KR101934270B1 - Wearable Mechanism of the Hand for Rehabilitation - Google Patents

Abstract

The wearable mechanism for hand rehabilitation according to the present invention comprises: a four-bar link driven between the first finger and the back of the finger between the MCP joint and the PIP joint for movement of the MCP joint of the finger; A four-bar link drive connected to the four-bar link to drive the four-bar link; A six-bar link driven between the first node and the second node of the finger for movement of the PIP joint of the finger and associated with the four-bar link; A six-bar link driver connected to the six-bar link to drive the six-bar link; A link to the 6th section link and connected to the fingertip to pull the fingertip so that the fingertip can be unfolded; A wearer coupled to each of the links so as to connect the links with the fingers and worn on the fingers; And a measurement unit for measuring the force transmission between the links and the finger. Using the wearable mechanism for hand rehabilitation according to the present invention, it is possible to integrate rehabilitation and therapy in a numerical, involuntary, and auxiliary manner by accurately evaluating the hand function and using it.

Description

{Wearable Mechanism of the Hand for Rehabilitation}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wearable mechanism for rehabilitation of a hand, and more particularly, to a wearable mechanism for rehabilitation that can be used for rehabilitation therapy for recovery of hand dysfunction.

Due to the development of medical technology and expansion of social welfare, the elderly population of the world is increasing, and the aging of the society is gradually accelerating in our country. Therefore, due to the increase of the elderly population, the cerebral blood vessels There is an increasing number of patients who are in need of rehabilitation, suffering from discomfort due to disease, or Parkinson's disease or aging. For example, 75% of patients suffering from strokes suffer from physical disabilities that are a problem in their daily lives. In patients with stroke, normal movement is limited by rigidity, among which hand rehabilitation is essential for independent and normal life.

Now, for the purpose of hand rehabilitation, therapists are practicing finger movements by bending or stretching their fingers directly or by using simple instruments. Recently, rehabilitation systems using robot and mechatronics technology have been actively researched for hand rehabilitation. However, there are still few researches on the integrated mechanism that enables both finger movement measurement, force transmission / measurement, and both voluntary, involuntary, and assistive movements. In addition, Fugl-Meyer and Jebsen hand function test are used for hand function evaluation. However, there is not much research on quantitative methods for evaluating hand functions such as finger stiffness, resin independence, and multifocality.

Korean Patent Publication No. 10-2013-0049531 (published date: May 14, 2013)

It is an object of the present invention to provide a wearable mechanism for hand rehabilitation which can accurately evaluate hand functions and use them to integrate rehabilitation and therapy in a voluntary, involuntary, and auxiliary manner.

According to an aspect of the present invention, there is provided a wearable mechanism for rehabilitation of a hand, comprising: a first finger between a MCP joint and a PIP joint for movement of an MCP joint of a finger, link; A four-bar link drive connected to the four-bar link to drive the four-bar link; A six-bar link driven between the first node and the second node of the finger for movement of the PIP joint of the finger and associated with the four-bar link; A six-bar link driver connected to the six-bar link to drive the six-bar link; A link to the 6th section link and connected to the fingertip to pull the fingertip so that the fingertip can be unfolded; A wearer coupled to each of the links so as to connect the links with the fingers and worn on the fingers; And a measurement unit for measuring the force transmission between the links and the finger.

Wherein the 4-link link is connected to the back of the hand wearing on the back of the hand, and the 4-section link driver is supported on the back of the hand by the first node on the back of the 4-link And may be connected to a joint between the first and second nodes of the four-bar link.

The four-bar link includes first to fourth nodes which are connected in order from the back of the hand toward the first node of the finger; The sixth clause link includes six nodes connected in order from the first node to the second node of the finger, the first and second nodes being shared with the third and fourth nodes of the four-node link, Integrated with the second node of the link on a date; The six-link drive unit may be installed above the second node of the four-bar link and may be connected to the joint between the third and fourth nodes of the six-bar link.

The drive units may include a bevel gear for rotating a joint between the nodes of the links.

The end effector link is composed of four nodes, the end of which is connected to the six-link link, and the torsion spring is provided between the second and third nodes.

The wearer includes a finger-fitting portion to be worn on a finger, a link-engaging portion to be engaged with the links, and a magnet to be attached to the link-engaging portion to be detachable by the links and the magnetic force; The fingertip is formed into a gripping shape so as to be fitted on the finger and taped, and is formed of silicon; The link coupling portion may be formed in the form of a hook so as to be fitted into a U-shaped fitting portion provided at an end of the links.

A load cell constituting the measurement unit may be installed in the fitting portion of the links.

The thumb side set can be pivotally coupled to the other set of fingertips so that the thumb can be freely opened or glued.

A unit worn on the hand including the links can be coupled to the base for supporting the hands so as to be vertically rotatable.

According to another aspect of the present invention, there is provided a wearable mechanism system for hand rehabilitation, which processes data of the measurement unit and data of the drive units, and measures finger stiffness, resin independence, And a control module for quantitatively calculating the control signals to control the driving units for numerical, involuntary and auxiliary motions of the finger.

The wearable mechanism for hand rehabilitation according to the present invention can accurately evaluate the hand function by quantitatively measuring the rigidity of the finger, the resin independence, the multifiber jointness, and the like, and can use it to perform numerical, involuntary, Rehabilitation, and treatment.

In addition, the mechanism according to the present invention is a combination structure of a four-bar link and a six-bar link, and since a part of a four-bar link and a six-bar link are linked to each other, The bending, the extension movement range and the angle can all be satisfied, the overall structure can be simplified and miniaturized, and the inconvenience due to the wear load can be prevented.

In addition, the mechanism according to the present invention is a full-grip type hand-held type.

In addition, the mechanism according to the present invention can easily be worn, is comfortable to wear, and can cope with a change in finger thickness because the wear part and the links can be separated and the finger-fitting part of the wear part is made of a soft silicone material.

Further, the mechanism according to the present invention can be easily and firmly and reliably attached and detached mechanically by mutual fitting, rather than being simply attached and detached by a magnetic force.

In addition, the mechanism according to the present invention can actively cope with the patient's condition because it can change the rotation angle and thumb position of the radial deviation and pronation / supination.

Further, since the mechanism according to the present invention is an open structure in which the wearer is worn around the middle of each finger, it is possible to feedback through the acceptance of the finger sense, thereby enhancing the rehabilitation / physical therapy effect .

1 is a perspective view of a wearable mechanism for hand rehabilitation according to an embodiment of the present invention;
FIG. 2 is a front view showing a hand angle adjusting function of the mechanism shown in FIG. 1; FIG.
FIG. 3 is a front view showing the thumb position adjusting function of the mechanism shown in FIG. 1; FIG.
Fig. 4 is a view showing a state in which a prototype reproduces a part of the mechanism shown in Fig.
FIG. 5 is a view showing a finger wearing state of the prototype shown in FIG. 4; FIG.
FIG. 6 is a perspective view showing in detail a bevel gear of a four-section link drive unit of the mechanism shown in FIG. 1; FIG.
Fig. 7 is a link structure diagram of each set of the mechanism shown in Fig. 1,
FIG. 8 is a graph of an experimental result of the link structure shown in FIG. 7,
FIG. 8A is a graph illustrating a case where a small hand is used as a comparative example of the present invention,
FIG. 8B is a graph illustrating a graph of a large hand as a comparative example of the present invention,
Figure 8c is a graph for the present invention.
FIG. 9 is a detailed view showing a wearing state of the mechanism shown in FIG. 1. FIG.
10 is a perspective view of the wearing portion shown in Fig.
FIG. 11 is a perspective view of a link joint portion of the wearing portion shown in FIG. 9; FIG.
Fig. 12 is a perspective view of the fitting portion of the links shown in Fig. 9, showing the magnet coupling state. Fig.
Fig. 13 is a perspective view of the fitting portion of the links shown in Fig. 9, showing a state of engagement with the measurement unit; Fig.
FIG. 14 is a configuration diagram of a system including the mechanism shown in FIG. 1; FIG.
Figure 15 is a front view of the system shown in Figure 14;
Fig. 16 is a set structural diagram of the mechanism unit shown in Fig. 1,
16A shows a state in which a finger is spread in a straight line,
16B shows a state when only the MCP of the finger is bent,
16C shows a state in which only the PIP of the finger is bent,
16D shows a state in which only the DIP of the finger is bent,
FIG. 16E shows a state when all of the finger joints are bent.
FIG. 17 is a view for explaining in detail the angle calculation process of the link structure diagram shown in FIG. 7; FIG.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in order to avoid unnecessarily obscuring the subject matter of the present invention.

FIG. 1 is a perspective view of a wearable mechanism for hand rehabilitation according to an embodiment of the present invention, FIG. 2 is a front view showing a handgrip angle adjustment function of the mechanism shown in FIG. 1, and FIG. 3 is a cross- It is a front view showing thumb position adjustment function.

1 to 3, a wearable mechanism for hand rehabilitation according to an embodiment of the present invention includes a base 10, which is structurally largely supported by a hand, And a unit 20 comprising a thumb side set and the remaining four finger side set.

The base 10 can be formed in an I-shaped structure for stabilization, and the upper arm can be firmly and stably fixed using the band 12, such as the back and elbow, and the upper plate in contact with the back and the elbow can be made of a soft material . ≪ / RTI >

The unit 20 may be adapted to be pivoted relative to the base 10 next to an arm that rests on the base 10 for adjustment of the rotational angle of radial deviation and pronation / And can be coupled to one side of the left and right side surfaces of the upper plate of the base 10 by using the first rotary joint 14. [ At this time, the rotation angle of the radial deviation and the pronation / supination from 0 to 90 degrees in the clockwise direction with respect to the base 10 is adjusted by a fixed angle such as 15 degrees using the fixing pin . For example, the fixing pin insertion holes on the base 10 side and the fixing pin insertion holes on the unit 20 side are formed so as to be aligned with each other at intervals of 15 degrees, and a radial deviation and a pronation / The fixing pin can be fitted and fixed after the rotation angle of the fixing pin is adjusted. Therefore, the rotation angle of the unit 20 with respect to the base 10 can be adjusted according to the patient condition such as the size of the hand, and the hand can be easily attached and detached.

The unit 20 may comprise five sets corresponding to five fingers. Of the five sets, the remaining four-finger side sets other than the thumb side set may be fixed to each other and structurally integrated. The thumb side set may be pivotally coupled to the remaining four finger side sets so that the thumb can be freely opened or glued. The thumb side set of the thumb side set is coupled to the index finger side set using the second rotational joint 22 to freely adjust the position of the thumb side set, , It is possible to fix the rotation of the thumb side set using a fixing pin. For example, the thumb side set may be displaced counterclockwise with respect to the index finger side set at intervals of 15 degrees from 0 degrees to 60 degrees.

FIG. 4 is a view showing a state in which a prototype reproduced in part of the mechanism shown in FIG. 1 is worn on the back of a hand, FIG. 5 is a view showing a state in which the prototype is worn by the finger shown in FIG. 7 is a perspective view of the bevel gear of the four-link drive unit 110 of the mechanism in detail, and Fig. 7 is a link structure diagram of each set of the mechanism shown in Fig.

Referring to FIGS. 4 to 7, each set includes a movement of a metacarpophalangeal joint (2a), which is the joint of the first joint of the finger, and a proximal interpahlange joint (PIP), which is a joint of the second joint, (2b) movement, and a distal interphalangeal joint (2c) movement, which is the third joint of the four fingers other than the thumb. That is, each set includes a four-bar link 100, a four-bar link driving unit 110, a six-bar link 120 and a six-bar link driving unit 130, And a link (140).

The four-bar link 100 is for movement of the MCP joint of the finger and is configured in a four-fold structure, and is driven between the first node 11 between the MCP joint of the finger and the PIP joint and the back of the hand. That is, the four-link 100 includes first to fourth nodes a1, a2, a3, and d1 that are connected in series in the order from the back of the hand to the first node 11 of the finger. Each of the nodes a1, a2, a3, and d1 of the four-bar link 100 may be connected to each other by a convex structure, and may be coupled to be rotatable through a joint. The four-bar link 100 constitutes a closed circuit together with a part of the finger between the first bar a1 and the fourth bar d1 of the four-bar link 100. [ The starting end of the first node a1 of the quadrangle link 100, that is, the starting end of the quadrangle link 100, is fixed to the handwarming unit 190, which is a part worn on the back of the unit 20 . The finger end of the four-bar link 100, that is, the end of the fourth bar d1 of the four-bar link 100, can be engaged with the wear portion 150 worn on the first node 11 of the finger .

