force transmission unit is connected with the hand execution unit; the output end of the hand execution unit is contacted with the affected finger of the patient, and the driving force is transmitted to the affected finger through the force transmission unit to carry out flexion and extension actions.
The hand execution unit comprises a hand palm plate 7, a hand cover plate 9, a metacarpophalangeal joint coil spring 16, a metacarpophalangeal joint connecting rod coil spring 22, a metacarpophalangeal joint connecting rod 21, a metacarpophalangeal joint pulley 12, a metacarpophalangeal joint guide pulley 14, a metacarpophalangeal joint fixing frame 20, a joint binding band 8, a near-end interphalangeal joint connecting rod 18, a near-end interphalangeal joint fixing frame 19, a near-end interphalangeal joint coil spring 17, a near-end interphalangeal joint guide pulley 15. The transverse shaft 13 is arranged on a hand palm plate 7, a metacarpophalangeal joint pulley 12, a metacarpophalangeal joint coil spring 16 and a metacarpophalangeal joint connecting rod 21 and connected to the transverse shaft 13, the metacarpophalangeal joint guide pulley 14 and the metacarpophalangeal joint connecting rod coil spring 22 are respectively connected to two sides of the metacarpophalangeal joint connecting rod 21, the metacarpophalangeal joint connecting rod 21 is connected to a metacarpophalangeal joint fixing frame 20, a near-end interphalangeal joint connecting rod 18 is connected to the metacarpophalangeal joint fixing frame 20 and a near-end interphalangeal joint fixing frame 19, the near-end interphalangeal joint coil spring 17 and the near-end interphalangeal.
The motor driving unit comprises a forearm support frame 4, a linear push rod motor 3 and a forearm bandage 5; the push rod end of the linear push rod motor 3 is connected with the steel wire rope 2, the tail end of the linear push rod motor 3 is fixed on the 4 forearm support frames, and the tail end of the linear push rod motor 3 is connected with the control unit 6.
The force transmission unit comprises a front arm spool quick joint 1, a Teflon pipe 10, a steel wire rope 2 and a hand spool quick joint 11; wherein installation of forearm spool quick-operation joint 1 is fixed on forearm support frame 4, hand spool quick-operation joint 11 installation is fixed on hand palm board 7, install respectively on forearm spool quick-operation joint 1 and hand spool quick-operation joint 11 at indisputable fluorine dragon pipe 10 both ends, wire rope 2 passes in indisputable fluorine dragon pipe 10, wire rope 2 one end is connected on near-end interphalangeal joint mount 19, wire rope 2 passes near-end interphalangeal joint guide pulley 15 in proper order, metacarpophalangeal joint guide pulley 14, metacarpophalangeal joint pulley 12, indisputable fluorine dragon pipe 10, wire rope 2 other end is connected on linear push rod motor 3.
In addition, the hand execution unit adopts PLA material and 40Cr material. The positions of the exoskeleton hand rehabilitation training device, which are contacted with a human body, are provided with the breathable and soft buffer materials, so that the comfort of the device is improved. The palm plate 7 of the hand, the metacarpophalangeal joint fixing frame 20, the proximal interphalangeal joint fixing frame 19 and the forearm support frame 4 all adopt curved surface design, so that the fitting performance of the device and a person is improved.
When using the utility model provides a pair of during just gentle manifold type ectoskeleton hand rehabilitation training device, to the cerebral apoplexy patient, dress forearm support frame 4 in patient's forearm department, hand palm board 7 is dressed at the patient hand to the automatic adjustment interval. The end of the steel wire rope 2 is connected to the proximal interphalangeal joint fixing frame 19, the other end of the steel wire rope is connected to the linear push rod motor 3, a microprocessor in the control unit 6 receives a voice command of a patient or inputs a key to control the telescopic motion of the linear push rod motor 3, when the microcontroller executes a hand stretching command, the linear push rod motor 3 starts to contract, a joint coil spring is compressed through the transmission of the steel wire rope 2, the proximal interphalangeal joint fixing frame 19 is stretched, and the hand stretching action is realized; when the microcontroller executes a hand flexion command, the linear push rod motor 3 starts to extend, the joint coil spring releases elasticity through the transmission of the steel wire rope, the proximal interphalangeal joint fixing frame 19 retracts, and hand flexion is realized.
