CN210644522U - Practical exoskeleton manipulator for rehabilitation training of hand dysfunction person - Google Patents
Practical exoskeleton manipulator for rehabilitation training of hand dysfunction person Download PDFInfo
- Publication number
- CN210644522U CN210644522U CN201920838981.5U CN201920838981U CN210644522U CN 210644522 U CN210644522 U CN 210644522U CN 201920838981 U CN201920838981 U CN 201920838981U CN 210644522 U CN210644522 U CN 210644522U
- Authority
- CN
- China
- Prior art keywords
- support frame
- hinged
- piece
- transmission
- forearm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a practical ectoskeleton manipulator for rehabilitation training of hand dysfunction person, including base, forearm support frame, palm support frame, the forearm support frame articulates on the base, the palm support frame articulates on the forearm support frame, be equipped with five finger training mechanisms that are used for five to indicate the training respectively one-to-one on the palm support frame, finger training mechanism includes first motor, first swing arm, first connecting rod, first finger bone support piece, second finger bone support piece, first driving piece, second driving piece, first transmission pole, second transmission pole, third transmission pole. The utility model discloses make things convenient for patient's wearing to realize the rehabilitation training of wrist and upper limbs simultaneously, according to different patients ' rehabilitation stage, realize the hand rehabilitation training mode to the difference, realize the recovery of hand normal function, will play very important effect to hand movement dysfunction patient's recovery.
Description
Technical Field
The utility model relates to a rehabilitation training apparatus field, specifically speaking relate to a practical exoskeleton manipulator for hand dysfunction person rehabilitation training.
Background
At present, cardiovascular and cerebrovascular diseases, especially cerebral apoplexy, become the leading factors threatening the health of people in China, and the people are in urgent need to receive rehabilitation therapy; on the other hand, many patients with hand disabilities caused by various accidents, hemiplegia, cerebral palsy and the like have important functions in production, life and study as one of important organs of human bodies, but the motion function of hands is often damaged due to various injuries, cerebral apoplexy and other irresistible factors. The disability rate of stroke and acquired accidents brings huge economic and medical pressure to the society, and the long-term care of stroke patients also brings heavy mental burden to relatives and family members. Based on the principle of plasticity of neuro-compensation, continuous passive training can help patients to recover from early-stage rehabilitation for early-stage hand patients.
Among the motion joints of the human body, the hand joints have more degrees of freedom and more complex structures, so the design of the hand rehabilitation training mechanism is also difficult. The research on the exoskeleton hand training structure in China is found to be in the starting stage through the document retrieval of the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a practical exoskeleton manipulator for rehabilitation training of the person with hand dysfunction can realize the best wearing situation of a patient is provided.
In order to solve the technical problem, the utility model discloses a following technical scheme: practical exoskeleton manipulator for rehabilitation training of hand dysfunction person, including base, forearm support frame, palm support frame, the forearm support frame articulates on the base, the palm support frame articulates on the forearm support frame, be equipped with five finger training mechanisms that are used for the training of five fingers respectively one-to-one on the palm support frame.
Further, the finger training mechanism comprises a first motor, a first swing arm, a first connecting rod, a first phalanx supporting piece, a second phalanx supporting piece, a first transmission piece, a second transmission piece, a first transmission rod, a second transmission rod and a third transmission rod;
the first motor is fixed on the palm support frame, one end of the first swing arm is fixedly connected with an output shaft of the first motor, the other end of the first swing arm is connected with one end of the first connecting rod through a ball-hinge pair, the other end of the first connecting rod is connected with the first end of the first transmission piece through a ball-hinge pair, the second end of the first transmission piece is hinged with the palm support frame, the third end of the first transmission piece is hinged with one end of the first transmission rod, the other end of the first transmission rod is hinged with the first phalanx support piece, one end of the second transmission rod is hinged with the palm support frame, the other end of the second transmission rod is hinged with the first end of the second transmission piece, the second end of the second transmission piece is hinged with the first phalanx support piece, and the third end of the second transmission piece is hinged with one end of the third transmission rod, the other end of the third transmission rod is hinged to the second phalanx supporting piece, the middle of the first transmission rod is hinged to the middle of the second transmission rod, the first transmission rod, the second transmission rod, the first transmission piece and the palm supporting frame form a parallelogram connecting rod structure, and the first transmission rod, the second transmission piece and the first phalanx supporting piece also form a parallelogram connecting rod structure.
