CZ35938U1 - Pneumatic hand rehabilitation robot - Google Patents

Description

Pneumatic hand rehabilitation robot

Field of technology

This technical solution relates to a pneumatic rehabilitation robot for the hand, intended for the reeducation of the physiological movement of the fingers, using pneumatic elements and intended for the treatment of neurological symptoms, especially of central origin.

State of the art

Hand function is achieved primarily through coordinated finger movements. The pneumatic rehabilitation robot of the hand can mimic the movements of the fingers of a human hand and implement rehabilitation training including the possibility of restoring physiological control of hand movements and reeducation of this movement in the central nervous system, coordination of fine hand mechanics, restoring finger strength and flexibility. The human hand (except the wrist) has 21 degrees of freedom (thumb 5, the other fingers 4x4 degrees of freedom).

Rehabilitation robots are designed to reeduce the movement of the patient's limbs, which are affected by loss-making diseases of their mobility. They are based on the use of biological feedback, biofeedback, usually visual, where the patient, whose affected limb is attached to the robot effector, has to follow the desired trajectory of movement or perform a specified movement task. The rehabilitation robot monitors the patient's effort through sensors by monitoring the immediate position of the distal limb (end-effector robot) or the position in all crucial joints (exoskeleton-type robot), or by measuring the applied muscular force. The control unit, which is connected to sensors built into the robot's motion mechanism, evaluates the success of this patient's effort and in case of failure the active-driven robot itself gently and gently takes over the required movement, but only for partial, usually short sections of the required trajectory. chance to the patient. There are also robots with a passive solution that do not involve drive, so all limb movement is only a result of the patient's free effort and residual muscle strength. The process of moving the limb along the desired trajectory or the process of performing the desired movement task is constantly repeated, so that after many repetitions of the desired movement, the patient gains the opportunity to create new memory traces and / or new neural connections.

The formation of new memory traces and / or new neural connections is due to the neuroplasticity of the central nervous system. In this way, the patient learns again, thus re-educating the lost momentum of his affected limb. During this rehabilitation procedure, it is therefore very important to ensure the movement of the patient's limb by the cooperating rehabilitation robot.

Rehabilitation robots also include a processor unit that receives data from the sensors. The processor unit includes a memory in which data on the desired effector movement is stored. The processor unit compares the data received from the sensors with the data stored in memory, representing the ideal desired limb trajectory. The result of the comparison provides information on improving limb momentum, which is valuable diagnostically. In the case of an active drive, the result of the data comparison is also information for the control of drives ensuring the required limb movement, which the patient is not yet able to do.

The HANDEXOS rehabilitation robot, designed by Medtronic, is known from the prior art. This robot has five degrees of freedom and can overcome the limitations of the finger movement of patients with hemiplegia. For each finger, this robot already has its own independent movement module, which consists of three connecting rods, the axes of rotation of which are located along the axes of the joints of the fingers of the human hand. The movement module of each finger is independently driven by a separate actuator.

- 1 CZ 35938 UI

An exoskeleton-type hand robot is also known. Their robot has 18 degrees of freedom, with a thumb 4 degrees of freedom, fingers 3 degrees of freedom and a wrist 2 degrees of freedom. The device uses 17 independently controlled motors and captures information about the position of the fingers and the forces exerted by them. The hand is placed over the locomotor mechanisms dorsally. The device is complex, expensive and difficult to operate, suitable for research rather than clinical use (Ueki S, Kawasaki H, Ito S, Nishimoto Y, Abe M, Aoki T. et al. degrees-of-freedom for rehabilitation therapy (IEEE ASME Trans Mechatron 2012; 17 (1): 136-46).