To sum up, the utility model discloses a functional advantage has:
1. the utility model adopts rigid-flexible coupling drive, has accurate motion transmission, no rigid impact and rigid mechanism safety protection;
2. the driving unit and the control unit of the utility model are both arranged on the back of the forearm, thus reducing the wearing burden of the hand of the patient;
3. the utility model adopts the linear push rod motor to cooperate with the joint torsional spring to carry out the hand stretching and hand bending and stretching actions;
4. the utility model discloses there are button control and speech control two kinds of modes, can provide multiple recovered mode, easy operation for the patient.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (3)
1. The utility model provides a hard and soft manifold type ectoskeleton hand rehabilitation training device which characterized in that: comprises a control unit (6), a motor driving unit, a force transmission unit and a hand execution unit; wherein the output end of the control unit (6) is connected with the motor driving unit; one end of the force transmission unit is connected with the motor driving unit, and the other end of the force transmission unit is connected with the hand execution unit; the output end of the hand execution unit is contacted with the affected finger of the patient, and the force transmission unit transmits the driving force to the affected finger to perform flexion and extension actions; the hand execution unit comprises a hand palm plate (7), a hand cover plate (9), metacarpophalangeal joint coil springs (16), metacarpophalangeal joint connecting rod coil springs (22), metacarpophalangeal joint connecting rods (21), metacarpophalangeal joint pulleys (12), metacarpophalangeal joint guide pulleys (14), metacarpophalangeal joint fixing frames (20), joint binding bands (8), near-end interphalangeal joint connecting rods (18), near-end interphalangeal joint fixing frames (19), near-end interphalangeal joint coil springs (17), near-end interphalangeal joint guide pulleys (15) and transverse shafts (13), the transverse shafts (13) are arranged on the hand palm plate (7), the metacarpophalangeal joint pulleys (12), the metacarpophalangeal joint coil springs (16) and the metacarpophalangeal joint connecting rods (21) and are connected to the transverse shafts (13), the metacarpophalangeal joint guide pulleys (14) and the metacarpophalangeal joint connecting rod, the metacarpophalangeal joint connecting rod (21) is connected to the metacarpophalangeal joint fixing frame (20), the near-end interphalangeal joint connecting rod (18) is connected with the metacarpophalangeal joint fixing frame (20) and the near-end interphalangeal joint fixing frame (19), the near-end interphalangeal joint coil spring (17) and the near-end interphalangeal joint guide pulley (15) are respectively connected to two sides of the near-end interphalangeal joint connecting rod (18), and the near-end interphalangeal joint fixing frame (19) is connected with the near-end interphalangeal joint connecting rod (; the motor driving unit comprises a forearm support frame (4), a linear push rod motor (3) and a forearm binding band (5); the force transmission unit comprises a front arm spool quick joint (1), a Teflon pipe (10), a steel wire rope (2) and a hand spool quick joint (11); the push rod end of the linear push rod motor (3) is connected with the steel wire rope (2), the tail end of the linear push rod motor (3) is fixed on the forearm support frame (4), and the tail end of the linear push rod motor (3) is connected with the control unit (6); wherein forearm spool quick-operation joint (1) erection fixation is on forearm support frame (4), hand spool quick-operation joint (11) erection fixation is in on hand palm board (7), install respectively at Teflon pipe (10) both ends forearm spool quick-operation joint (1) with on hand spool quick-operation joint (11), wire rope (2) are passed in Teflon pipe (10), wire rope (2) one end connect in on near-end interphalangeal joint mount (19), wire rope (2) pass in proper order near-end interphalangeal joint leading pulley (15) metacarpophalangeal joint leading pulley (14), metacarpophalangeal joint pulley (12) Teflon pipe (10), wire rope (2) other end connect in on sharp push rod motor (3).
2. A rigid-flexible coupled exoskeleton hand rehabilitation training device as recited in claim 1, wherein: the hand execution unit is made of PLA material and 40Cr material.
3. A rigid-flexible coupled exoskeleton hand rehabilitation training device as recited in claim 1, wherein: the hand palm plate (7), the metacarpophalangeal joint fixing frame (20), the near-end interphalangeal joint fixing frame (19) and the forearm support frame (4) all adopt curved surface designs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822014946.XU CN210301638U (en) | 2018-12-03 | 2018-12-03 | Rigid-flexible coupling type exoskeleton hand rehabilitation training device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822014946.XU CN210301638U (en) | 2018-12-03 | 2018-12-03 | Rigid-flexible coupling type exoskeleton hand rehabilitation training device |
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| CN210301638U true CN210301638U (en) | 2020-04-14 |
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| CN201822014946.XU Expired - Fee Related CN210301638U (en) | 2018-12-03 | 2018-12-03 | Rigid-flexible coupling type exoskeleton hand rehabilitation training device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363893A (en) * | 2018-12-03 | 2019-02-22 | 上海健康医学院 | A kind of Coupled Rigid-flexible formula exoskeleton hand device for healing and training |
| CN111904800A (en) * | 2020-09-08 | 2020-11-10 | 常州机电职业技术学院 | A ergonomic robotic arm for rehabilitation training |
| CN112999013A (en) * | 2021-02-23 | 2021-06-22 | 上海健康医学院 | Hand function rehabilitation training and evaluating device based on voice control |
-
2018
- 2018-12-03 CN CN201822014946.XU patent/CN210301638U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363893A (en) * | 2018-12-03 | 2019-02-22 | 上海健康医学院 | A kind of Coupled Rigid-flexible formula exoskeleton hand device for healing and training |
| CN109363893B (en) * | 2018-12-03 | 2024-05-03 | 上海健康医学院 | Rigid-flexible coupling exoskeleton hand rehabilitation training device |
| CN111904800A (en) * | 2020-09-08 | 2020-11-10 | 常州机电职业技术学院 | A ergonomic robotic arm for rehabilitation training |
| CN112999013A (en) * | 2021-02-23 | 2021-06-22 | 上海健康医学院 | Hand function rehabilitation training and evaluating device based on voice control |
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Granted publication date: 20200414 Termination date: 20211203 |