Further, the first phalangeal support is hingedly connected to the second phalangeal support.
Further, the first phalanx supporting piece comprises a first phalanx supporting plate used for covering the back of a finger and a first connecting plate fixed on the outer surface of the first phalanx supporting plate, and the other end of the first transmission rod and the second end of the second transmission piece are hinged to the first connecting plate; the second phalangeal supporting piece comprises a second phalangeal supporting plate used for covering the back of the finger and a second connecting plate fixed on the outer surface of the second phalangeal supporting plate, and the other end of the third transmission rod is hinged to the second connecting plate.
Furthermore, the palm support frame comprises a palm support plate for covering the back of a palm and five hand connecting seats which are fixed on the outer surface of the palm support plate and distributed at intervals, and the second end of the first transmission piece and one end of the second transmission piece of each finger training mechanism are respectively hinged to the hand connecting seats in a one-to-one correspondence mode.
Furthermore, the palm support frame is driven by a first driving mechanism and/or a second driving mechanism, wherein the first driving mechanism is used for driving the palm support frame to swing relative to the forearm support frame, and the second driving mechanism is used for driving the forearm support frame to swing relative to the base.
Further, first actuating mechanism includes second motor, second swing arm and second connecting rod, the second motor is fixed on the forearm support frame, the one end of second swing arm with the output shaft fixed connection of second motor, the other end of second swing arm with the one end of second connecting rod is articulated to link to each other, the other end of second connecting rod with the palm support frame is articulated to link to each other.
Further, second actuating mechanism includes third motor and shaft coupling, the forearm support frame includes mutual interval distribution's first connecting seat and second connecting seat, the third motor is fixed on the base, the output shaft of third motor with the one end fixed connection of shaft coupling, the other end of shaft coupling with first connecting seat fixed connection, be fixed with the support on the base, the support passes through the hinge and links to each other with the second connecting seat is articulated, the hinge the shaft coupling with the output shaft coaxial arrangement of third motor.
Furthermore, a limiting support plate for limiting the rotation range of the forearm support frame is fixed on the base.
Furthermore, the forearm support frame is including being used for covering the forearm backup pad on the forearm, the width direction both sides limit of forearm backup pad is opened respectively has the bar hole.
The beneficial effects of the utility model are embodied in:
the utility model discloses simple structure, easy preparation, during the use, tie up the forearm on the forearm support frame, the hand is tied up on the palm support frame, each finger training mechanism dresses on five fingers, when taking exercise like this, wrist joint and elbow joint can be supported, the travelling comfort is better, moreover, because the forearm support frame articulates on the base, the palm support frame articulates on the forearm support frame, the angle of palm support frame between the forearm support frame like this, and the angle between forearm support frame and the base can be adjusted according to user's demand, realize the best position of dressing of patient, the practicality is better.
The utility model discloses finger training mechanism adopt the long-range projection central structure of parallelogram and ectoskeleton wearing formula structure when driving finger motion, can make the coincidence of staff joint and mechanism motion revolving axle well, can effectually avoid the secondary injury of motion in-process mechanism to the finger.
The utility model discloses structural nature is good, and the appearance is pleasing to the eye, and the volume is less, and convenient operation has the universality, is fit for community and family and uses, can satisfy different users' user demand.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention at a viewing angle.
Fig. 2 is a schematic perspective view of an embodiment of the present invention at another viewing angle.
Fig. 3 is a front view of an embodiment of the present invention.
Fig. 4 is a schematic perspective view of the finger training mechanism at a viewing angle according to an embodiment of the present invention.
Fig. 5 is a schematic perspective view of the finger training mechanism at another viewing angle according to an embodiment of the present invention.
Fig. 6 is a schematic perspective view of a first driving mechanism according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a finger training mechanism according to an embodiment of the present invention.
The components in the drawings are labeled as follows: 10 bases, 20 forearm support frames, 30 palm support frames and 40 finger training mechanisms;
101, 102 limit support plates;
201 a forearm supporting plate, 2011 a strip-shaped hole, 202 a first connecting seat, 203 a second connecting seat and 204 an ear plate;
301 palm support plate, 302 hand connecting seat and 303 hinged plate;
401 a first motor, 402 a first swing arm, 403 a first link, 404 a first phalanx support, 4041 a first phalanx support plate, 4042 a first link plate, 405 a second phalanx support, 4051 a second phalanx support plate, 4052 a second link plate, 406 a first transmission member, 407 a second transmission member, 408 a first transmission rod, 409 a second transmission rod, 410 a third transmission rod;
501 second motor, 502 second swing arm, 503 second connecting rod, 504 third motor and 505 coupler.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
See fig. 1-6.