There is also a known rehabilitation robot for neurorehabilitation called "Hand of Hope", developed by Hong Kong Polytechnic University. This robot has a total of 5 degrees of freedom and uses five linear motors. This relative simplification has been made possible by the choice of the "endeffector" concept, where the fingers are moved so that the robot's effector is connected to the fingers only by their tips, and therefore no separate drives are introduced for each joint, as in the exoskeleton-type robot. The described rehabilitation robot is able to use electromyographic signals for motion control. This robot is also designed to be wearable. However, its use is complicated by large dimensions and weight (Tong KY, Ho SK, Pang PM K, Hu XL. An intention driven hand functions task training robotic system. The 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Buenos Aires, Argentina, September, 2010).

ORMED has developed and launched an end-effector robot for hand rehabilitation called ARTROMOT. The robot's effectors hold each finger of its hand. The effector is in the form of an arc-curved linear element formed by a series of links, such as IGUS energy chains, etc., which allows a certain degree of flexibility when transmitting forces to the fingertips and also ensures the physiological trajectory of the fingertip movement. The effectors are mounted on the drive side on a driven common shaft, capable of indexing the movement of the individual fingers. The device excels with little pressure on the knuckles, is battery-powered, and is also wearable, but quite large.

Another principle used for the construction of hand rehabilitation robots is pneumatic, where pneumatic cylinders or pneumatic artificial muscles are applied as actuators.

The exoskeleton-type mechanism, which provides flexion and extension of the fingers, which uses pneumatic muscles, was developed, for example, by the Tokyo Institute of Technology. The sensor is again a pneumatic element installed on the acre of each finger, which measures the size of the patient's own force and thus provides the required feedback through servopneumatic elements, solenoid servovalves and also pressure regulators. (Tadano K, Akai M, Kadota K, Kawashima K. Development of grip amplified glove using biarticular mechanism with pneumatic artificial rubber muscle. IEEE International Conference on Robotic and Automation Anchorage Convention District. Anchorage, AK, USA, May, 2010).

Carnegie Mellon University in Pittsburgh (USA) has developed a new type of robot for the rehabilitation of hand function, which is also controlled by EMG signals. The body of this wearable robot is firm, placed on the dorsal side of the hand. The drive is solved by pneumatic cylinders, while the movement of all three members of each finger is ensured by the movement of the piston rods of two pneumatic cylinders. The cylinders are located on the robot's body, ie also dorsally. The movement of the piston rods on the fingers is transmitted by a rod mechanism. The device has a good therapeutic effect, but has not implemented the sensing of the forces exerted by the patient, nor the necessary feedback (DiCicco M, Lucas L, Matsuoka Y. Comparison of control strategies for an EMG controlled orthotic exoskeleton for the hand. Automation (New Orleans, LA, USA, May, 2004).

Rutgers University (New Jersey, USA) has designed a device that includes four pneumatic cylinders made of glass-graphite material, which are installed on the patient's hand palm and anchored in ball joints, allowing controlled movement of all fingers, including the thumb, including flexion, extension and finger reduction. The pneumatic drive itself is mounted on a support glove with ball joints and can be adjusted to the size of the user's palm. The mechanism is complemented by Halls

-2EN 35938 UI position sensors of cylinder rods, infrared sensors, resp. camera position sensing system. However, the determination of the force developed by the patient is solved only indirectly, through the created simulation calculation model of virtual force. The device can develop a force of only 16N per finger; Although it excels in low friction, the working space for finger movement is very limited. The main medical indication of this hand robot is home rehabilitation for carpal tunnel problems (Bouzit M, Burdea G, Popescu G, Boian R. The Rutgers Master IINew design forcefeedback glove. IEEE ASME Trans Mechatron 2002; 7 (2): 256-63) .

Cheng et al. developed a robotic finger rehabilitation device based on the use of five double-acting pneumatic cylinders to ensure flexion and extension of the fingers and another double-acting cylinder for flexion and extension in the wrist. The device is table type, not wearable. The patient places his hand in a fixed device, while the piston rods of the pneumatic cylinders in the role of robot effectors are attached to the fingertips. So it's an end-effector robot. " This solution has a problem with the realization of the trajectory of the fingertips along a curved path, which is not solvable in the implemented way (Cheng, G., Liu, X.Z. A hand rehabilitation training robot Syslem and its hand. CN 106074085 (2016)).