The four-bar link driving unit 110 is installed on the upper side of each set. The four-link link driving unit 110 is more effective than the linear driving unit that transmits the linear driving force in the vertical direction with respect to the finger nails 11, 12, and 13, as shown in FIG. That is, the four-bar link driving unit 110 may include a rotary motor 112 and a force transmission medium that mediates force transmission between the rotary motor 112 and the four-bar link 100. The four-link link driving unit 110 is arranged obliquely in the vertical direction with respect to the hand wearing unit 190 so as to be supported by the hand wearing unit 190 and the four-link 100, The lower portion of the rotary shaft 112 is fixed to the hand wearing portion 190 and the upper portion of the rotary motor 112 is fixed to the first portion a1 of the four- The force transmission medium is configured on the upper side of the rotary motor 112 and the first and second nodes a1 and a2 of the four-link link 100 close to the upper side of the four- To the drive joint 102, which is a joint between the drive joint 102 and the drive joint 102. 6, the force transmission medium includes a first bevel gear 114 fixed to the shaft 112a of the rotary motor 112 and integrally rotated therewith, a first bevel gear 114 fixed to the shaft 112a of the rotary motor 112, And a second bevel gear 116 fixed to the shaft of the driving joint 102 and integrally rotated and fitted to the first bevel gear 114. Therefore, since the first node a1 of the four-link link 100 is fixed to the back of the hand wearing unit 190, the second node a2 of the four-link link 100 relatively rotates, The third node a3 and the fourth node d1 of the four-bar linkage 100 can be linked and moved. Compared with the linear actuator, the linear actuator has a relatively large size when a spec that can apply a force of 1.5 Hz and 50 N is required, The load of the unit 20 acts as it is, which is uncomfortable, and four motors are required for the movement of two degrees of freedom, which is inefficient.

The six-link 120 is for movement of the PIP joint of the finger, and is configured in a six-fold structure, and is driven between the first node 11 and the second node 12 of the finger. That is, each of the nodes d1, a3, a4, a5, a6, and d2 of the six-link 120 is connected in a line in order with a convex upward convex structure and can be coupled to be rotatable through a joint. The six-bar link 120 also constitutes a closed circuit together with a portion of the finger between the first bar d1 and the sixth bar d2 of the six-bar link 120.

The six-section link 120 may be structurally associated with the four-section link 100. In particular, the first and second nodes of the six-link 120 may be shared with the third node a3 and the fourth node d1 of the four-link 100, instead of being separately configured. That is, the third node a4 of the six-link 120 is connected to the joint between the second node a2 and the third node a3 of the four-link 100, The third node a3 and the fourth node d1 may serve as the first and second nodes of the six-link 120. [ The third node a4 of the six-node link 120 may be integrated with the second node a2 of the four-link link 100 for the connection with the four-link link 100 and the structural simplification.

The six-link drive unit 130 may be composed of a rotary motor 132 and bevel gears as described above with reference to the four-section link drive unit 110. [ The six-link drive unit 130 is installed on the second node a2 of the four-link 100 and is a joint between the third node a4 and the fourth node a5 of the six- May be connected to the drive joint 122.

In this way, the link for the PIP joint motion is composed of the six-section link 120, not the four-section link and the five-section link, and part of the four-link link 100 and the six- 100 and the six-link 120, the overall link length can be reduced, and the range of rotation of the MCP joint and the PIP joint of the finger can be wide from 0 to 80 degrees. Therefore, the movement of the MCP joint and the PIP joint of the finger can be controlled more freely and accurately.

The endpiece link 140 is for movement of the DIP joint of the finger. In particular, the trunk link 140 may be driven more simply by using an elastic force instead of being driven by a separate driving unit such as the four-link link 100 or the six-link link 120. [ That is, the endpiece link 140 may be formed of four nodes, and may be configured to be convex upward between the second node 12 and the third node 13 of the finger. The first node of the end node link 140 may be fixed to the sixth node d2 of the six-link 120 and associated with the six-link 120. [ A torsion spring (not shown) may be provided on the joint between the second and third nodes of the endmember link 140 so that the fingertips can always be pulled out to the back of the hand by the elastic force.

Each set of links 100, 120 and 140 as described above should be designed to ensure the flexion of the fingers, the extension range of motion and the degree of freedom. Referring to FIG. 8, the detailed design of each set will be described in detail as follows.

Each set was designed as a comparative example with a1 = 70 mm, a2 = 45 mm, a3 = 44 mm, a4 = 30 mm, a5 = 25 mm, a6 = 30 mm and? = 30 degrees and the angle between the MCP joint and the PIP joint A change in the link length is measured and the result of the virtual experiment is shown. As shown in FIG. 8A, in the case of a small hand, when the finger length is l1 = 45 mm, l2 = 25 mm, l3 = 15 mm, It can be seen that the lengths of a3 and a4 with respect to the time according to the extension do not change. However, as shown in FIG. 8B, when the finger length is l1 = 40 mm, l2 = 40 mm, l3 = 30 mm, for example, when the finger MCP joint and the PIP joint move together, . On the other hand, unlike the above-described comparative example, when a3 = 45 mm and a4 = 46 mm are changed, it is possible to make a movement satisfying both a large hand and a small hand as shown in FIG. 8C, And it can be seen that the length of a6 can be kept constant without changing.

9 to 13 are views showing the wearer 150 and the measuring unit 170 in detail according to an embodiment of the present invention.

9 to 13, each set includes a wearer 150 which is engaged with the links and is worn on the fingers so as to connect the fingers with the links 100, 120, and 140 described above. The wearer 150 is provided with a finger fitting part 152 to be worn on the finger, a link coupling part 154, a magnet (for example, A neodymium magnet, etc.) 156. The finger fitting portion 152 of the wearing portion 150 may be formed in a gripping shape so as to be fitted on the finger and taped. Accordingly, the wearer 150 can be easily attached to and detached from the fingers, and can be firmly worn without being shaken at an accurate position. The finger-fitting portion 152 of the wearer 150 may be formed of various materials, but is preferably formed of silicon. Therefore, the finger-fitting portion 152 of the wearer 150 is smooth and has no irritation to the skin, can be flexibly coped with the thickness of the finger, and can have sufficient durability for repeated use. The linkage portion 154 of the wearable portion 150 may be configured to be particularly fittable with the links 100, 120 and 140. That is, the end portions of the links 100, 120 and 140 at the side of the wearer 150 are formed with fitting portions 104 and 124 for attaching / detaching the wearer 150, and the fitting portions of the links 100, 120 and 140 have a U- . The linkage portion 154 of the wearer 150 may include a hook portion 154a such that the linkage portion 154 can be fitted in the middle of the U-shaped fitting portion 104 of the links 100, 120 and 140. As described above, the wearer 150 and the links 100, 120, and 140 can be coupled more stably and firmly using a mechanical structure without being merely magnetically coupled. The magnet 156 of the wearer 150 may be seated on the outer surface of the end of the linkage 154 of the wearer 150. The magnet 105 on the side of the links 100, 120 and 140 is seated on the inner side of the fitting portion of the links 100, 120 and 140. When the wearer 150 and the links 100, 120 and 140 are engaged, And can be seated in a portion abutting the magnet 156. The linking part 154 of the wearing part 150 is integrally formed at the end of the claw part on the side of the finger fitting part 152 and has a silicon supporting part 154b embedded in a part of the finger fitting part 152. [ As shown in FIG. The silicon supporting portion 154b may be formed corresponding to the shape of the portion of the finger fitting portion 152 where the silicon supporting portion 154b is embedded. The finger fitting portion 152 of the wearing portion 150 may be integrally coupled to the link fitting portion 154 of the wearing portion 150 using a mold.

In general, wearability, durability, wearing comfort, adaptability to finger size, and stability are considered important in rehabilitation / treatment using a mechanism. In other words, wearability is based on the time taken by the patient to remove the mechanism, durability is based on the durability and wear of the mechanism itself, the feeling of wear due to prolonged wear, and the adaptability to various hand sizes However, since the wearer 150 is a soft silicone material and is detached and removed by a magnetic force, it is advantageous in terms of wearability, durability, wearing comfort, adaptability, and stability.

Each set includes a measurement unit 170 for measuring the force transmission between the links 100, 120, 140 and the finger. The measuring unit 170 may have various mechanisms. As shown in the drawing, the measuring unit 170 may be a load cell. The measuring unit 170 may be installed in the fitting portion of the links 100, 120 and 140 so as to more accurately measure force transmission between the finger and the links 100, 120 and 140. The measuring unit 170 may be installed on a side opposite to the magnet of the links 100, 120 and 140, that is, on the opposite side of the magnet of the links 100, 120 and 140 among the fitting portions of the links 100, 120 and 140.

The wearable mechanism for hand rehabilitation according to an embodiment of the present invention may be a system for evaluating hand function and rehabilitation / treatment as follows. That is, the system includes a table 200, a power adapter 210 for supplying power to the rotating motors 112 and 132, the measuring unit 170, a control module 220, the measuring unit 170, A driver 230 for driving the hands 110 and 130, and a monitor 240 for displaying a hand function evaluation result, a rehabilitation / treatment state, and the like.

The table 200 may be any structure that is convenient for evaluating and rehabilitating / treating a hand function using the wearable mechanism for hand rehabilitation. For example, the upper surface of the table 200 may be provided with a wearable mechanism for the rehabilitation of the hand, and the upper plate of the table 200 may have a height adjustable structure, and the power adapter 210 and / A drawer compartment on which the control module 220 and the driver 230 can be mounted and a monitor 240 support for supporting the monitor 240 and the like at a predetermined height may be formed in a front portion of the top plate. have. The table 200 may have a structure in which a wheel is mounted for movement.

The control module 220 integrally controls hand function evaluation, rehabilitation and therapies, and the like. That is, the control module receives and processes the data of the measuring unit 170, the data of the driving units 110 and 130, and other data, evaluates the hand function therefrom, and determines whether the rehabilitation / And to control the driver for driving the measuring unit 170 and the driving units 110 and 130 so as to be able to proceed.

The operation of the wearable mechanism for hand rehabilitation according to one embodiment of the present invention constructed and operative as described above will be described in detail as follows.

Referring to FIG. 16, the wearer 150 is sandwiched between the fingers of the fingers, and the wearer 150 is connected to the four-link 100, the six-link 120, (140). In this state, the four-bar link driving unit 110 and / or the six-fold link driving unit 130 may be driven to move the fingers arbitrarily, involuntarily or auxiliaryly. In addition, the four-link link driving unit 110 and the six-fold link driving unit 130 can follow the finger movement at this time. That is, by the driving force of the 4-bar link driving unit 110 and the 6-bar link driving unit 130 or the patient's magnetic force or the patient's magnetic force that is assisted by the 4-link driving unit 110 and 6-link driving unit 130 , Spreading the finger in a line as shown in Fig. 16A, bending only the MCP joint of the finger as shown in Fig. 16B, bending only the PIP joint of the finger as shown in Fig. 16C, The four-bar link 100, the six-bar link 120, and the end bar link 140 are interlocked with the finger movements when only the DIP joint of the finger is flexed as shown in FIG.

The operation of the above-described mechanism will be described in more detail according to modules.

In the case of a voluntary movement module, that is, when the finger is moved by itself, the finger movement is measured to measure the movement of the patient. In order for the four-bar linkage 100 and the six-bar linkage 120 to interlock with the numerical motion of the fingers, the four-bar linkage driving unit 110 and the six- And the six-link 120 are not constrained.

In the case of the involuntary movement module, the locus of the finger joint for the predetermined swinging / unclamping operation is determined and the finger is moved by the movement of the links 100, 120 and 140 by the driving force of the driving units 110 and 130. The determined motion of the swing / swing motion can be determined by measuring the motion of the normal person and using the trajectory information, considering the hand size of the user and considering the motor variability.

In the case of the auxiliary motion module, the four-link link 100 and the six-link link 120 are driven so as to give an auxiliary force in a direction in which the finger moves in accordance with the hand function evaluation result measured as described above. It follows the movement of the user like a numerical function, but it can give a specific force in the direction of movement, and the magnitude of the force applied depends on the state of the patient and the function of the hand.

On the other hand, such a mechanism can be used to evaluate the hand function individually for the patient, and the algorithm of the mechanism can be configured so that each module of the mechanism can be individually set and executed on the basis of the evaluated hand function result. For example, spuriousity, multi-digit synergy, and finger independence are set as indexes for evaluating the hand function, and the hand function evaluation indexes are set to the four- And the six-link drive unit 130, the data of the measurement unit 170, the MCP joint angle? _MCP of the finger, and the PIP joint angle? _PIP Data can be quantitatively measured, and the driving force of the 4-link drive unit 110 and the 6-link drive unit 130 can be individually controlled by hand function evaluation data quantitatively measured. In addition, the rehabilitation / physical therapy effect can be confirmed based on the result of the hand function measured individually by the patient.

The MCP joint angle? _MCP of the finger and the PIP joint angle? _PIP of the finger described above can be calculated by the trigonometric function principle as follows with reference to FIG. At this _{time, a 1, a 2, a} 3, a 4, a 5, a 6, d, ψ is a value known as the design parameters of the four-bar linkage 100 and 6 bar linkage (120), θ _1, θ ₂ are values that can be measured through the data of the four-bar link driving unit 110 and the six-fold link driving unit 130, respectively.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the present invention is not limited to the disclosed exemplary embodiments. It should also be understood that many modifications and variations are possible without departing from the scope of the invention, as would be understood by one of ordinary skill in the art.

10; Base 20; unit
100; Four-section link 110; 4-section link driver
120; Section 6 link 130; Section 6 Link Driver
140; End node link 150; Wearing part
170; A measuring unit 200; table
210; Power adapter 220; Control module
230; Driver 240; monitor

Claims (9)

Five sets of hands coupled to each other using a first rotating joint on top of the base so as to be pivotable on the base and worn on the back of the hand and including a thumb side set and a remaining four finger side set to correspond to five fingers And a control unit,
The thumb side set of the thumb side set is coupled to the index finger side set using a second rotational joint so that the thumb side set is pivoted relative to the remaining four finger side sets so that the thumb can freely open and snap ,
Each set comprising:
A four-bar link driven between the first finger and the back of the finger between the MCP joint and the PIP joint for movement of the MCP joint of the finger;
A four-bar link drive connected to the four-bar link to drive the four-bar link;
A six-bar link driven between the first node and the second node of the finger for movement of the PIP joint of the finger and associated with the four-bar link;
A six-bar link driver connected to the six-bar link to drive the six-bar link;
A wearer coupled to each of the links so as to connect the links with the fingers and worn on the fingers; And
And a measurement unit for measuring the force transmission between the links and the finger,
The remaining four-finger side sets are each,
Further comprising a trunnion link linked to the six-link link and connected to the fingertip to pull the fingertip apart,
The endpiece link is composed of four nodes, the end of which is connected to the six-link link, the torsion spring is provided between the second and third nodes,
The wearer includes a finger insertion portion to be worn on a finger, a link engagement portion to be engaged with the links, and a magnet to be installed on the link engagement portion so as to be detachable by the links and the magnetic force,
Wherein the finger-fitting portion is formed in a gripping shape so as to be fitted to the finger,
The linkage portion includes a claw portion formed in the shape of a letter-shaped hook so as to be fit into a U-shaped fitting portion provided at an end of the links, and a silicone supporting portion integrally formed in the claw portion and embedded in the finger- Includes a wearable mechanism for hand rehabilitation. The method according to claim 1,
The link-side end of the four-bar link is connected to the back of the hand wearing on the back of the hand,
The four-link link driving unit is installed to be supported by the first side of the back side of the four-link link with respect to the back of the hand and the back side of the hand, and can be connected to the joint between the first and second nodes of the four- Wearable mechanism for hand rehabilitation. The method according to claim 1,
The four-bar link includes first to fourth nodes which are connected in order from the back of the hand toward the first node of the finger;
The sixth clause link includes six nodes connected in order from the first node to the second node of the finger, the first and second nodes being shared with the third and fourth nodes of the four-node link, Integrated with the second node of the link on a date;
Wherein the six-link drive is configured to be mounted on a second node of the four-bar link and to be connected to a joint between the third and fourth nodes of the six-bar link. The method according to claim 1,
Wherein the actuators comprise a bevel gear for rotating a joint between the nodes of the links. delete delete The method according to claim 1,
And a load cell constituting the measurement unit is installed in a fitting portion of the links. delete delete

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