The utility model discloses exoskeleton manipulator is used in rehabilitation training of practical hand dysfunction person, including base 10, forearm support frame 20, palm support frame 30, forearm support frame 20 articulates on the base 10, palm support frame 30 articulates on the forearm support frame 20, be equipped with five finger training mechanisms 40 that are used for the training of five fingers one-to-one respectively on the palm support frame 30.
During the use, tie up the forearm on the forearm support frame, the hand is tied up on the palm support frame, each finger training mechanism dresses on five fingers, when taking exercise like this, wrist joint and elbow joint can obtain supporting, the travelling comfort is better, moreover, because the forearm support frame articulates on the base, the palm support frame articulates on the forearm support frame, the angle between palm support frame and the forearm support frame like this, and the angle between forearm support frame and the base can be adjusted according to user's demand, realize the best position potential of dressing of patient, the practicality is better.
The utility model discloses a finger training mechanism 40 can be any equipment that can train the finger, including current finger training equipment, for example, application number is 201720844738.5 patent publication's ectoskeleton recovered mechanical finger, application number is 108201636257. X patent publication's finger function rehabilitation training device etc.. Of course, in an embodiment, in order to obtain a better training effect, the present invention designs a finger training mechanism 40 by itself, wherein the finger training mechanism 40 includes a first motor 401, a first swing arm 402, a first link 403, a first phalanx supporting member 404, a second phalanx supporting member 405, a first transmission member 406, a second transmission member 407, a first transmission rod 408, a second transmission rod 409, and a third transmission rod 410;
the first motor 401 is fixed on the palm support frame 30, one end of the first swing arm 402 is fixedly connected with an output shaft of the first motor 401, the other end of the first swing arm 402 is connected with one end of the first link 403 by a ball-hinge pair, the other end of the first link 403 is connected with a first end of the first transmission member 406 by a ball-hinge pair, a second end of the first transmission member 406 is hinged with the palm support frame 30, a third end of the first transmission member 406 is hinged with one end of the first transmission rod 408, the other end of the first transmission rod 408 is hinged with the first phalanx support member 404, one end of the second transmission rod 409 is hinged with the palm support frame 30, the other end of the second transmission rod 409 is hinged with a first end of the second transmission member 407, and a second end of the second transmission member 407 is hinged with the first phalanx support member 404, the third end of the second transmission member 407 is hinged to one end of a third transmission rod 410, the other end of the third transmission rod 410 is hinged to the second phalanx supporting member 405, the middle of the first transmission rod 408 is hinged to the middle of the second transmission rod 409, the first transmission rod 408, the second transmission rod 409, the first transmission member 406 and the palm supporting frame 30 form a parallelogram link structure, and the first transmission rod 408, the second transmission rod 409, the second transmission member 407 and the first phalanx supporting member 404 also form a parallelogram link structure.
When the device is used, the proximal phalanx is tied on the first phalanx supporting piece, the middle phalanx is tied on the second phalanx supporting piece (of course, the use mode of other four fingers except the thumb is that no middle phalanx is provided for the thumb, and the distal phalanx is tied on the second phalanx supporting piece), the motion diagram is shown in figure 7, power is provided by the first motor, the first motor drives the first swing arm to rotate, then the first swing arm drives the first connecting rod to periodically extend out and retract, when the first connecting rod extends out, the two parallelogram connecting rod structures bend downwards and compress, so that the joint between the palm and the proximal phalanx is driven to bend downwards, meanwhile, the second driving piece drives the third driving rod to lift up, so that the joint between the proximal phalanx and the middle phalanx bends downwards, when the first connecting rod retracts, each connecting rod and joint reset, so that the fingers can be driven to periodically bend, And (5) stretching training.
Specifically, the method comprises the following steps:
movement of the first joint: the joint between the palm and the proximal phalanx is cast through the first axis of rotation L1 of the finger training mechanism such that the axis of rotation L1 of the mechanism coincides with the center of motion of the joint between the palm and the proximal phalanx.