U.S. Patent Application No. 2016296345 A1 (The University of Texas System, Austin, USA) discloses a hand rehabilitation robot that does not use active drives and is therefore a passive solution. The position of the fingers is always maintained in a rest physiological position by a pair of springs, against the force of which the patient then performs the flexion and extension of the fingers. The robot is of the exoskeleton type, so the passive spring elements are located at each of the joints. This robot also includes a number of torque sensors and computing devices configured to control the operation of the robot.

The essence of the technical solution

The technical solution aims to design a pneumatic rehabilitation robot of the hand of both passive type, ie without active drives, and active type, ie with active drives, which is designed to rehabilitate the physiological movement of the fingers affected by movement disorders. The mechanical connection between the movement of the piston rods and the movement of the fingers themselves is ensured by means of a kinematic arrangement of the movement device, formed by a movable connection of several fixed parts, interconnected in pivot pins.

The locomotor system is able to convert the linear movements of the piston rod of the pneumatic cylinder into physiological flexion and extension of the fingers in a large range of the required movement. The described movement device is mounted on the base frame. The movement device for the thumb is displaced and rotated according to the anatomical requirements of the right, resp. left hand and is placed on the subframe, which is firmly connected to the base frame by an angled connecting block of the base and subframes. The bottoms of the pneumatic cylinders are connected to fastening blocks by means of rotary bearings, which are firmly screwed onto one end of the strain gauges. The other end of these sensors is mounted on the base frame, resp. (for thumb) on the subframe. This enables the tensometric measurement of the forces exerted by the desired movement of the fingers, thus obtaining information about the residual ability (strength) of the individual fingers to perform flexion, resp. extension against the more or less constant pneumatic resistance created by the movement of the piston in the piston rod. This resistance can be increased or decreased during passive operation of the robot by means of throttle valves with diffusers on both sides of the double-acting pneumatic cylinders.

If the active robot mode is used, which means that the pneumatic cylinders play the role of active drives, ie robot actuators, it is necessary to connect both diffusers of each of the five cylinders to a pneumatic circuit with compressed air source and appropriate pneumatic switchboard, preferably controlled by an electromagnet from the control unit.

CZ 35938 UI

In the case of a double-acting pneumatic cylinder, one pneumatic switchboard type 5/3 (five-way, three-position) can be connected to both diffusers, followed by a compressed air source and two pneumatic switchboards type 3/2 (three-way, two-position) connected in parallel to each other. open (NO, "normal open"), which can be ensured eg by springs. When the piston rod of the double-acting pneumatic cylinder is extended, the fingers bend (flexion), when it is inserted, the fingers straighten (extension). The first pneumatic distributor type 3/2 can be connected to the space behind the double-acting pneumatic cylinder (outside the piston rod area) and the second pneumatic distributor type 3/2 can be connected to the space in front of the double-acting pneumatic cylinder (outside the piston rod area).

In the passive mode of the robot, the pneumatic switchboard type 5/3 is in position (middle square of switchboard 33 in Fig. 5) ensuring air flow between the double-acting pneumatic cylinder and both pneumatic switchboards type 3/2, which are open in the basic position (right square of both switchboards 34a, 34b in FIG. 5), which allows passive exercise by the patient's own strength without putting up air resistance. The compressed air source is not connected to the pneumatic switchboard type 5/3 in the passive mode of the robot.

In the passive mode of the robot with a pneumatic switchboard type 5/3 in the higher position, the force of movement of the fingers can be measured using connected strain gauges. If both pneumatic cabinets type 3/2 are in the open position (right square of both cabinets 34a, 34b in Fig. 5), it is possible to measure the force of free movement in flexion and extension (kinematic measurement - ie measuring the force of fingers when moving without external resistance).