Movement of the second joint: driven by the second transmission member 407 and the third transmission rod 410, the center of motion of the joint between the proximal phalanx and the middle phalanx (the line connecting the two hinge holes of the first phalanx support 404 and the second phalanx support 405) coincides with the second rotation axis L2 of the mechanism.
And the motion angle relation of the two joints can be adjusted by controlling the third transmission rod, so that the finger training mechanism is more practical.
In one embodiment, the first phalangeal support 404 is hingedly connected to the second phalangeal support 405. Design like this, it is more convenient when dressing, the wholeness is better, can not influence finger joint's activity moreover.
In one embodiment, the first phalangeal supporting member 404 includes a first phalangeal supporting plate 4041 for covering the back of the finger and a first connecting plate 4042 fixed to the outer surface of the first phalangeal supporting plate 4041, and the other end of the first transmission rod 408 and the second end of the second transmission member 407 are hinged to the first connecting plate 4042; the second phalangeal supporting member 405 includes a second phalangeal supporting plate 4051 for covering the back of the finger and a second connecting plate 4052 fixed to the outer surface of the second phalangeal supporting plate 4051, and the other end of the third transmission rod 410 is hinged to the second connecting plate 4052. Design like this, it binds or adopts other modes to combine fixedly to be convenient for with the finger through first phalanx backup pad and second phalanx backup pad, and then be convenient for articulate with corresponding transfer line, driving medium through first connecting plate and link to each other, simple structure, and space utilization is reasonable, has very good practicality.
In an embodiment, the palm support 30 includes a palm support plate 301 for covering the back of the palm and five spaced-apart hand connecting bases 302 fixed to the outer surface of the palm support plate 301, and the second end of the first transmission member 406 and the one end of the second transmission member 409 of each finger training mechanism 40 are respectively hinged to each hand connecting base 302 in a one-to-one correspondence manner. Design like this, simple structure is convenient for bind or adopt other modes to combine fixedly with the palm through the palm backup pad, then implements the hinge with the corresponding part of finger training mechanism easily through the hand connecting seat, simple structure, and the space utilizes rationally, has very good practicality.
In one embodiment, the forearm support stand 20 includes a forearm support plate 201 for overlying the forearm. Similarly, be convenient for bind or adopt other modes to combine fixedly with the forearm through the forearm backup pad, preferably, there is a bar hole 2011 open respectively in the width direction both sides limit of forearm backup pad 201, and the bandage is convenient for pass in the bar hole to the convenience is tied up the forearm support frame on the forearm.
Preferably, the first phalangeal supporting plate 4041 and the second phalangeal supporting plate 4051 are also provided with a strip-shaped hole on both sides in the width direction, so that the phalangeal supporting plate can be easily tied to a finger by passing through the tying band.
In an embodiment, the device further includes a first driving mechanism for driving the palm support 30 to swing relative to the forearm support 20 and/or a second driving mechanism for driving the forearm support 20 to swing relative to the base 10. The design like this, not only can adjust the angle of palm support frame, forearm support frame, when training moreover, dorsiflexion and the motion of palm flexion of wrist are realized to the first actuating mechanism of accessible, and the upset motion of forearm is realized to the accessible second actuating mechanism, can enough realize the best position of wearing of patient through angle of adjustment like this, also can drive the upper limbs and carry out the rehabilitation training of minim to human elbow and wrist.
In an embodiment, the first driving mechanism includes a second motor 501, a second swing arm 502 and a second connecting rod 503, the second motor 501 is fixed on the forearm support frame 20, one end of the second swing arm 502 is fixedly connected to an output shaft of the second motor 501, the other end of the second swing arm 502 is hinged to one end of the second connecting rod 503, and the other end of the second connecting rod 503 is hinged to the palm support frame 30. When the wrist bending device is used, the second motor 501 is driven to drive the second swing arm 502 to rotate, and the palm support plate 301 is driven by the second connecting rod 503 to realize the back bending and palm bending movement of the wrist, so that the wrist bending device is simple in structure and easy to control; the palm support plate 301 is an exoskeleton mechanism, and the movement rotation axis thereof and the dorsiflexion and palmflexion movement axes of the wrist are 204 rotation axes.
Preferably, the number of the second connecting rods 503 is two, one end of each of the second connecting rods is hinged to each of the two sides of the second swing arm 502, the palm support plate 301 is provided with two hinged plates 303 spaced from each other, and the other end of each of the second connecting rods 503 is hinged to each of the two hinged plates 303, so that the second connecting rods are hinged to the palm support frame.