If one of the two pneumatic valves of type 3/2 is in the open position (right square of one of the two cabinets 34a / 34b in Fig. 5) and the other in the closed position (left square of one of the two cabinets 34a / 34b in Fig. 5), it is possible to measure the force of movement overcoming the resistance of the air in flexion or extension (dynamic measurement - ie measuring the force of the fingers as they move against external resistance). It follows that when the first pneumatic distributor 34a type 3/2 is in the open position (right square of the distributor 34a in Fig. 5) and the second pneumatic distributor 34b type 3/2 in the closed position (the left square of the distributor 34b in Fig. 5) , the air resistance is placed when the cylinder piston rod is extended and the dynamic force in flexion can be measured. Conversely, when the first pneumatic distributor 34a of the type 3/2 is in the closed position (left square of the distributor 34a in Fig. 5) and the second pneumatic distributor 34b of the type 3/2 in the open position (right square of the distributor 34b in Fig. 5), air resistance is placed when the cylinder piston rod is inserted and the dynamic force in the extension can be measured. However, in all the cases described, the outlet on both cabinets 34a and 34b must be closed when they are in the closed position (left square of cabinets 34a, 34b and outlet 3 in FIG. 5).

In the active mode of the robot, the pneumatic distributor type 5/3 is in position (left or right square of the distributor 33 in Fig. 5) ensuring air flow between the double-acting pneumatic cylinder and only one of the two pneumatic distributors type 3/2, which is in the open position ( the left square of one of the distributors 34 in Fig. 5), and also ensuring the air flow between the double-acting pneumatic cylinder and the source of compressed air. The second of the two pneumatic switchboards type 3/2 is not connected in the active mode of the robot. Air from the compressed air source flows into that part of the double-acting pneumatic cylinder (ie behind the pneumatic cylinder outside the piston rod area, which helps the patient in flexion, or in front of the pneumatic cylinder into the piston rod area, which helps the patient in extension) depending on which of the two pneumatic manifolds type 3/2 is connected and which is disconnected. This allows the fingers to move to maximum flexion or maximum extension, and also allows the finger to stop moving in any position due to the overpressure created by the source of compressed air. In the case of a change in the direction of finger movement (from flexion to extension or from extension to flexion), the pneumatic distributor type 5/3 switches between one and the other of the two pneumatic distributors type 3/2, thus also switching part of the double-acting pneumatic cylinder into which air flows from sources of compressed air. Preferably, both type 3/2 pneumatic distributors are left in the active mode of the robot in the open position (left square of both distributors 34 in Fig. 5) to resist air without having to switch the positions of both type 3/2 pneumatic distributors when changing the direction of finger movement.

-4CZ 35938 UI

The actual construction of the robot according to this technical solution is of the "end-effector" type, which means that the robot's effectors will move each finger behind its end, always in one plane given by the robot's movement system. Therefore, 3 degrees of freedom will be used for each finger (flexion and extension in the metacarpophalangeal and interphalangeal joints for all fingers except the thumb), where three degrees of freedom will also be used (in the carpometacarpal, metacarpophalangeal and interphalangeal joints flexion and extension in a single plane of the robot and is situated in a fixed opposition position.) The robot has a total of 15 degrees of freedom. The function of a rehabilitation robot can effectively improve the hand function of patients, especially those with neurological syndromes of central origin.

The advantage is that the pneumatic rehabilitation robot uses double-acting pneumatic cylinders, which ensure the stabilization of the fingers and at the same time put more or less constant resistance to the required targeted movements of the fingers, and these pneumatic cylinders can be used as actuators of the robot drive unit create active robot

The advantages of the pneumatic rehabilitation robot hand solution according to this technical solution, which is intended for the treatment of neurological symptoms of central origin and includes double-acting pneumatic cylinders, are that:

• these double-acting pneumatic cylinders are used to stabilize the fingers and at the same time to ensure a constant resistance to the targeted movements of the fingers;

• these double-acting pneumatic cylinders are also used as robot drive units;

• the mechanical connection between the movement of the piston rods of the pneumatic cylinders and the movement of the fingers itself is ensured by a kinematic arrangement of the movement device created by movable connection of several suitably shaped fixed parts and rods on the physiological trajectory of the fingertip movement during their flexion and extension in a large range of the required movement;

• the connection between the pneumatic cylinders connected to the locomotive and the basic frame of the robot is made by means of strain gauges, which are bent during the movement of the fingers and thus measure the forces, especially the forces exerted by the patient's rehabilitated fingers;

• pneumatic cylinders as actuators used to drive the robot in the active mode of its operation are connected to a source of compressed air via pneumatic distributors, and • control of pneumatic distributors is determined from the robot control unit, which uses information about measured forces generated by patient's fingers during their flexion and extension, obtained from strain gauges, as well as information on finger movement requirements, visualized on a monitor or in virtual reality glasses.

Clarification of drawings

The essence of the technical solution is further clarified on examples of its implementation, which are described using the attached drawings, where:

-5CZ 35938 UI

Giant. 1 shows the construction of a pneumatic hand rehabilitation robot in a perspective view;

Giant. 2 shows a detail of the connection of the pneumatic cylinder, the movement device and the strain gauges;

Giant. 3 shows the construction of a kinematic arrangement of a movement machine transmitting the movement of the piston rod of a pneumatic cylinder to the movement of the fingers;

Giant. 4 shows the construction of a pneumatic hand rehabilitation robot in a top view; and

Giant. 5 shows a controlled pneumatic circuit enabling both passive and active robot mode.

Examples of technical solutions

These embodiments of the pneumatic rehabilitation robot show exemplary variants of the technical solution, which, however, have no limiting effect in terms of the scope of protection.

The pneumatic hand rehabilitation robot, designed especially for the treatment of neurological symptoms associated with movement disorders, uses double-acting pneumatic cylinders 1, which ensure stabilization of the fingers and at the same time give more or less constant resistance to the required targeted hand movements. robot drive actuators attack from passive type robot to create active type robot. The mechanical connection between the movement of the piston rods 2 and the movement of the fingers themselves is ensured by means of the kinematic arrangement of the movement devices 38 and 38a. These, essentially identical, devices are formed by a movable connection of several fixed parts, which are interconnected by means of pivots, as can be seen from Figs. 1 to 4. The moving devices 38 for the second to fifth fingers are fixed to the base frame 3 of the robot. by means of connecting blocks 4, each fastening being realized by means of two screw connections 5. The movement device 38a for the first finger (thumb) is fastened to the subframe 3a of the robot by means of the connecting block 4a of the subframe 3a.

The connecting block 4, 4a is provided with a first pin 6 and a second pin 7, which are arranged in the connecting block 4, 4a at a distance above each other. A boom 14 is rotatably arranged around the first pin 6. A boom protrusion 15 is formed on the boom 14, in which a third pin 8 is arranged, in which the eye 16 of the first extension 17 connected to the piston rod 2 of the double-acting pneumatic cylinder L is rotatably arranged. 14 is rotatably mounted in the second extension 18 by means of a fourth pin 9. At the opposite end of the second extension 18, a finger grip block 19 is pivotally mounted by means of a seventh pin 12, the fingertip holder 21 itself being fixed in the slot 20 of this finger grip block 19. The pneumatic rehabilitation robot is therefore designed as an "end-effector" robot. A first linear rod 22 is arranged on the second pin 7, which is located in the connecting block 4,4a and on the fifth pin 10, which is located in the second extension 18 near its connection with the boom 14. The second linear rod 23 is rotatably arranged on a sixth pin 11 mounted on the boom 14 and an eighth pin 13 mounted on the finger grip block 19.

The described movement device 38. 38a is able to convert the linear movements of the piston rod 2 of the double-acting pneumatic cylinder 1 by means of a third pin 8 located in the eye 16 of the first extension rod 17 of the piston rod 2 into the boom 14 and by further elements of the movement device 38, 38a and the extension of the fingers when inserting the piston rod 2 over a large range of the required movement. The individual movement devices 38 for the second to fifth fingers are mounted on the base frame 3. The movement device 38a for the first finger (thumb), which is displaced and rotated substantially at right angles to the direction of the movement devices 38 of the other fingers according to anatomical requirements right, resp. of the left hand, is mounted on an auxiliary frame 3a, which is firmly connected to the base frame 3 by means of an angled connecting block 24

-6EN 35938 Base and subframe AI 3 and 3a. The movement device 38a for the first finger (thumb) itself is fixed to the subframe 3a by means of a connecting block 4a.

The bottoms 25 of the double-acting pneumatic cylinders 1 are connected by means of pivoting bearings 26 to fastening blocks 27, which are firmly screwed onto one end of the strain gauges 28. The other end of the strain gauges 28 is fastened to the base frame 3 and 3, respectively, by means of rectifying connecting blocks 37. for the first finger (thumb) on the subframe 3a. This enables the tensometric measurement of the forces exerted by the desired movement of the fingers, thus obtaining information about the residual ability (strength) of the individual fingers to perform flexion, resp. extension against the more or less constant pneumatic resistance created by the movement of the piston in the piston rod. This resistance can be increased or decreased during the passive mode of operation of the robot by means of throttle valves 29 with diffusers 30, which are mounted on both ends of the double-acting pneumatic cylinders L

If the active operating mode of the robot is used, which means that the double-acting pneumatic cylinders 1 play the corner of active drives, ie robot actuators, it is necessary to connect a pneumatic circuit with a compressed air source 31 and corresponding pneumatic distributors to both diffusers 30 33, 34a and 34b, and provide a controlled application of compressed air, as shown in Fig. 5.

Advantageously, a pneumatic switchboard 33 type 5/3 (five-way, three-position) controlled by two electromagnets (on the sides of the left and right squares of the switchboard 33 in Fig. 5) controlled according to exercise requirements from the control unit 32 can be used. / 3, which in the basic position is open for air flow to both pneumatic distributors 34a, 34b type 3/2 (three-way, two-position). In the basic open position, the pneumatic distributor 33 type 5/3 ensures passive exercise by the patient's own force, or kinematic measurement of the force exerted by the patient's fingers during flexion and extension. However, it does not in itself ensure the locking of the double-acting pneumatic cylinders 1, which is a necessary condition for the dynamic measurement of the force exerted by the patient's fingers when their flexion or extension is required by means of strain gauges 28.

For this purpose, which is necessary to control the robot from the control unit 32 on the basis of the user interface 35 with a block of rental motor skills of the fingers presented on the visualization device 36 (monitor or virtual reality glasses), and on the basis of feedback information from strain gauges 28 forces, it is necessary to supplement the pneumatic, electromagnetically controlled switchboard 33 type 5/3, open in the basic position, with two more pneumatic, electromagnetically controlled switchboards 34a. 34b type 3/2. Pneumatic distributors 34a. 34b type 3/2 are three-way, two-position, monostable, e.g. type NO (Normal Open), which without electromagnetic activation from the control unit 32 ensures the opening of the air flow out of the double-acting pneumatic cylinders 1 when moving the piston rod 2 inwards or out of the double-acting pneumatic cylinder 1, ie at extension, resp. finger flexion in the passive and active modes of the robot, wherein the passive mode may be associated with a kinematic measurement of the patient's own force by means of strain gauge force sensors 28. It also ensures the closure of the air in the double-acting pneumatic cylinders 11, ensured by the electromagnetic activation of these distributors 34a. 34b from the control unit 32, connected to the possibility of dynamically measuring the patient's own force by means of strain gauges 28 in the passive mode.

Industrial applicability

The specialized pneumatic rehabilitation robot of fine motor skills, focused mainly on the treatment of neurological symptoms associated with movement disorders, is intended for use in medicine as a rehabilitation therapeutic robot for the reeducation of movement disorders of the fingers.

Claims (4)

PROTECTION REQUIREMENTS A pneumatic hand rehabilitation robot comprising five movement devices (38, 38a), each movement device (38, 38a) comprising a plurality of fixed parts interconnected in pivot pins, characterized in that the four movement devices (38) for the second to fifth the fingers are arranged side by side in the first horizontal plane and each of them is fixed by means of connecting blocks (4) on the base frame (3), one movement device (38a) for the first finger being arranged in the second horizontal plane next to the movement device (38) for the second finger, in a position rotated with respect to the movement device (38) for the second finger about its longitudinal axis by a right angle and fixed by means of a connecting block (4a) to an auxiliary frame (3a) which is arranged vertically and fixed to the angular connecting block ( 24) of the base frame (3), each connecting block (4, 4a) being provided with a first pin (6) and a second pin (7), wherein a boom (14) provided with a protrusion (15) is rotatably arranged on the first pin (6). , in the protrusion (15) it saves a third pin (8) is rotatably arranged on which the eye (16) of the first extension (17) is rotatably connected by the piston rod (2) of the double-acting pneumatic cylinder (1), the boom (14) being rotatably connected by a fourth pin (9) to the second extension (18) which is pivotally connected by means of a seventh pin (12) to the finger grip block (19), the finger grip block (19) being provided with a slot (20) in which the finger end grip (21) is fixed, and the finger grip block (19). 19) the finger grip is further rotatably mounted on the eighth pin (13) together with the first end of the second linear rod (23), the finger end grips (21) of all movement devices (38, 38a) being adapted to receive the ends of all fingers. the second end of the second linear rod (23) is rotatably mounted on a sixth pin (11) arranged in the boom (14), the first linear rod (22) passing through the boom (14) and having one end rotatably mounted in the second pin (7) of the connecting block (4, 4a) and a second end in the fifth pin (10) of the second extension (18), the double-acting pneumatic cylinder (1) 1e is provided at its ends with throttle valves (29) with diffusers (30) and is terminated by a bottom (25) arranged in the pivot bearing (26) of the mounting block (27), the mounting block (27) being connected to a strain gauge (28) fixed to the rectification block (37), which is connected to the base frame (3). Pneumatic hand rehabilitation robot according to Claim 1, characterized in that a pneumatic distributor (33) of the 5/3 type is connected to the diffusers (30) of the double-acting pneumatic cylinder (1), to which the first and second pneumatic distributors (33) are connected in parallel. 34a, 34b) of type 3/2 and a source (31) of compressed air. Pneumatic hand rehabilitation robot according to claim 2, characterized in that the pneumatic distributor (33) type 5/3 is electromagnetically controlled by the control unit (32), and in the open position it is adapted to ensure air flow between the double-acting pneumatic cylinder (1). ) and both pneumatic distributors (34a, 34b) type 3/2, and in the closed position it is adapted to ensure air flow between the double-acting pneumatic cylinder (1) and the source (31) of compressed air, as well as between the double-acting pneumatic cylinder (1) and only one of the two pneumatic valves (34a, 34b) of type 3/2. Pneumatic hand rehabilitation robot according to claim 2 or 3, characterized in that the first and second pneumatic distributors (34a, 34b) of type 3/2 are electromagnetically controlled by the control unit (32), and in the open position they are adapted to ensure flow of air between the double-acting pneumatic cylinder (1) and the external environment, and in the closed position are adapted to block the flow of air out of the double-acting pneumatic cylinder (1).