In an embodiment, the second driving mechanism includes a third motor 504 and a coupling 505, the forearm support frame 20 includes a first connection seat 202 and a second connection seat 203 which are distributed at intervals, the third motor 504 is fixed on the base 10, an output shaft of the third motor 504 is fixedly connected with one end of the coupling 505, the other end of the coupling 505 is fixedly connected with the first connection seat 202, the base 10 is fixed with a shaft 101, the shaft 101 is hinged to the second connection seat 203 through a hinge shaft, and the hinge shaft, the coupling 505 and the output shaft of the third motor 504 are coaxially arranged. When in use, the third motor 504 drives the coupling 505 and simultaneously drives the 202 structure fixedly connected to the coupling 505 to drive the 20 to turn over; the design is simple in structure, and the overturning angle of the palm is easy to control and adjust; the motor has certain resistance moment, and the phenomenon of out-of-control collision of the whole mechanism under the action of gravity can not occur.
In an embodiment, a limit support plate 102 for limiting the rotation range of the forearm support stand 20 is fixed on the base 10, that is, the forearm support stand 20 stops moving when rotating to abut against the limit support plate 102. The design can prevent the drive forearm from turning excessively, and avoid causing limb injury.
Preferably, two sides of the forearm support plate 201 in the width direction near one end of the palm support plate 301 are respectively provided with an ear plate 204, and the palm support plate 301 is hinged on the two ear plates 204. Design like this, simple structure, easy preparation, forearm backup pad and palm backup pad rotate relatively more easily moreover, use more smoothly.
Preferably, hand connecting seat 302, first connecting seat 202 and second connecting seat 203 constitute by two backup pads that mutual interval distributes, and the part of being connected with it stretches into between two backup pads and is connected with two backup pads, and more preferably, third motor 504 is biax synchronous machine, and shaft coupling 505 sets up two altogether, and two output shafts of third motor are respectively through a shaft coupling and two backup pads fixed connection, and design like this, the structure is more stable, and the result of use is better.
The utility model adopts the method of combining the parallelogram mechanism of the remote center projection and the side wearing structure through the special design, and the hands of the patient can be placed on the training mechanism when in use;
the utility model can automatically adjust the initial position of the limb by controlling, and realize the different intensity and different regular movements of the hand in different rehabilitation stages according to the matrix change; in addition, the rehabilitation device can also realize the drive of the upper limbs to the actions of the wrist and the lateral elbow of the human body, thereby playing the effect of rehabilitation training and realizing the aim of rehabilitation through the training in a period of time.
The utility model respectively drives five fingers through special design, thus realizing multi-mode training through controlling various postures of the hand;
the utility model designs dorsiflexion and palmar flexion of the wrist according to the structural characteristics of the wrist of the human body, thus not only realizing the best dressing position of the patient by adjusting the angle, but also carrying out rehabilitation training on the wrist;
the utility model designs the turning motion of the upper arm according to the structural characteristics of the upper limb of the human body, thus realizing the best dressing position of the patient by adjusting the angle and driving the upper limb to carry out the rehabilitation training of the upper limb of the human body in a small range;
the utility model discloses structural nature is good, and the appearance is pleasing to the eye, and the volume is less, and convenient operation has the universality, is fit for community and family and uses, can satisfy different users' user demand.
The utility model can fully avoid the mutual adhesion of the joint tendons of the hand after the patient regularly uses the hand for a period of time, and relieve the hand muscle atrophy caused by the long-time hand immobility; through the rehabilitation strategy appointed and implemented in different stages according to the rehabilitation patient, the motor function of the hand after training is recovered to a certain extent, the remodeling of the motor nerve of the hand can be effectively established, and the recovery of the normal function of the hand can be finally realized.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may include, for example, a fixed connection, an integral connection, or a detachable connection; can be mechanically or electrically connected, or can be communicated between two elements; the terms may be directly connected or indirectly connected through an intermediate, and the specific meanings of the terms may be understood according to specific situations by those skilled in the art.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, a particular orientation configuration and operation, and therefore, should not be construed as limiting the present invention. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the present invention, and that various modifications or changes in light thereof will be suggested to persons skilled in the art and are to be included within the spirit and purview of this application.
Claims (9)
1. The utility model provides a utility type hand dysfunction people ectoskeleton manipulator for rehabilitation training which characterized in that: the training device comprises a base, a forearm support frame and a palm support frame, wherein the forearm support frame is hinged on the base, the palm support frame is hinged on the forearm support frame, and five finger training mechanisms which are respectively used for five-finger training in a one-to-one correspondence manner are arranged on the palm support frame;
the finger training mechanism comprises a first motor, a first swing arm, a first connecting rod, a first phalanx supporting piece, a second phalanx supporting piece, a first transmission piece, a second transmission piece, a first transmission rod, a second transmission rod and a third transmission rod;
the first motor is fixed on the palm support frame, one end of the first swing arm is fixedly connected with an output shaft of the first motor, the other end of the first swing arm is connected with one end of the first connecting rod through a ball-hinge pair, the other end of the first connecting rod is connected with the first end of the first transmission piece through a ball-hinge pair, the second end of the first transmission piece is hinged with the palm support frame, the third end of the first transmission piece is hinged with one end of the first transmission rod, the other end of the first transmission rod is hinged with the first phalanx support piece, one end of the second transmission rod is hinged with the palm support frame, the other end of the second transmission rod is hinged with the first end of the second transmission piece, the second end of the second transmission piece is hinged with the first phalanx support piece, and the third end of the second transmission piece is hinged with one end of the third transmission rod, the other end of the third transmission rod is hinged to the second phalanx supporting piece, the middle of the first transmission rod is hinged to the middle of the second transmission rod, the first transmission rod, the second transmission rod, the first transmission piece and the palm supporting frame form a parallelogram connecting rod structure, and the first transmission rod, the second transmission piece and the first phalanx supporting piece also form a parallelogram connecting rod structure.
2. The exoskeleton manipulator as set forth in claim 1 for use in rehabilitation training of a person with hand dysfunction, wherein: the first phalangeal supporting member is hinged to the second phalangeal supporting member.
3. The exoskeleton manipulator as set forth in claim 1 or 2 for use in rehabilitation training of a person with hand dysfunction, wherein: the first phalanx supporting piece comprises a first phalanx supporting plate used for covering the back of a finger and a first connecting plate fixed on the outer surface of the first phalanx supporting plate, and the other end of the first transmission rod and the second end of the second transmission piece are hinged to the first connecting plate; the second phalangeal supporting piece comprises a second phalangeal supporting plate used for covering the back of the finger and a second connecting plate fixed on the outer surface of the second phalangeal supporting plate, and the other end of the third transmission rod is hinged to the second connecting plate.
4. The exoskeleton manipulator as set forth in claim 1 or 2 for use in rehabilitation training of a person with hand dysfunction, wherein: the palm support frame comprises a palm support plate and five hand connecting seats, the palm support plate is used for covering the back of a palm, the hand connecting seats are fixed on the outer surface of the palm support plate and are distributed at intervals, and the second end of the first transmission piece and one end of the second transmission piece of each finger training mechanism are hinged to the hand connecting seats in a one-to-one correspondence mode respectively.
5. The exoskeleton manipulator as set forth in claim 1 or 2 for use in rehabilitation training of a person with hand dysfunction, wherein: still including being used for driving the palm support frame is relative forearm support frame wobbling first actuating mechanism and/or be used for driving forearm support frame is relative base wobbling second actuating mechanism.
6. The exoskeleton manipulator as set forth in claim 5 for use in rehabilitation training of a person with hand dysfunction, wherein: first actuating mechanism includes second motor, second swing arm and second connecting rod, the second motor is fixed on the forearm support frame, the one end of second swing arm with the output shaft fixed connection of second motor, the other end of second swing arm with the one end of second connecting rod is articulated to link to each other, the other end of second connecting rod with the palm support frame is articulated to link to each other.
7. The exoskeleton manipulator as set forth in claim 5 for use in rehabilitation training of a person with hand dysfunction, wherein: the second actuating mechanism includes third motor and shaft coupling, the forearm support frame includes mutual interval distribution's first connecting seat and second connecting seat, the third motor is fixed on the base, the output shaft of third motor with the one end fixed connection of shaft coupling, the other end of shaft coupling with first connecting seat fixed connection, be fixed with the support on the base, the support passes through the hinge and links to each other with the second connecting seat is articulated, the hinge the shaft coupling with the output shaft coaxial arrangement of third motor.
8. The exoskeleton manipulator as set forth in claim 1 or 2 for use in rehabilitation training of a person with hand dysfunction, wherein: and a limiting supporting plate for limiting the rotation range of the forearm supporting frame is fixed on the base.
9. The exoskeleton manipulator as set forth in claim 1 or 2 for use in rehabilitation training of a person with hand dysfunction, wherein: the forearm support frame is including being used for covering the forearm backup pad on the forearm, the width direction both sides limit of forearm backup pad is opened respectively has the bar hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920838981.5U CN210644522U (en) | 2019-06-04 | 2019-06-04 | Practical exoskeleton manipulator for rehabilitation training of hand dysfunction person |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920838981.5U CN210644522U (en) | 2019-06-04 | 2019-06-04 | Practical exoskeleton manipulator for rehabilitation training of hand dysfunction person |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210644522U true CN210644522U (en) | 2020-06-02 |
Family
ID=70823322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920838981.5U Active CN210644522U (en) | 2019-06-04 | 2019-06-04 | Practical exoskeleton manipulator for rehabilitation training of hand dysfunction person |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210644522U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111904783A (en) * | 2020-07-09 | 2020-11-10 | 浙江工业大学 | Hand rehabilitation device |
| RU2747678C1 (en) * | 2020-07-30 | 2021-05-12 | Федор Анатольевич Бушков | Method for restoring upper limb functions in patients with cervical spinal cord injury |
| CN113576837A (en) * | 2021-08-26 | 2021-11-02 | 吉林大学第一医院 | Intelligent hand function rehabilitation device for hand burn patients |
-
2019
- 2019-06-04 CN CN201920838981.5U patent/CN210644522U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111904783A (en) * | 2020-07-09 | 2020-11-10 | 浙江工业大学 | Hand rehabilitation device |
| RU2747678C1 (en) * | 2020-07-30 | 2021-05-12 | Федор Анатольевич Бушков | Method for restoring upper limb functions in patients with cervical spinal cord injury |
| CN113576837A (en) * | 2021-08-26 | 2021-11-02 | 吉林大学第一医院 | Intelligent hand function rehabilitation device for hand burn patients |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109009875B (en) | Individualized upper limb rehabilitation training robot | |
| CN111281741B (en) | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types | |
| CN210644522U (en) | Practical exoskeleton manipulator for rehabilitation training of hand dysfunction person | |
| CN101357097B (en) | Five freedom degree ectoskeleton type upper limb rehabilitation robot | |
| Sugar et al. | Design and control of RUPERT: a device for robotic upper extremity repetitive therapy | |
| CN102113949B (en) | Exoskeleton-wearable rehabilitation robot | |
| CN102499857B (en) | Exoskeleton wearable upper limb rehabilitation robot | |
| CN109124985B (en) | Individualized upper limb rehabilitation training robot system based on path planning | |
| AU2010298373B2 (en) | Rehabilitative training devices for use by stroke patients | |
| CN104622668A (en) | Bionic shoulder joint movement rehabilitation training apparatus | |
| CN108836732B (en) | Upper limb rehabilitation training exoskeleton mechanism with human-machine motion compatibility and passive gravity balance characteristics | |
| CN106074092A (en) | A kind of novel exoskeleton finger healing robot and method of work thereof | |
| CN109223447A (en) | A kind of upper limb healing of right and left mutually changing and movable auxiliary device | |
| CN110037890B (en) | Hand function rehabilitation exoskeleton robot based on double four-bar mechanism | |
| JP2021512743A (en) | Upper limb nerve rehabilitation training equipment | |
| CN110141458A (en) | Hand movement function impaired patients rehabilitation training machinery hand based on ectoskeleton | |
| CN204601060U (en) | The bionical device for healing and training of a kind of shoulder joint kinesitherapy | |
| CN110251364A (en) | A kind of upper-limbs rehabilitation training robot | |
| CN210433706U (en) | Exoskeleton mechanical finger for rehabilitation training | |
| CN206120674U (en) | Novel ectoskeleton finger rehabilitation machine ware people | |
| CN111759662A (en) | Arm auxiliary device | |
| CN110074943B (en) | Exoskeleton mechanical finger for rehabilitation training | |
| CN213218751U (en) | Recovered ectoskeleton robot | |
| CN209392331U (en) | A kind of rehabilitation training robot for function of hand | |
| WO2020038012A1 (en) | Personalized robot for upper limb rehabilitation training |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |