WO2021012873A1 - 外骨骼手指康复训练装置及其使用方法 - Google Patents

外骨骼手指康复训练装置及其使用方法 Download PDF

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Publication number
WO2021012873A1
WO2021012873A1 PCT/CN2020/098441 CN2020098441W WO2021012873A1 WO 2021012873 A1 WO2021012873 A1 WO 2021012873A1 CN 2020098441 W CN2020098441 W CN 2020098441W WO 2021012873 A1 WO2021012873 A1 WO 2021012873A1
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WO
WIPO (PCT)
Prior art keywords
finger
knuckle
actuation mechanism
link
gear
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Application number
PCT/CN2020/098441
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English (en)
French (fr)
Inventor
宋爱国
赖健伟
李会军
李建清
徐宝国
曾洪
张军
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东南大学
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Application filed by 东南大学 filed Critical 东南大学
Priority to US17/311,325 priority Critical patent/US20220133578A1/en
Publication of WO2021012873A1 publication Critical patent/WO2021012873A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

Definitions

  • Stroke is the main cause of human paralysis and dyskinesia.
  • the number of patients with dyskinesia caused by stroke is increasing, which consumes more and more medical resources.
  • Fingers are an important organ for human life and work. The use of targeted rehabilitation training on the hands can help patients recover their hand functions.
  • the rehabilitation training device has only two motors, and the rehabilitation effect on the fingers is actually one degree of freedom, and only four fingers can be synchronized for rehabilitation exercises.
  • the fingers have fewer postures.
  • the dynamic structure is inside the palm, which causes the fingers to be unable to be fully clenched during the rehabilitation process and the rehabilitation process is insufficient.
  • the range of motion of the MCP (proximal metacarpophalangeal joint) joint is 70 degrees, and the space for motion is limited.
  • the present invention provides an exoskeleton finger rehabilitation training device, which arranges the power part of the exoskeleton finger rehabilitation training device on the back of the palm (outside the palm). Therefore, the present invention does not affect the patient's grip Actions can realize a complete space for rehabilitation of patients.
  • the exoskeleton finger rehabilitation training device is equipped with a set of independently working finger rehabilitation training mechanism for each finger. Therefore, during the rehabilitation exercise of the present invention, the fingers move more and the rehabilitation effect is better.
  • the knuckle knuckle includes two knuckles, namely the middle knuckle and the end knuckle;
  • transmission point A There are two transmission points on the back of the middle knuckle finger cuff, namely transmission point A and transmission point B; the back of the end knuckle finger cuff is provided with a transmission point, which is transmission point C;
  • the gear transmission mechanism includes a gear shaft b and an arc-shaped internal gear that meshes with the gear part of the gear shaft b; the two radial cross-sectional ends of the arc-shaped internal gear are the A-end of the arc-shaped internal gear and the B-end of the arc-shaped internal gear. ;
  • the base of the drive motor is fixed on the power fixing seat;
  • the gear shaft b is connected to the power output end of the drive motor, the A end of the arc-shaped internal gear is connected to the power fixing seat through the L-shaped connecting arm, and the B end of the arc-shaped internal gear is connected to the transmission position A on the middle knuckle finger cot Connection; and the outer circular surface of the arc-shaped internal gear is connected with the bearing installed on the power fixed seat;
  • the knuckle knuckles include index finger joint knuckles that can be sleeved on the periphery of the index finger joints to be recovered, middle finger joint knuckles that can be sleeved on the periphery of the middle finger joints to be recovered, and Rehabilitation of the ring finger joint knuckle outside the ring finger joint and the little finger knuckle cuff that can be sleeved around the little finger joint to be recovered;
  • the power fixing seat includes a four-finger power fixing seat, the four-finger power fixing seat is arranged adjacent to the position of the flush end of the four-finger root of the profiling shell, and the flush end of the four-finger root of the profiling shell can be connected to the index finger.
  • the root, middle finger root, ring finger root, and pinky finger root are located at the same cross section;
  • the support is fixed on the back of the contoured shell;
  • the index finger power mount is installed on the support at the position corresponding to the base of the index finger
  • the middle finger power mount is installed on the support at the position corresponding to the middle finger root
  • the ring finger power mount is installed on the support Install on the support at the position corresponding to the base of the ring finger, and install the little thumb power mount on the support at the position corresponding to the base of the little finger;
  • the power part of the index finger cover actuation mechanism is installed on the index finger power fixing seat
  • the power part of the middle finger cover actuation mechanism is installed on the middle finger power fixation seat
  • the power part of the ring finger cover actuation mechanism is installed on the ring finger power fixation seat.
  • the power part of the pinky finger cuff actuation mechanism is installed on the pinky power fixed seat.
  • the thumb finger cuff actuation mechanism includes a thumb motor and a thumb link transmission mechanism connected with the power output end of the thumb motor;
  • the power fixing seat also includes a thumb power fixing seat.
  • the thumb power fixing seat is adjacent to the flush end of the thumb root of the profiling shell and is fixed on the profiling shell.
  • the base of the thumb is flush;
  • the thumb power fixing seat is fixedly installed with a gear shaft a support seat and a thumb motor fixing seat, the thumb motor is fixedly installed on the thumb motor fixing seat, and the gear shaft a
  • the two ends of the are respectively supported by the support holes on the thumb motor fixing seat and the support holes on the gear shaft a support seat
  • index finger knuckle knuckle, middle finger knuckle knuckle, ring knuckle knuckle and little finger knuckle knuckle all include the middle finger knuckle;
  • the index finger cuff actuation mechanism, the middle finger cuff actuation mechanism, the ring finger cuff actuation mechanism, and the pinky finger cuff actuation mechanism all include a drive motor and a gear transmission mechanism;
  • the gear transmission mechanism includes a drive motor, a gear shaft b, and an arc-shaped internal gear that meshes with the gear part of the gear shaft b; the two radial cross-sectional ends of the arc-shaped internal gear are the A-end and the arc-shaped internal gear respectively.
  • the gear shaft b is connected to the power output end of the drive motor fixed on the support base, the A end of the arc-shaped internal gear is connected to the support base through the L-shaped connecting arm, and the B end of the arc-shaped internal gear is connected to the middle finger
  • the transmission position A on the sleeve is connected, and the outer circular surface of the arc-shaped internal gear is connected with the bearing installed on the support base.
  • index finger joint knuckle, middle finger joint knuckle, ring knuckle knuckle and little finger knuckle knuckle all include two knuckles, namely the middle knuckle and the end knuckle. ;
  • transmission point A There are two transmission points on the back of the middle knuckle finger cuff, namely transmission point A and transmission point B; the back of the end knuckle finger cuff is provided with a transmission point, which is transmission point C;
  • the index finger cuff actuation mechanism, the middle finger cuff actuation mechanism, the ring finger cuff actuation mechanism and the pinky finger cuff actuation mechanism are all two-finger joint control actuation mechanisms, including a drive motor, a gear transmission mechanism and a rope Connecting rod compound transmission mechanism;
  • the gear transmission mechanism includes a drive motor, a gear shaft b, and an arc-shaped internal gear that meshes with the gear part of the gear shaft b; the two radial cross-sectional ends of the arc-shaped internal gear are the A-end and the arc-shaped internal gear respectively.
  • the rope-link composite transmission mechanism includes a rope and a two-link transmission mechanism
  • the gear shaft b is connected to the power output end of the drive motor fixed on the support base, the A end of the arc-shaped internal gear is connected to the support base through the L-shaped connecting arm, and the B end of the arc-shaped internal gear is connected to the middle finger
  • the transmission position A on the sleeve is connected; and the outer circular surface of the arc-shaped internal gear is connected with the bearing installed on the support base;
  • the transmission position B of the middle knuckle knuckle and the transmission position C of the end knuckle knuckle are connected by a two-link transmission mechanism;
  • One end of the rope is fixed to the end A of the arc-shaped internal gear, and the other end is arranged through the slot provided on the first connecting rod b and the second connecting rod b in turn; the two-link transmission mechanism is in the traction of the rope , It is linked with the A end of the arc-shaped internal gear.
  • the two-link mechanism includes a first link b and a second link b; the two ends of the first link b are the A end of the first link b and the B of the first link b.
  • the two ends of the second connecting rod b are respectively the A end of the second connecting rod b and the B end of the second connecting rod b;
  • the A end of the first link b is hinged with the transmission point B of the middle knuckle, the B end of the first link b is hinged with the A end of the second link b, and the B end of the second link b is hinged with Articulated transmission point C;
  • the ropes circulate at the end A of the arc-shaped internal gear, the end A of the first link b, the hinge point between the first link b and the second link b, and the end B of the second link b.
  • the first link b is fixed so that the end A of the first link b, the hinge point between the first link b and the second link b, and the end B of the second link b are under the traction of the rope, It can be linked to the A end of the arc-shaped internal gear.
  • the support is arranged in a U shape, including a cross bar, and connecting side arms a and b connected symmetrically at both ends of the cross bar.
  • the cross bar is fixed on the back of the profiled shell and spans the profiled shell.
  • the four-finger roots of the four fingers are set at the flush end, one end of the connecting side arm a/connecting side arm b is fixed to the crossbar, and the other end is idle, and the idle end of the connecting side arm a/connecting side arm b is provided with a hinge hole;
  • the index finger power mount is the index finger motor mount
  • the middle finger power mount is the middle finger motor mount
  • the ring finger power mount is the ring finger motor mount
  • the little thumb power mount is the pinky motor mount
  • the index finger motor fixing seat and the middle finger motor fixing seat are respectively fixed on the crossbar rod body, and between the little thumb motor fixing seat and the index finger motor fixing seat, a first gear shaft b support seat and a third gear shaft b support seat are sequentially arranged, Between the ring finger motor fixing seat and the index finger motor fixing seat, a second gear shaft b supporting seat is provided;
  • the drive motor is fixed on the index finger motor fixing seat, and both ends of the gear shaft b are supported by the support hole a of the index finger motor fixing seat and the support hole c of the first gear shaft b support seat ,
  • the arc-shaped internal gear is hinged to the outside of the hinge hole on the connecting side arm a through the L-shaped connecting arm;
  • the drive motor is fixed on the middle finger motor fixing seat, and both ends of the gear shaft b are supported by the support hole a of the middle finger motor fixing seat and the support hole e of the second gear shaft b support seat ,
  • the arc-shaped internal gear is hinged with the inner side of the hinge hole on the connecting side arm a through the L-shaped connecting arm;
  • the driving motor is fixed on the ring finger motor fixing seat, and both ends of the gear shaft b are supported by the support hole a of the ring finger motor fixing seat and the support hole d of the second gear shaft b support seat ,
  • the arc-shaped internal gear is hinged with the inner side of the hinge hole on the connecting side arm b through the L-shaped connecting arm;
  • the drive motor is fixed on the pinky motor fixing seat, and both ends of the gear shaft b are supported by the support hole a of the pinky motor fixing seat and the support hole b of the first gear shaft b support seat ;
  • the arc-shaped internal gear is hinged to the outside of the hinge hole on the connecting side arm a through the L-shaped connecting arm;
  • the axis of the gear shaft b of the middle finger cuff actuation mechanism and the axis of the gear shaft b of the ring finger cuff actuation mechanism are arranged collinearly, and the axis of the gear shaft b of the index finger cuff actuation mechanism is aligned with the pinky finger cuff.
  • the axis of the gear shaft b of the moving mechanism is arranged collinearly, and the axis of the gear shaft b of the index finger cuff actuating mechanism is parallel to the axis of the gear shaft b of the middle finger cuff actuating mechanism and is arranged in an offset manner.
  • Another technical purpose of the present invention is to provide a method for using an exoskeleton finger rehabilitation device, which includes: activating the thumb motor of the thumb finger cuff actuation mechanism, and the power output by the thumb motor is engaged with the gear shaft a
  • the first connecting rod a is used for power transmission, thereby driving the first connecting rod a to rotate, and then the second connecting rod a drives the finger cuff action at the end of the thumb;
  • index finger cuff actuation mechanism to drive the index finger knuckle knuckle; activate the middle finger cuff actuation mechanism to drive the middle finger joint knuckle to act; activate the ring finger cuff actuation mechanism to drive the ring finger knuckle Cuff action; activate the pinky finger cuff action mechanism to drive the pinky knuckle finger cuff to act;
  • the index finger cuff actuation mechanism, the middle finger cuff actuation mechanism, the ring finger cuff actuation mechanism and the pinky finger cuff actuation mechanism all include a drive motor and a gear transmission mechanism.
  • the gear transmission mechanism includes a gear shaft b and a gear shaft b Curved gears with partially meshed gears;
  • Index finger knuckle knuckle, middle finger knuckle, ring knuckle knuckle, and little finger knuckle knuckle all include middle finger knuckle;
  • the working process of the index finger cuff actuation mechanism, the middle finger cuff actuation mechanism, the ring finger cuff actuation mechanism and the pinky finger cuff actuation mechanism are as follows:
  • the index finger joint knuckle, the middle finger joint knuckle, the ring knuckle knuckle and the little finger knuckle knuckle all also include a terminal knuckle;
  • the index finger cuff actuation mechanism, the middle finger cuff actuation mechanism, the ring finger cuff actuation mechanism and the pinky finger cuff actuation mechanism all also include a rope connecting rod compound transmission mechanism;
  • the middle knuckle knuckle and the end knuckle knuckle are connected by a rope connecting rod compound transmission mechanism;
  • the working process of the index finger cuff actuation mechanism, the middle finger cuff actuation mechanism, the ring finger cuff actuation mechanism and the pinky finger cuff actuation mechanism are as follows:
  • the present invention has the following advantages:
  • the supporting seat of the present invention includes a profiling shell with a profiling structure whose inner surface is set on the back of the palm, and the power part of the finger grip actuation mechanism is fixed by a power fixing seat on the back of the profiling shell.
  • the finger cuff actuation mechanism is located on the outside of the palm, so that during the rehabilitation process, the patient’s gripping action is not affected, and a complete movement space for the patient’s rehabilitation can be realized.
  • the range of movement of the near metacarpophalangeal joint is 90 degrees, which almost meets all the movement spaces; and the present invention has high portability, can be changed at will, and is not restricted by a specific rehabilitation space.
  • the finger cuff actuation mechanism of the present invention includes an index finger cuff actuation mechanism, a middle finger cuff actuation mechanism, a ring finger cuff actuation mechanism and a pinky finger cuff actuation mechanism that work independently, that is, the present invention is aimed at Index finger, middle finger, ring finger, little finger, correspondingly equipped with index finger rehabilitation training institution, middle finger rehabilitation training institution, ring finger rehabilitation training institution, little finger rehabilitation training institution; and index finger rehabilitation training institution, middle finger rehabilitation training institution, ring finger rehabilitation training institution, and little finger rehabilitation training The agencies work independently. Therefore, the four fingers of the present invention can operate independently, the movable fingers have more movements, and the rehabilitation effect is better.
  • the present invention is also equipped with a corresponding thumb rehabilitation training mechanism (thumb motor, thumb link transmission mechanism, thumb end finger cuff). Therefore, the present invention is compared with the existing finger rehabilitation training In other words, it can also perform rehabilitation training on the knuckles of the thumb.
  • the index finger cuff actuation mechanism, the middle finger cuff actuation mechanism, the ring finger cuff actuation mechanism and the pinky finger cuff actuation mechanism of the present invention all adopt a gear transmission mechanism with a specific structure to drive the middle finger Set to realize the rehabilitation of the middle finger joints.
  • the gear transmission mechanism adopts an arc-shaped internal gear, and one radial cross-section end of the arc-shaped internal gear is mounted on the support seat through an L-shaped connecting arm, and the other radial cross-section end is directly connected with the middle finger knuckle, and Through the bearing guidance supported on the support seat, it can be known that the present invention can meet the requirement that the finger cuff actuating mechanism is external to the palm of the hand. Provides a holding space for the palm of the hand to be recovered.
  • the finger joints are actuated from the back of the palm, without affecting the patient's clenching motion, and can achieve a complete space for rehabilitation of the patient.
  • the two-finger joint control actuation mechanism adopts a linked gear transmission mechanism and a rope-link compound transmission mechanism to drive the middle knuckle and the end knuckle to correspondingly realize the middle finger Joint (MCP joint, proximal palm joint), end finger joint (PIP joint, distal joint) stretching and bending rehabilitation training.
  • the rope transmission structure is more compact, there is no gear gap between traditional mechanical transmissions, and there is no periodic jamming of gear transmission during movement, which is very smooth and has a small damping force; rope transmission In the process, because the rope has a certain degree of elasticity, it can have a buffer effect on the fingers when wearable devices, reducing the secondary damage to the fingers; the rope transmission can flexibly change the direction and speed of the transmission, which is more suitable for rehabilitation Device.
  • Figure 1 is a schematic structural diagram of the exoskeleton finger rehabilitation training device of the present invention
  • FIG. 2 is a schematic diagram of the structure of the thumb rehabilitation training mechanism and the index finger rehabilitation training mechanism corresponding to the thumb and index finger in FIG. 1;
  • FIG 3 is a schematic diagram of the structure at the connection position of the arc-shaped internal gear and the first connecting rod b in the two-finger joint rehabilitation training mechanism of the present invention (without rope);
  • FIG. 4 is a front view of the connection position of the arc-shaped internal gear and the first connecting rod b in the two-finger joint rehabilitation training mechanism of the present invention
  • FIG. 5 is a schematic diagram of the rope transmission mechanism between the first link b and the second link b in the two-finger joint rehabilitation training mechanism of the present invention (the angle between the first link b and the second link b Is ⁇ );
  • FIG. 6 is a schematic diagram of the rope transmission mechanism between the first link b and the second link b in the two finger joint rehabilitation training mechanism of the present invention (the angle between the first link b and the second link b Is ⁇ );
  • Fig. 7 is a schematic view of the structure of the support seat of the present invention.
  • FIG. 8 is a structural schematic diagram of performing rehabilitation training on the index finger when the index finger is only equipped with the index finger rehabilitation training mechanism according to the present invention.
  • Figures 1 to 8 1-support seat; 1-1, profiled shell; 1-2, cross bar; 1-3, connecting side arm; 1-4, hinge hole; 1-5, small thumb motor fixing seat; 1-6, ring finger motor mount; 1-7, middle finger motor mount; 1-8, index finger motor mount; 1-9, little finger bearing support seat; 1-10, ring finger bearing support seat; 1-11, middle finger Bearing support seat; 1-12, index finger bearing support seat; 1-13, first gear shaft b support seat; 1-14, second gear shaft b support seat; 1-15, third gear shaft b support seat; 1 -16.
  • Thumb power fixing seat 1-17, gear shaft a support seat; 1-18, thumb motor fixing seat; 2-pinion gear; 3-ring finger gear; 4-pinny end finger cot; 5-pinny thumb joint
  • the second connecting rod of the rod transmission mechanism 6-The first connecting rod of the little finger connecting rod transmission mechanism; 7-The middle finger cuff of the little finger; 8-ring end finger cuff; 9-The end finger cuff of middle finger; 10-ring connecting rod transmission mechanism 11-The first connecting rod of the ring finger connecting rod transmission mechanism; 12-The middle finger sleeve of the ring finger; 13-The first connecting rod of the middle finger connecting rod transmission mechanism; 14-The middle finger sleeve of the middle finger; 15-The middle finger of the index finger Finger cot; 16-the first connecting rod of the index finger connecting rod transmission mechanism; 16-1, positioning hole a; 16-2, circular rope guide groove b; 16-3, linear rope guide groove; 16-4, rope fixing hole b; 17- the second connecting rod of the index finger linkage transmission mechanism; 18- the
  • spatially relative terms such as “above”, “above”, “above”, “above”, etc. can be used here to describe as shown in the figure. Shows the spatial positional relationship between one device or feature and other devices or features. It should be understood that the spatially relative terms are intended to encompass different orientations in use or operation other than the orientation of the device described in the figure. For example, if the device in the figure is inverted, then the device described as “above the other device or structure” or “above the other device or structure” will then be positioned as “below the other device or structure” or “on Under other devices or structures”. Thus, the exemplary term “above” can include both orientations “above” and “below”. The device can also be positioned in other different ways (rotated by 90 degrees or in other orientations).
  • the exoskeleton finger rehabilitation training device of the present invention includes an exoskeleton finger rehabilitation training mechanism.
  • the exoskeleton finger rehabilitation training mechanism includes a support seat 1, a finger cuff actuation mechanism, and a finger cuff.
  • the knuckle knuckle connected to the power output end of the moving mechanism; the knuckle knuckle can be sleeved on the periphery of the knuckle to be recovered, and the knuckle knuckle is driven by the knuckle actuation mechanism to passively drive the knuckle to be recovered
  • the finger cuff actuation mechanism is supported by the support base 1, and when the finger joint to be recovered performs rehabilitation exercise, the finger cuff actuation mechanism is located outside the palm.
  • the present invention is aimed at index finger, middle finger, ring finger, and little finger, and correspondingly configure index finger rehabilitation training mechanism and middle finger rehabilitation training mechanism , Ring finger rehabilitation training institution, little finger rehabilitation training institution; index finger rehabilitation training institution, middle finger rehabilitation training institution, ring finger rehabilitation training institution, and little finger rehabilitation training institution work independently.
  • the index finger rehabilitation training mechanism includes an index finger cuff actuation mechanism and an index finger joint knuckle connected to the power output end of the index finger cuff actuation mechanism;
  • the middle finger rehabilitation training mechanism includes a middle finger cuff actuation mechanism and The middle finger knuckle knuckle connected to the power output end of the middle finger knuckle actuation mechanism;
  • the ring finger rehabilitation training mechanism includes the ring finger knuckle actuation mechanism and the ring knuckle knuckle connected to the power output end of the ring finger cuff actuation mechanism Cover;
  • the little finger rehabilitation training mechanism including the little finger cuff actuation mechanism and the little finger knuckle knuckle connected to the power output end of the little finger cuff actuation mechanism.
  • the finger cuff actuation mechanism of the present invention includes index finger cuff actuation mechanism, middle finger cuff actuation mechanism, ring finger cuff actuation mechanism and pinky finger cuff actuation mechanism; and the knuckle Finger cots include index finger joint knuckles that can be sleeved around the index finger joints to be recovered, middle finger knuckles that can be sleeved around the middle finger joints to be recovered, and ring fingers that can be sleeved around the ring finger joints to be recovered A knuckle cuff and a knuckle knuckle of the little thumb that can be sleeved around the knuckle of the little finger to be recovered.
  • a thumb rehabilitation training mechanism is configured for the thumb.
  • the thumb rehabilitation training mechanism is a single-finger joint rehabilitation training mechanism, and only includes one finger cuff.
  • the finger cuff is a thumb end finger cuff 25 that can be sleeved on the end knuckle of the thumb; in order to be able to adjust the rotation angle of the thumb end finger cuff 25, the thumb end finger cuff 25 of the present invention passes through a thumb connecting rod
  • the transmission mechanism is connected to the power output end of the thumb motor 28.
  • the thumb link transmission mechanism is a two-link mechanism, including a first link a (The first link 27 of the thumb link transmission mechanism), the second link a (the second link 26 of the thumb link transmission mechanism), one end of the first link a is provided with an internal gear to interact with the gear
  • the gear part of the shaft a is engaged, the other end of the first link a is connected with one end of the second link a, and the other end of the second link a is hinged with the thumb end finger cuff 25 (pivoted by the positioning shaft) ), it can be seen that the first connecting rod a and the second connecting rod a are connected to form an L-shaped rod.
  • the gear shaft a meshes with the internal gear at the end of the first link a to perform power transmission, which in turn drives the first link a of the thumb link transmission mechanism to rotate, and then passes through the first link a
  • the two link a drives the end finger cuff 25 of the thumb to realize the passive rehabilitation movement of the end knuckle of the thumb.
  • the finger cuff actuating mechanism of the present invention adopts the following structure:
  • the index finger joint knuckle, middle finger joint knuckle, ring knuckle knuckle, and little finger knuckle knuckle all include middle knuckle knuckles (middle finger cuff 7 ⁇ middle finger cuff 12 ⁇ middle finger middle finger Sleeve 14 ⁇ index finger middle finger sleeve 15); the index finger cuff actuation mechanism, the middle finger cuff actuation mechanism, the ring finger cuff actuation mechanism and the pinky finger cuff actuation mechanism all include a gear transmission mechanism; the middle finger cuff The back of the sleeve is provided with a transmission position A; the gear transmission mechanism includes a drive motor (piny thumb motor 21/ring finger motor 21/forefinger motor 23/middle finger motor 24), gear shaft b, and an arc inner meshing with the gear part of gear shaft b Gear 20-1; the two radial cross-section ends of the arc-shaped internal gear 20-1 are
  • the arc-shaped internal gear 20-1 and the L-shaped connecting arm form a small thumb gear 2/ring finger gear 3/middle finger gear 19/index finger gear 20/. From this, it can be seen that the present invention adopts the arc-shaped internal gear 20-1 and its specific installation method on the support base 1, which can provide sufficient palm accommodating space for finger rehabilitation. Realize the setting mode that the finger cuff actuating mechanism is located outside the palm to ensure that the invention does not affect the patient's gripping action during the rehabilitation process, and can achieve a complete movement space for the patient's rehabilitation. After testing, the MCP joint (proximal metacarpophalangeal joint) movement range It is 90 degrees, which almost meets all the activity space.
  • the outer circular surface of the arc-shaped internal gear 20-1 is connected to the bearing mounted on the support base 1, which can prevent the transmission part of the structure from being too far away from the center of rotation and causing too much deformation during operation, resulting in the gear
  • the meshing is not smooth during transmission, which reduces the resistance of gear transmission.
  • the present invention allows the end knuckles of the index finger, middle finger, ring finger, and little finger to be exercised. Therefore, the index finger rehabilitation training organization, middle finger rehabilitation training organization, ring finger rehabilitation training organization, and little finger rehabilitation training organization are all two finger joints.
  • the two-finger joint joint-control rehabilitation training mechanism includes a two-finger joint joint control actuation mechanism and two finger cots.
  • the two finger cots are terminal fingers that can be sleeved at the end knuckles of the fingers.
  • the gear transmission mechanism is connected with the drive motor, and the transmission point b is connected with the end knuckle finger cuff through the rope link compound transmission mechanism.
  • the driving motor, the gear transmission mechanism, and the rope connecting rod compound transmission mechanism constitute a two-finger joint control actuation mechanism.
  • the gear transmission mechanism includes a drive motor (little thumb motor 21/ring finger motor 21/index finger motor 23/middle finger motor 24), a gear shaft b, and an arc-shaped internal gear 20-1 that meshes with the gear portion of the gear shaft b;
  • the gear shaft b is installed at the power output end of the driving motor (little thumb motor 21/ring finger motor 21/index finger motor 23/middle finger motor 24).
  • the axis of the gear shaft b of the middle finger cuff actuation mechanism and the axis of the gear shaft b of the ring finger cuff actuation mechanism are arranged collinearly, and the axis of the gear shaft b of the index finger cuff actuation mechanism is aligned with the pinky finger cuff.
  • the axis of the gear shaft b of the moving mechanism is arranged collinearly, and the axis of the gear shaft b of the index finger cuff actuating mechanism is parallel to the axis of the gear shaft b of the middle finger cuff actuating mechanism and is arranged in an offset manner.
  • the center of rotation of the MCP of each finger can be approximately considered to be in a straight line.
  • the structure and the fingers are connected by a nylon strap, the hand and the device
  • the relative position can be slightly adjusted according to the fact that the rotation center and the actual rotation center are not on the same straight line, so that the rotation center and the rotation center of the mechanical mechanism can be overlapped, so as to reduce unnecessary force on the rehabilitation finger.
  • the two ends of the arc-shaped internal gear 20-1 in the arc extending direction are the A-end of the arc-shaped internal gear 20-1, the B-end of the arc-shaped internal gear 20-1, and the A-end of the arc-shaped internal gear 20-1.
  • the L-shaped connecting arm is hinged with the support base 1 (installed on the support base 1 through the positioning shaft), the B end of the arc-shaped internal gear 20-1 is hinged with the transmission position a, and the inner part of the arc-shaped internal gear 20-1
  • the circular surface has teeth that mesh with the gear portion of the gear shaft b, and the outer circular surface of the arc-shaped internal gear 20-1 is guided by a bearing positioned and supported on the support base 1.
  • Rope connecting rod composite transmission mechanism including rope 34, first link b (first connecting rod 6 of the little finger connecting rod transmission mechanism/first connecting rod 11 of the ring finger connecting rod transmission mechanism/first connecting rod of the middle finger connecting rod transmission mechanism Rod 13/the first connecting rod of the index finger connecting rod transmission mechanism 16/), the second connecting rod b (the second connecting rod of the little finger connecting rod transmission mechanism 5 ⁇ the second connecting rod of the ring finger connecting rod driving mechanism 10 ⁇ the index finger connecting rod
  • the second connecting rod 17 of the transmission mechanism/the second connecting rod 33 of the middle finger connecting rod transmission mechanism wherein:
  • the first connecting rod b and the second connecting rod b are straight rods.
  • the two ends of the first connecting rod b are respectively the end A of the first connecting rod b and the end B of the first connecting rod b;
  • the two ends are respectively the end A of the second connecting rod b and the end B of the second connecting rod b;
  • the end A of the first link b is hinged with the transmission point b
  • the end B of the first link b is hinged with the end A of the second link b
  • the end B of the second link b is hinged on the surface of the end knuckle
  • the set transmission position c is hinged.
  • a rope fixing hole a20-4 is opened at the B end of the arc-shaped internal gear 20-1, the rope fixing hole a20-4 is a blind hole, and the axis of the rope fixing hole a20-4 is perpendicular to that of the arc-shaped internal gear 20-1
  • the curved surface is arranged, and the B end of the curved internal gear 20-1 is provided with an outlet hole 20-3 communicating with the rope fixing hole a20-4 at a position close to the bottom of the rope fixing hole a20-4, and the outlet hole 20 -3 has two, for the two ends of the rope to pass through.
  • part of the rope is set through the bottom of the rope fixing hole a20-4, so the fixing part can be installed in the rope fixing hole a20-4,
  • screws, etc. can fix the rope to the B end of the arc-shaped internal gear 20-1;
  • the B-end of the arc-shaped internal gear 20-1 is provided with an annular rope guide groove a20- which smoothly transitions with the outlet hole 20-3. 5, for the two ends of the rope passing through the outlet hole 20-3 to go around.
  • a positioning hole a16-1 is provided at the end A of the first connecting rod b, so that the first connecting rod b is connected to the transmission point b through a locking component fitted in the positioning hole a16-1.
  • a ring-shaped rope guide groove b16-2 is provided at the end A of the first link b, so that the two ends of the rope passing through the ring-shaped rope guide groove a20-5 can cross and circulate. At the two ends of the rope passing through a20-5, one end goes clockwise along the circular rope guide groove a20-5, and the other end goes counterclockwise along the circular rope guide groove a20-5.
  • the surface of the first link b has two parallel linear rope guide grooves 16-3 to respectively penetrate through the two ends of the circular rope guide groove b16-2, and are located at the ends of the linear rope guide groove 16-3.
  • a rope fixing hole b is provided in the part, and after the rope passes through the rope fixing hole b, a fastening member, such as a screw, is fitted in the rope fixing hole b to fix the rope with the first link b.
  • the rope drawn from the rope fixing hole b is arranged along the wire groove provided on the first connecting rod b, and firstly around the annular rope guide groove provided on the outside of the shaft at the hinged position of the first connecting rod b and the second connecting rod b c After going around, it is arranged along the guide groove set on the second connecting rod b, and finally sleeved with the annular rope guide groove d provided on the periphery of the shaft at the hinge position of the second connecting rod b and the end knuckle finger cuff. in.
  • one end of the rope is fixed to the end A of the arc-shaped internal gear 20-1, and the other end passes through the slot provided on the first connecting rod b and the second connecting rod b in turn;
  • the connecting rod transmission mechanism can be linked with the end A of the arc-shaped internal gear 20-1 under the traction of the rope.
  • the two-link mechanism composed of the first link b and the second link b serves as the "skeleton" of the transmission mechanism
  • the rope is the transmission mechanism
  • the combination of the two, the drive motor drives the arc-shaped internal gear 20-1 to rotate relative to the middle knuckle, which is hauled by the rope to the end knuckle.
  • the support seat because the finger rehabilitation training device of the present invention can perform rehabilitation training on the thumb, index finger, middle finger, ring finger and little finger respectively, therefore, the support seat includes profiling Shell 1-1, four-finger power fixing seat, thumb power fixing seat 1-16; wherein: the contour of the profiling shell 1-1 is contoured to the shape of the complete palm back, including three end faces, one of which The end face is the proximal end of the wrist, which can be adjacent to the position of the wrist; one end face is flush with the root of the thumb, which can be flush with the root of the thumb, and the other end is flush with the root of the four fingers, which can be separated It is flush with the root of the index finger, middle finger, ring finger, and pinky finger, that is, it can be flush with the cross section of the palm of the four fingers.
  • the profiling shell 1-1 is fixed with a four-finger power fixing seat at a position adjacent to the flush end of the root of the four fingers, and a power fixing seat 1 for the thumb is fixed at a position adjacent to the flush end of the thumb root. -16.
  • the thumb power fixing seat 1-16 has a gear shaft a supporting seat 1-17 and a thumb motor fixing seat 1-18 fixedly installed on it; the thumb motor is fixedly installed on the thumb motor fixing seat 1-18 , And the gear shaft a connected to the power output end of the thumb motor is supported by the support holes on the thumb motor fixing seat 1-18 and the support hole on the gear shaft a support seat.
  • the four-finger power fixing seat is arranged in a U shape, and includes a cross bar 1-2 and two connecting side arms 1-3 (respectively connecting side arm a and connecting side arm b).
  • the cross bar 1-2 spans The four-finger cross-section of the palm is set, one end of each connecting side arm 1-3 is fixed to the cross bar 1-2, the other end is idle, and the idle end of the connecting side arm 1-3 is provided with a hinge hole 1-4.
  • the rod body of the crossbar 1-2 is fixedly provided with little thumb motor fixing seats 1-5, ring finger motor fixing seats 1-6, index finger motor fixing seats 1-8, middle finger motor fixing seats 1-7, and the little thumb motor
  • the first gear shaft b support base 1-13 and the third gear shaft b support base 15 are sequentially arranged, and the ring finger motor fixing base 1-6 and the index finger motor
  • the little thumb motor mounts 1-5, the ring finger motor mounts 1-6, the index finger motor mounts 1-8, and the middle finger motor mounts 1-7 are all provided with a gear shaft b support hole a; the first gear shaft b support base 1 -13 A supporting hole b is provided at a position corresponding to the supporting hole a of the little thumb motor fixing seat 1-5, and the third gear shaft b supporting seat 15 is at a position corresponding to the supporting hole a of the index finger motor fixing seat 1-8 There is a support hole c; the second gear shaft b support seat 1-14 is provided with a support hole d and a support hole e back-to-back, the second gear shaft b support seat 1-14 has a support hole d and the ring finger motor fixing seat The supporting hole a of 1-6 corresponds to the supporting hole e of the second gear shaft b supporting seat 1-14 and the supporting hole a of the middle finger motor fixing seat 1-7;
  • the pinky motor is fixed by the pinky motor mount 1-5, and the gear shaft b fixed to the power output end of the pinky motor is supported by the support hole a and the first gear shaft b of the pinky motor mount 1-5
  • the support hole b of the base 1-13 is supported;
  • the index finger motor is fixed by the index finger motor fixing base 1-8, and the gear shaft b fixed to the power output end of the index finger motor is supported by the support hole a,
  • the second gear shaft b is supported by the support hole c of the support seat 1-14;
  • the ring finger motor is fixed by the ring finger motor holder 1-6, and the gear shaft b fixed to the power output end of the ring finger motor is supported by the ring finger motor holder 1-
  • the support hole a of 6 and the support hole d of the third gear shaft b support base 15 are supported;
  • the middle finger motor is fixed by the middle finger motor fixing base 1-7, and the gear shaft b fixed to the power output end of the middle finger motor is supported by the middle
  • the gear shaft b fixed to the power output end of each drive motor can also be cantilevered.
  • the cross bar of the present invention can be There is no need to provide the first gear shaft b support seat 1-13, the second gear shaft b support seat 1-14, and the third gear shaft b support seat 15; or the first gear shaft b support seat 1-13 and the second gear shaft b
  • the gear shaft b support seat 1-14 and the third gear shaft b support seat 15 are used for other purposes.
  • the little thumb motor fixing seat 1-5, the first gear shaft b support seat 1-13, the third gear shaft b support seat 15, and the middle finger motor fixing seat 1-7 are all connected to the crossbar 1-2Y through a piece.
  • the parallel connecting block a is fixed to the crossbar 1-2;
  • the ring finger motor fixing seat 1-6, the second gear shaft b support seat 1-14, and the index finger motor fixing seat 1-8 are respectively Pass a piece with the crossbar 1-2Z direction (in Figure 7 perpendicular to the crossbar 1-2Y direction, the crossbar 1-2X direction in the plane of the direction, the crossbar 1-2X direction is the extension direction of the crossbar 1-2 )
  • the parallel connecting block b is fixed to the crossbar 1-2.
  • the motor fixing holes of the pinky motor fixing seat 1-5 and the motor fixing holes of the middle finger motor fixing seat 1-7 are arranged collinearly (the axis is in the same straight line and is aligned with the crossbar 1-2 phase parallel); and the motor fixing holes of the ring finger motor fixing seat 1-6 and the motor fixing holes of the index finger motor fixing seat 1-8 are arranged collinearly (the axis is in the same straight line and parallel to the crossbar 1-2) .
  • the L-shaped connecting arm of the small thumb gear and the L-shaped connecting arm of the ring finger gear are hinged to the hinge hole 1-4 at the end of the same connecting side arm 1-3 (connecting side arm 1-3a), And the L-shaped connecting arm of the pinky gear is located outside the connecting side arm 1-3 (connecting side arm 1-3a), and the L-shaped connecting arm of the ring finger gear is located on the connecting side arm 1-3 (connecting side arm 1- 3a) inside.
  • the L-shaped connecting arm of the middle finger gear and the L-shaped connecting arm of the index finger gear are also hinged to the hinge holes 1-4 at the end of the same connecting side arm 1-3 (connecting side arm 1-3b), and the L-shaped index finger gear
  • the connecting arm is located on the outer side of the connecting side arm 1-3 (the connecting side arm 1-3a), and the L-shaped connecting arm of the middle finger gear is located on the inner side of the connecting side arm 1-3 (the connecting side arm 1-3a).
  • the third gear shaft b support seat 1-15 is provided with mounting end ears, then the installation end ears of the pinky motor fixing seat 1-5 and the first gear shaft b support seat 1-13 are formed Little thumb bearing support bases 1-9 are used to install pinky bearings; the mounting end ears of the ring finger motor fixing base 1-6 and the third gear shaft b support base 1-14 form the ring finger bearing support base 1-10.
  • the mounting end ears of the middle finger motor mount 1-7 and the third gear shaft b support base 1-14 form the middle finger bearing support base 1-11, which is used to install the middle finger bearing;
  • the index finger motor mount The mounting end ears of 1-8 and the mounting end ears of the second gear shaft b support seat 1-14 form the index finger bearing support seat 1-12 for installing the index finger bearing.
  • the thumb motor 28 of the thumb cuff actuation mechanism When rehabilitation training is required for the end knuckles of the thumb, the thumb motor 28 of the thumb cuff actuation mechanism is activated.
  • the power output by the thumb motor 28 is powered by the first connecting rod a meshed with the gear shaft a Transfer, thereby driving the first link a to rotate, and then driving the thumb end finger cuff 25 through the second link a to realize the passive rehabilitation movement of the thumb end knuckle;
  • the index finger cuff actuation mechanism When rehabilitation training is needed for the index finger joints, the index finger cuff actuation mechanism is activated to drive the index finger knuckles to achieve passive rehabilitation of the index finger joints;
  • the middle finger cuff actuation mechanism is activated to drive the middle finger joint knuckle to realize the passive rehabilitation of the middle finger joint;
  • the little finger knuckle actuation mechanism is activated to drive the little finger knuckle knuckles to realize passive rehabilitation of the little finger knuckles.
  • index finger knuckle, middle finger knuckle, ring finger knuckle and little finger knuckle knuckle all include two knuckles, namely the middle knuckle and the end knuckle; the index finger knuckle is used for
  • the moving mechanism, middle finger cuff actuation mechanism, ring finger cuff actuation mechanism and pinky finger cuff actuation mechanism are all two-finger joint control actuation mechanisms, including gear transmission mechanism and rope-link compound transmission mechanism;
  • the two-knuckle joint control actuating mechanism uses the middle knuckle finger cuff and the end knuckle finger cuff to realize the specific steps of corresponding knuckle rehabilitation training as follows:

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Abstract

一种外骨骼手指康复训练装置及其使用方法。外骨骼手指康复训练装置包括外骨骼手指康复训练机构，外骨骼手指康复训练机构包括支撑座(1)、指套作动机构以及与指套作动机构的动力输出端连接的指关节指套；指关节指套能够套接在待康复指关节外围，且指关节指套在指套作动机构的动力作动下，带动待康复指关节被动弯曲/拉伸，支撑座(1)包括仿形壳(1-1)，仿形壳(1-1)的内表面依照完整的手掌背面或部分的手掌背面仿形设置，而仿形壳(1-1)的背面则设置有动力固定座；指套作动机构的动力部分安装在动力固定座上；当待康复指关节进行康复运动时，指套作动机构位于手掌外侧。因此不影响患者的握紧动作，可以实现患者康复的完整活动空间。

Description

外骨骼手指康复训练装置及其使用方法 技术领域
本发明涉及一种外骨骼手指康复训练装置及其使用方法，属于医疗康复器械领域。
背景技术
脑卒中是导致人类瘫痪和运动障碍的主要原因，由脑卒中导致的运动障碍的患者的人数越来越多，从而消耗的医疗资源也越来越多。手指是人类生活和工作的重要器官，对手部采用针对性的康复训练有助于患者手部功能的恢复。
传统的手指康复治疗采用专业的理疗师进行康复，重复性差，价格昂贵，训练环境有限，难以进行持续的高强度的治疗，由外骨骼手指康复训练装置对手指进行康复训练有助于手指的功能性康复。
现有的手指外骨骼康复训练装置存在与手指连接位置多，对手指的约束多，由于手指的自由度很高，手指的旋转中心与训练装置的旋转中心很难对齐，在训练的同时，对手指容易产生二次伤害等缺点。
申请人于2018年申请了一项发明名称为《一种外骨骼手指康复训练装置》，公布号为CN 109549819 A的专利申请。该申请中，康复训练装置只有两个电机，对手指的康复效果实际为一个自由度，只能将四个手指同步进行康复运动，康复过程中，手指的姿势较少。另外，该申请中，动力结构在手掌的内部，造成康复过程中手指不能完全握紧，康复过程不充分。再有，康复过程中MCP(近掌指关节)关节的活动范围为70度，活动空间有限。
发明内容
本发明针对现有技术的不足，提供一种外骨骼手指康复训练装置，其将外骨骼手指康复训练装置的动力部分布置在手掌的背面(手掌外侧)，因此，本发明不影响患者的握紧动作，可以实现患者康复的完整活动空间。另外，所述的外骨骼手指康复训练装置针对每一根手指，均配置一套独立工作的手指康复训练机构，因此，本发明康复运动时，手指动作更多，康复效果更好。
为实现上述的技术目的，本发明将采取如下的技术方案：
一种外骨骼手指康复训练装置，包括外骨骼手指康复训练机构，该外骨骼手指康复训练机构包括支撑座、指套作动机构以及与指套作动机构的动力输出端连接的指关节指套；指关节指套能够套接在待康复指关节外围，且指关节指套在指套作动机构的动力作动下，带动待康复指关节被动弯曲/拉伸，所述支撑座包括仿形壳，该仿形壳的内表面依照完整的手掌背面/部分的手掌背面仿形设置，而仿形壳的背面则设置有动力固定座；所述指套作动机构的动力部分安装在动力固定座上；当待康复指关节进行康复运动时，所述指套作动机构位于手掌外侧。
进一步地，所述指关节指套包括有两个指套，分别为中间指节指套以及末端指节指套；
所述指套作动机构包括驱动电机、齿轮传动机构以及绳索连杆复合传动机构；
中间指节指套的背面设置有两个传动位点，分别为传动位点A、传动位点B；末端指节指套的背面设置有一个传动位点，为传动位点C；
齿轮传动机构包括齿轮轴b以及与齿轮轴b的齿轮部分内啮合的弧形内齿轮；弧形内齿轮的两径向截面端分别为弧形内齿轮的A端、弧形内齿轮的B端；
绳索连杆复合传动机构包括绳索以及二连杆传动机构；
驱动电机的基座固定在动力固定座上；
齿轮轴b与驱动电机的动力输出端连接，弧形内齿轮的A端通过L形连接臂与动力固定座连接，弧形内齿轮的B端则与中间指节指套上的传动位点A连接；而弧形内齿轮的外圆面与动力固定座上安装的轴承导向连接；
中间指节指套的传动位点B与末端指节指套的传动位点C之间，通过二连杆传动机构连接；
所述的绳索，一端与弧形内齿轮的A端固定，另一端则依次穿过第一连杆b、第二连杆b上所设置的线槽布置；二连杆传动机构在绳索的牵引下，与弧形内齿轮的A端联动。
进一步地，所述的指关节指套包括能够套接在待康复食指指关节外围的食指指关节指套、能够套接在待康复中指指关节外围的中指指关节指套、能够套接在待康复无名指指关节外围的无名指指关节指套以及能够套接在待康复小拇指指关节外围的小拇指指关节指套；
所述的指套作动机构，包括各自独立工作的食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构；
食指指套作动机构的动力输出端与食指指关节指套连接；中指指套作动机构的动力输出端与中指指关节指套连接；无名指指套作动机构的动力输出端与无名指指关节指套连接；小拇指指套作动机构的动力输出端与小拇指指关节指套连接；
动力固定座包括四指动力固定座，该四指动力固定座邻近于仿形壳的四指指根齐平端所在位置处设置，所述仿形壳的四指指根齐平端，能够与食指指根、中指指根、无名指指根、小拇指指根所在截面齐平；
四指动力固定座包括支座以及安装在支座上的食指动力固定座、中指动力固定座、无名指动力固定座、小拇指动力固定座；
支座固定在仿形壳的背面；食指动力固定座对应于食指指根的位置处安装在支座上，中指动力固定座对应于中指指根的位置处安装在支座上，无名指动力固定座对应于无名指指根的位置处安装在支座上，小拇指动力固定座对应于小拇指指根的位置处安装在支座上；
食指指套作动机构的动力部分安装在食指动力固定座上，中指指套作动机构的动力部分安装在中指动力固定座上，无名指指套作动机构的动力部分安装在无名指动力固定座上，小拇指指套作动机构的动力部分安装在小拇指动力固定座上。
进一步地，所述的指关节指套还包括够套接在待康复大拇指指关节外围的大拇指指关节指套；所述的指套作动机构还包括大拇指指套作动机构；
大拇指指套作动机构的动力输出端与大拇指指关节指套连接，且大拇指指套作动机构与食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构 各自独立工作；
所述的大拇指指套作动机构，包括大拇指电机以及与大拇指电机的动力输出端连接的大拇指连杆传动机构；
大拇指电机的动力输出端设置齿轮轴a；
大拇指连杆传动机构为二连杆机构，包括第一连杆a、第二连杆a，第一连杆a的一端设置有内齿轮，以与齿轮轴a的齿轮部分相啮合，第一连杆a的另一端则与第二连杆a的一端连接，第二连杆a的另一端则与大拇指末端指套铰接；
动力固定座还包括大拇指动力固定座，该大拇指动力固定座邻近于仿形壳的大拇指指根齐平端固定在仿形壳上，且仿形壳的大拇指指根齐平端能够与大拇指的指根所在位置齐平；所述的大拇指动力固定座上分别固定安装有齿轮轴a支撑座、大拇指电机固定座，大拇指电机固定安装在大拇指电机固定座上，齿轮轴a的两端分别对应地通过大拇指电机固定座上的支撑孔以及齿轮轴a支撑座上的支撑孔支撑
进一步地，所述的食指指关节指套、中指指关节指套、无名指指关节指套以及小拇指指关节指套均包括有中间指节指套；
所述的食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构均包括驱动电机以及齿轮传动机构；
中间指节指套的背面设置传动位点A；
齿轮传动机构包括驱动电机、齿轮轴b以及与齿轮轴b的齿轮部分内啮合的弧形内齿轮；弧形内齿轮的两径向截面端分别为弧形内齿轮的A端、弧形内齿轮的B端；
齿轮轴b与基座固定在支撑座上的驱动电机的动力输出端连接，弧形内齿轮的A端通过L形连接臂与支撑座连接，弧形内齿轮的B端则与中间指节指套上的传动位点A连接，而弧形内齿轮的外圆面与支撑座上安装的轴承导向连接。
进一步地，所述的食指指关节指套、中指指关节指套、无名指指关节指套以及小拇指指关节指套均包括有两个指套，分别为中间指节指套以及末端指节指套；
中间指节指套的背面设置有两个传动位点，分别为传动位点A、传动位点B；末端指节指套的背面设置有一个传动位点，为传动位点C；
所述的食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构均为二指关节连控作动机构，包括驱动电机、齿轮传动机构以及绳索连杆复合传动机构；
齿轮传动机构包括驱动电机、齿轮轴b以及与齿轮轴b的齿轮部分内啮合的弧形内齿轮；弧形内齿轮的两径向截面端分别为弧形内齿轮的A端、弧形内齿轮的B端；
绳索连杆复合传动机构包括绳索以及二连杆传动机构；
齿轮轴b与基座固定在支撑座上的驱动电机的动力输出端连接，弧形内齿轮的A端通过L形连接臂与支撑座连接，弧形内齿轮的B端则与中间指节指套上的传动位点A连接；而弧形内齿轮的外圆面与支撑座上安装的轴承导向连接；
中间指节指套的传动位点B与末端指节指套的传动位点C之间，通过二连杆传动机构连接；
所述的绳索，一端与弧形内齿轮的A端固定，另一端则依次穿过第一连杆b、第二连杆b上所设置的线槽布置；二连杆传动机构在绳索的牵引下，与弧形内齿轮的A端联动。
进一步地，所述的二连杆机构，包括第一连杆b、第二连杆b；第一连杆b的两端分别为第一连杆b的A端、第一连杆b的B端；第二连杆b的两端分别为第二连杆b的A端、第二连杆b的B端；
第一连杆b的A端与中间指节指套的传动位点B铰接，第一连杆b的B端与第二连杆b的A端铰接，而第二连杆b的B端与传动位点C铰接；
绳索均在弧形内齿轮的A端、第一连杆b的A端、第一连杆b与第二连杆b之间的铰接点、第二连杆b的B端绕行，并在第一连杆b上固定，以使第一连杆b的A端、第一连杆b与第二连杆b之间的铰接点、第二连杆b的B端在绳索的牵引下，能够与弧形内齿轮的A端联动连接。
进一步地，所述支座呈U形设置，包括横杆以及对称地设置在横杆两端的连接侧臂a、连接侧臂b，横杆固定在仿形壳的背面，并横跨仿形壳的四指指根齐平端设置，连接侧臂a/连接侧臂b的一端与横杆固定，另一端则闲置，且连接侧臂a/连接侧臂b的闲置端设置有铰接孔；
食指动力固定座为食指电机固定座，中指动力固定座为中指电机固定座，无名指动力固定座为无名指电机固定座，小拇指动力固定座为小拇指电机固定座；小拇指电机固定座、无名指电机固定座、食指电机固定座、中指电机固定座分别固定在横杆杆体上，且在小拇指电机固定座、食指电机固定座之间，依次设置有第一齿轮轴b支撑座、第三齿轮轴b支撑座，在无名指电机固定座、食指电机固定座之间，设置有第二齿轮轴b支撑座；
食指指套作动机构的齿轮传动机构中：驱动电机固定在食指电机固定座上，齿轮轴b的两端通过食指电机固定座的支撑孔a与第一齿轮轴b支撑座的支撑孔c支撑，弧形内齿轮通过L形连接臂与连接侧臂a上铰接孔的外侧铰接；
中指指套作动机构的齿轮传动机构中，驱动电机固定在中指电机固定座上，齿轮轴b的两端通过中指电机固定座的支撑孔a与第二齿轮轴b支撑座的支撑孔e支撑，弧形内齿轮通过L形连接臂与连接侧臂a上铰接孔的内侧铰接；
无名指指套作动机构的齿轮传动机构中，驱动电机固定在无名指电机固定座上，齿轮轴b的两端通过无名指电机固定座的支撑孔a与第二齿轮轴b支撑座的支撑孔d支撑，弧形内齿轮通过L形连接臂与连接侧臂b上铰接孔的内侧铰接；
小拇指指套作动机构的齿轮传动机构中，驱动电机固定在小拇指电机固定座上，齿轮轴b的两端通过小拇指电机固定座的支撑孔a与第一齿轮轴b支撑座的支撑孔b支撑；弧形内齿轮通过L形连接臂与连接侧臂a上铰接孔的外侧铰接；
所述中指指套作动机构的齿轮轴b的轴线与无名指指套作动机构的齿轮轴b的轴线共线设置，所述食指指套作动机构的齿轮轴b的轴线与小拇指指套作动机构的齿轮轴b的轴线共线设置，食指指套作动机构的齿轮轴b的轴线与中指指套作动机构的齿轮轴b的轴线平行并错位设置。
本发明的另一技术目的是提供的一种外骨骼手指康复装置的使用方法，包括：启动大拇指指套作动机构的大拇指电机，大拇指电机输出的动力，通过与齿轮轴a相啮合的第一连杆a进行动力传递，从而带动第一连杆a旋转，再通过第二连杆a带动大拇指末端指套动作；
启动食指指套作动机构，以带动食指指关节指套作动；启动中指指套作动机构，以带动中指指关节指套作动；启动无名指指套作动机构，以带动无名指指关节指套作动；启动小拇 指指套作动机构，以带动小拇指指关节指套作动；
其中：
食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构均包括驱动电机以及齿轮传动机构，该齿轮传动机构包括齿轮轴b以及与齿轮轴b的齿轮部分啮合的弧形齿轮；
食指指关节指套、中指指关节指套、无名指指关节指套以及小拇指指关节指套均包括有中间指节指套；
食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构的工作过程如下：
正向启动驱动电机，驱动齿轮轴b正向旋转，带动弧形内齿轮相对于中间指节指套做开度增大的旋转运动，致使中间指节指套承受推力；
反向启动驱动电机，驱动齿轮轴b反向旋转，带动弧形内齿轮相对于中间指节指套做开度减小的旋转运动，致使中间指节指套承受拉力。
进一步地，食指指关节指套、中指指关节指套、无名指指关节指套以及小拇指指关节指套均还包括有末端指节指套；
食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构均还包括有绳索连杆复合传动机构；
中间指节指套与末端指节指套之间通过绳索连杆复合传动机构连接；
食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构的工作过程如下：
正向启动驱动电机，驱动齿轮轴b正向旋转，带动弧形内齿轮相对于中间指节指套做开度增大的旋转运动，通过绳索同步带动二连杆传动机构，此时中间指节指套、末端指节指套均承受推力；
反向启动驱动电机，驱动齿轮轴b反向旋转，带动弧形内齿轮相对于中间指节指套做开度减小的旋转运动，通过绳索同步带动二连杆传动机构，此时中间指节指套、末端指节指套均承受拉力。
根据上述的技术方案，相对于现有技术，本发明具有如下的优点：
1、本发明所述的支撑座包括内表面设置成手掌背面的仿形结构的仿形壳，所述的指套作动机构的动力部分通过仿形壳背面的动力固定座固定，因此，本发明在待康复指关节进行康复运动时，所述指套作动机构位于手掌外侧，使得康复过程中，不影响患者的握紧动作，可以实现患者康复的完整活动空间，经测试，MCP关节(近掌指关节)活动范围为90度，几乎满足所有的活动空间；而且本发明便携性能高，能够随意变动，不受特定的康复空间限制。
2、本发明所述的指套作动机构，包括各自独立工作的食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构，即本发明针对食指、中指、无名指、小拇指，对应地配置食指康复训练机构、中指康复训练机构、无名指康复训练机构、小拇指康复训练机构；且食指康复训练机构、中指康复训练机构、无名指康复训练机构、小拇指康复训练机构各自独立工作。因此，本发明四个手指可以独立运行，活动的手指动作更多，康复效果更好。
3、本发明针对大拇指指关节，也配置对应的大拇指康复训练机构(大拇指电机，大拇指连杆传动机构，大拇指末端指套)，因此，本发明相对于现有的手指康复训练来讲，也能够对大拇指指关节进行康复训练。
4、本发明所述的食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构，均采用特定结构形式的齿轮传动机构来带动中间指节指套，实现中间指关节的康复。所述的齿轮传动机构采用弧形内齿轮，并将弧形内齿轮一个径向截面端通过L形连接臂安装在支撑座上，另一个径向截面端直接与中间指节指套连接，并通过支撑在支撑座上的轴承导向，由此可知，本发明可以满足指套作动机构外设于手掌外侧的需求。提供待康复手掌的容纳空间，从手掌背面作动手指关节，不影响患者的握紧动作，可以实现患者康复的完整活动空间。
5、本发明中，所述的二指关节连控作动机构，采用联动的齿轮传动机构、绳索连杆复合传动机构来带动中间指节指套、末端指节指套，以对应实现中间指关节(MCP关节，近掌关节)、末端指关节(PIP关节，远端关节)的拉伸、弯曲康复训练。绳索连杆复合传动机构中，绳索传动结构更为紧密，不存在传统的机械传动之间的齿轮间隙，运动起来没有齿轮传动这种周期性的卡顿，非常流畅，阻尼力很小；绳索传动过程中，由于绳索有一定的弹性，在可穿戴设备的时候，可以对手指有一个缓冲作用，减小对手指的二次伤害；绳索传动可以灵活的改变传动的方向及速度，更适合于康复装置。
附图说明
图1是本发明所述的外骨骼手指康复训练装置的结构示意图；
图2是图1中仅在大拇指、食指部位对应配装大拇指康复训练机构、食指康复训练机构的结构示意图；
图3是本发明所述二指关节康复训练机构中，弧形内齿轮与第一连杆b连接位置处的结构示意图(不带绳索)；
图4是本发明所述二指关节康复训练机构中，弧形内齿轮与第一连杆b连接位置处的正视图；
图5是本发明所述二指关节康复训练机构中，第一连杆b与第二连杆b之间的绳索传动机构示意图(第一连杆b与第二连杆b之间的夹角为α)；
图6是本发明所述二指关节康复训练机构中，第一连杆b与第二连杆b之间的绳索传动机构示意图(第一连杆b与第二连杆b之间的夹角为β)；
图7是本发明所述支撑座的结构示意图；
图8是本发明仅在食指部位配装食指康复训练机构时，对食指进行康复训练的结构示意图；
图1至8中：1-支撑座；1-1、仿形壳；1-2、横杆；1-3、连接侧臂；1-4、铰接孔；1-5、小拇指电机固定座；1-6、无名指电机固定座；1-7、中指电机固定座；1-8、食指电机固定座；1-9、小拇指轴承支撑座；1-10、无名指轴承支撑座；1-11、中指轴承支撑座；1-12、食指轴承支撑座；1-13、第一齿轮轴b支撑座；1-14、第二齿轮轴b支撑座；1-15、第三齿轮轴b支撑座；1-16、大拇指动力固定座；1-17、齿轮轴a支撑座；1-18、大拇指电机固定座；2-小拇指齿轮；3-无名指齿轮；4-小拇指末端指套；5-小拇指连杆传动机构的第二连杆；6-小拇指连杆传动机构的第 一连杆；7-小拇指中间指套；8-无名指末端指套；9-中指末端指套；10-无名指连杆传动机构的第二连杆；11-无名指连杆传动机构的第一连杆；12-无名指中间指套；13-中指连杆传动机构的第一连杆；14-中指中间指套；15-食指中间指套；16-食指连杆传动机构的第一连杆；16-1、定位孔a；16-2、环形绳索导槽b；16-3、直线绳索导槽；16-4、绳索固定孔b；17-食指连杆传动机构的第二连杆；18-食指末端指套；19-中指齿轮；20-食指齿轮；20-1、弧形内齿轮；20-2、L形连接臂；20-3、出线孔；20-4、绳索固定孔a；20-5、环形绳索导槽a；21-小拇指电机；22-无名指电机；23-食指电机；24-中指电机；25-大拇指末端指套；26-大拇指连杆传动机构的第二连杆；27-大拇指连杆传动机构的第一连杆；28-大拇指电机；29-小拇指轴承；30-无名指轴承；31-中指轴承；32-食指轴承；33-中指连杆传动机构的第二连杆；34-绳索。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、表达式和数值不限制本发明的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)。
如图1至8所示，本发明所述的外骨骼手指康复训练装置，包括外骨骼手指康复训练机构，该外骨骼手指康复训练机构包括支撑座1、指套作动机构以及与指套作动机构的动力输出端连接的指关节指套；指关节指套能够套接在待康复指关节外围，且指关节指套在指套作动机构的动力作动下，带动待康复指关节被动弯曲/拉伸，所述指套作动机构通过支撑座1支撑，且待康复指关节进行康复运动时，所述指套作动机构位于手掌外侧。
为使得本发明所述的外骨骼手指康复训练装置，能够对食指、中指、无名指、小拇指独立训练，本发明针对于食指、中指、无名指、小拇指，对应地配置食指康复训练机构、中指康复训练机构、无名指康复训练机构、小拇指康复训练机构；食指康复训练机构、中指康复训练机构、无名指康复训练机构、小拇指康复训练机构各自独立工作。
所述食指康复训练机构，包括食指指套作动机构以及与食指指套作动机构的动力 输出端连接的食指指关节指套；所述中指康复训练机构，包括中指指套作动机构以及与中指指套作动机构的动力输出端连接的中指指关节指套；所述无名指康复训练机构，包括无名指指套作动机构以及与无名指指套作动机构的动力输出端连接的无名指指关节指套；所述小拇指康复训练机构，包括小拇指指套作动机构以及与小拇指指套作动机构的动力输出端连接的小拇指指关节指套。
由此可知，本发明所述的指套作动机构，包括食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构；而所述的指关节指套包括能够套接在待康复食指指关节外围的食指指关节指套、能够套接在待康复中指指关节外围的中指指关节指套、能够套接在待康复无名指指关节外围的无名指指关节指套以及能够套接在待康复小拇指指关节外围的小拇指指关节指套。
另外，本发明为使得大拇指的末端指关节能够得到康复训练，针对大拇指，配置大拇指康复训练机构，所述大拇指康复训练机构为单指关节康复训练机构，仅包括有一个指套，该指套为能够套接在大拇指末端指节处的大拇指末端指套25；为能够调整大拇指末端指套25的旋转角度，本发明所述大拇指末端指套25通过大拇指连杆传动机构与大拇指电机28的动力输出端连接。附图中，大拇指电机28的基座安装在支撑座1上，而大拇指电机28的动力输出端设置齿轮轴a，大拇指连杆传动机构为二连杆机构，包括第一连杆a(大拇指连杆传动机构的第一连杆27)、第二连杆a(大拇指连杆传动机构的第二连杆26)，第一连杆a的一端设置有内齿轮，以与齿轮轴a的齿轮部分相啮合，第一连杆a的另一端则与第二连杆a的一端连接，第二连杆a的另一端则与大拇指末端指套25铰接(通过定位轴枢接)，由此可知第一连杆a和第二连杆a连接而成一根L形杆件。当大拇指电机28输出动力时，通过齿轮轴a与第一连杆a端部的内齿轮相啮合，进行动力传递，进而带动大拇指连杆传动机构的第一连杆a旋转，再通过第二连杆a带动大拇指末端指套25动作，实现大拇指末端指节的被动康复运动。
为实现所述的指套作动机构位于手掌外侧的设置方式，本发明所述的指套作动机构采用如下的结构形式：
所述的食指指关节指套、中指指关节指套、无名指指关节指套以及小拇指指关节指套均包括有中间指节指套(小拇指中间指套7\无名指中间指套12\中指中间指套14\食指中间指套15)；所述的食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构均包括齿轮传动机构；中间指节指套的背面设置传动位点A；齿轮传动机构包括驱动电机(小拇指电机21/无名指电机21/食指电机23/中指电机24)、齿轮轴b以及与齿轮轴b的齿轮部分内啮合的弧形内齿轮20-1；弧形内齿轮20-1的两径向截面端分别为弧形内齿轮20-1的A端、弧形内齿轮20-1的B端；齿轮轴b与基座固定在支撑座1上的驱动电机的动力输出端连接，弧形内齿轮20-1的A端通过L形连接臂与支撑座1连接，弧形内齿轮20-1的B端则与中间指节指套上的传动位点A连接，而弧形内齿轮20-1的外圆面与支撑座1上安装的轴承(小拇指轴承29\无名指轴承30\中指轴承31食指轴承32)导向连接。弧形内齿轮20-1与L形连接臂共同组成小拇指齿轮2/无名指齿轮3/中指齿轮19/食指齿轮20/。由此可知，本发明采用弧形内齿轮20-1及其在支撑座1上的特定安装方式，可以为手指康复时，提供足够的手掌容纳空间。实现指套作动机构位于手掌外侧的设置方式，保证康复过程中，本发明不影响患者的握紧动作，可以实现患者康复的完整活动空间，经测试，MCP关节(近掌指关节)活 动范围为90度，几乎满足所有的活动空间。弧形内齿轮20-1的外圆面与支撑座1上安装的轴承导向连接方式，可以防止由于该结构的传动部位与旋转中心距离较长，在运行过程中造成的形变太大，导致齿轮传动过程中啮合不流畅，减少齿轮传动的阻力作用。
当然，本发明为使得食指、中指、无名指、小拇指的末端指关节也得到锻炼，因此，所述的食指康复训练机构、中指康复训练机构、无名指康复训练机构、小拇指康复训练机构均为二指关节连控康复训练机构，二指关节连控康复训练机构包括二指关节连控作动机构以及两个指套，所述的两个指套分别为能够套接在手指末端指节处的末端指节指套(小拇指末端指套4\无名指末端指套8\中指末端指套\食指末端指套18)以及能够套接在手指中间指节处的中间指节指套(小拇指中间指套7\无名指中间指套12\中指中间指套14\食指中间指套15)；中间指节指套上设置有两个传动位点，分别为传动位点a和传动位点b；传动位点a通过齿轮传动机构与驱动电机连接，而传动位点b则通过绳索连杆复合传动机构与末端指节指套连接。驱动电机、齿轮传动机构、绳索连杆复合传动机构构成二指关节连控作动机构。
所述的齿轮传动机构，包括驱动电机(小拇指电机21/无名指电机21/食指电机23/中指电机24)、齿轮轴b以及与齿轮轴b的齿轮部分内啮合的弧形内齿轮20-1；齿轮轴b安装在驱动电机(小拇指电机21/无名指电机21/食指电机23/中指电机24)的动力输出端。
所述中指指套作动机构的齿轮轴b的轴线与无名指指套作动机构的齿轮轴b的轴线共线设置，所述食指指套作动机构的齿轮轴b的轴线与小拇指指套作动机构的齿轮轴b的轴线共线设置，食指指套作动机构的齿轮轴b的轴线与中指指套作动机构的齿轮轴b的轴线平行并错位设置。则在手指张开的时候，每个手指的MCP的转动的中心可以近似认为是在一条直线上，当手指由于伸展运动的时候，由于结构与手指的连接是利用一个尼龙绑带，手和装置的相对位置可以根据旋转中心与实际的旋转中心不在同一条直线上进行轻微的调整，可以达到旋转中心与机械机构的旋转中心重合，达到减小对康复手指造成不必要的力的作用。
弧形内齿轮20-1处于弧形延伸方向上的两端分别为弧形内齿轮20-1的A端、弧形内齿轮20-1的B端，弧形内齿轮20-1的A端通过L形连接臂与支撑座1铰接(通过定位轴安装在支撑座1上)，弧形内齿轮20-1的B端与传动位点a铰接，另外，弧形内齿轮20-1的内圆面具有与齿轮轴b的齿轮部分内啮合的齿牙，而弧形内齿轮20-1的外圆面则通过定位支撑在支撑座1上的轴承导向。
绳索连杆复合传动机构，包括绳索34、第一连杆b(小拇指连杆传动机构的第一连杆6/无名指连杆传动机构的第一连杆11/中指连杆传动机构的第一连杆13/食指连杆传动机构的第一连杆16/)、第二连杆b(小拇指连杆传动机构的第二连杆5\无名指连杆传动机构的第二连杆10\食指连杆传动机构的第二连杆17/中指连杆传动机构的第二连杆33)，其中：
第一连杆b、第二连杆b均为直杆，第一连杆b的两端分别为第一连杆b的A端、第一连杆b的B端；第二连杆b的两端分别为第二连杆b的A端、第二连杆b的B端；
第一连杆b的A端与传动位点b铰接，第一连杆b的B端与第二连杆b的A端铰接，第二连杆b的B端则与末端指节指套表面所设置的传动位点c铰接。
弧形内齿轮20-1的B端开设有绳索固定孔a20-4，绳索固定孔a20-4为一盲孔，且绳索固定孔a20-4的轴线方向垂直于弧形内齿轮20-1的弧面设置，且弧形内齿轮20-1的B端在 紧靠着绳索固定孔a20-4孔底的位置处设置有与绳索固定孔a20-4连通的出线孔20-3，出线孔20-3具有两个，供绳索的两端穿出，则此时绳索有部分穿过绳索固定孔a20-4的孔底设置，因而可以通过在绳索固定孔a20-4中配装固紧部件，比如螺钉等，即可将绳索固定在弧形内齿轮20-1的B端；另外，弧形内齿轮20-1的B端设置有与出线孔20-3光滑过渡的环形绳索导槽a20-5，以供从出线孔20-3穿出的绳索两端绕行。
第一连杆b的A端设置定位孔a16-1，以使得第一连杆b通过配装在定位孔a16-1中的锁紧部件与传动位点b连接。所述第一连杆b的A端设置环形绳索导槽b16-2，以供从环形绳索导槽a20-5穿出的绳索两端交叉绕行，换句话来讲，从环形绳索导槽a20-5穿出的绳索两端，一端以顺时针方向沿环形绳索导槽a20-5绕行，另一端则以逆时针方向沿环形绳索导槽a20-5绕行。另外，第一连杆b的表面具有两个相互平行的直线绳索导槽16-3，以分别与环形绳索导槽b16-2的两端对应贯通，并在直线绳索导槽16-3的端部设置绳索固定孔b，则绳索从绳索固定孔b穿出后，通过在绳索固定孔b中配装紧固部件，比如螺钉等，使得绳索与第一连杆b固定。
从绳索固定孔b引出的绳索，沿着第一连杆b上所设置的导线槽布置后，先绕第一连杆b与第二连杆b铰接位置处转轴外侧所设置的环形绳索导槽c绕行后，再沿着第二连杆b上所设置的导线槽布置，最后套接在第二连杆b与末端指节指套铰接位置处的转轴外围所设置的环形绳索导槽d中。
简而言之，所述的绳索，一端与弧形内齿轮20-1的A端固定，另一端则依次穿过第一连杆b、第二连杆b上所设置的线槽布置；二连杆传动机构在绳索的牵引下，能够与弧形内齿轮20-1的A端联动。
为使得第一连杆b的A端、第一连杆b与第二连杆b之间的铰接点、第二连杆b的B端在绳索的牵引下，能够与弧形内齿轮20-1的A端联动连接，绳索均在弧形内齿轮20-1的A端、第一连杆b的A端、第一连杆b与第二连杆b之间的铰接点、第二连杆b的B端绕行，并在第一连杆b上固定。
由此可知，本发明所述的绳索连杆复合传动机构，第一连杆b、第二连杆b组成的二连杆机构，其作用为传动机构的“骨架”，而绳索则为传动机构的“筋脉”，两者的结合，使得由驱动电机带动弧形内齿轮20-1相对于中间指节指套的旋转，通过绳索的牵引，传递到末端指节指套上。
如图7所示，所述的支撑座，由于本发明所述的手指康复训练装置能够分别对大拇指、食指、中指、无名指以及小拇指进行康复训练，因此，所述的支撑座，包括仿形壳1-1、四指动力固定座、大拇指动力固定座1-16；其中：所述仿形壳1-1的外形，与完整的手掌背面的形状仿形，包括三个端面，其中一个端面为手腕邻近端，能够与手腕所在位置相邻；一个端面为大拇指指根齐平端，能够与大拇指的指根所在位置齐平，还有一个端面为四指指根齐平端，能够分别与食指指根、中指指根、无名指指根、小拇指指根所在位置齐平，即能够与手掌四指指根截面齐平。
所述仿形壳1-1在邻近于四指指根齐平端的位置处，固定有四指动力固定座，而在邻近于大拇指指根齐平端的位置处，固定大拇指动力固定座1-16。
所述的大拇指动力固定座1-16，其上固定安装有齿轮轴a支撑座1-17、大拇指电机固定座1-18；大拇指电机固定安装在大拇指电机固定座1-18上，且与大拇指电机的动力输 出端连接的齿轮轴a，通过大拇指电机固定座1-18上的支撑孔以及齿轮轴a支撑座上的支撑孔支撑。
所述的四指动力固定座，呈U形状设置，包括横杆1-2以及两根连接侧臂1-3(分别为连接侧臂a、连接侧臂b)，横杆1-2横跨手掌四指指根截面设置，每一根连接侧臂1-3的一端与横杆1-2固定，另一端则闲置，且连接侧臂1-3的闲置端设置有铰接孔1-4。
所述的横杆1-2杆体上，固定设置有小拇指电机固定座1-5、无名指电机固定座1-6、食指电机固定座1-8、中指电机固定座1-7，且在小拇指电机固定座1-5、食指电机固定座1-8之间，依次设置有第一齿轮轴b支撑座1-13、第三齿轮轴b支撑座15，在无名指电机固定座1-6、食指电机固定座1-8之间，设置有第二齿轮轴b支撑座1-14；其中：
小拇指电机固定座1-5、无名指电机固定座1-6、食指电机固定座1-8、中指电机固定座1-7均设置有齿轮轴b的支撑孔a；第一齿轮轴b支撑座1-13在与小拇指电机固定座1-5的支撑孔a对应的位置处，设置有支撑孔b，第三齿轮轴b支撑座15在与食指电机固定座1-8的支撑孔a对应的位置处，设置有支撑孔c；第二齿轮轴b支撑座1-14上背靠背地设置有支撑孔d、支撑孔e，第二齿轮轴b支撑座1-14的支撑孔d与无名指电机固定座1-6的支撑孔a对应，第二齿轮轴b支撑座1-14的支撑孔e与中指电机固定座1-7的支撑孔a对应；
由此可知，小拇指电机通过小拇指电机固定座1-5固定，而与小拇指电机的动力输出端固定的齿轮轴b，则通过小拇指电机固定座1-5的支撑孔a、第一齿轮轴b支撑座1-13的支撑孔b支撑；食指电机通过食指电机固定座1-8固定，而与食指电机的动力输出端固定的齿轮轴b，则通过食指电机固定座1-8的支撑孔a、第二齿轮轴b支撑座1-14的支撑孔c支撑；无名指电机通过无名指电机固定座1-6固定，而与无名指电机的动力输出端固定的齿轮轴b，则通过无名指电机固定座1-6的支撑孔a、第三齿轮轴b支撑座15的支撑孔d支撑；中指电机通过中指电机固定座1-7固定，而与中指电机的动力输出端固定的齿轮轴b，则通过中指电机固定座1-7的支撑孔a、第三齿轮轴b支撑座15的支撑孔e支撑。当然，本发明中，与各驱动电机(小拇指电机、食指电机、无名指电机、中指电机)的动力输出端固定的齿轮轴b，也可以悬臂设置，此时，本发明所述的横杆上可以不用设置第一齿轮轴b支撑座1-13、第二齿轮轴b支撑座1-14、第三齿轮轴b支撑座15；或者所设置的第一齿轮轴b支撑座1-13、第二齿轮轴b支撑座1-14、第三齿轮轴b支撑座15另做他用，比如可以分别在第一齿轮轴b支撑座1-13的支撑孔b、第二齿轮轴b支撑座1-14的支撑孔c、第三齿轮轴b支撑座15的支撑孔d/e中，分别安装未接触式角度传感器，以分别实时检测对应的各驱动电机的角度数据，即得到各手指的角度数据。
另外，本发明中，小拇指电机固定座1-5、第一齿轮轴b支撑座1-13、第三齿轮轴b支撑座15、中指电机固定座1-7均通过一块与横杆1-2Y向(图7中向上的方向)平行的连接块a与横杆1-2固定；无名指电机固定座1-6、第二齿轮轴b支撑座1-14、食指电机固定座1-8则分别通过一块与横杆1-2Z向(图7中垂直于横杆1-2Y向、横杆1-2X向所在平面的方向，横杆1-2X向为横杆1-2的杆件延伸方向)平行的连接块b与横杆1-2固定。由此可知，通过这一安装方式，本发明中，小拇指电机固定座1-5的电机固定孔、中指电机固定座1-7的电机固定孔共线设置(轴线处于同一直线，并与横杆1-2相平行)；而无名指电机固定座1-6的电机固定孔、食指电机固定座1-8的电机固定孔共线设置(轴线处于同一直线，并与横杆1-2相平行)。
再有，本发明中，小拇指齿轮的L形连接臂、无名指齿轮的L形连接臂，与同一根连 接侧臂1-3(连接侧臂1-3a)端部的铰接孔1-4铰接，且小拇指齿轮的L形连接臂位于该连接侧臂1-3(连接侧臂1-3a)的外侧，而无名指齿轮的L形连接臂则位于该连接侧臂1-3(连接侧臂1-3a)的内侧。
中指齿轮的L形连接臂、食指齿轮的L形连接臂，也与同一根连接侧臂1-3(连接侧臂1-3b)端部的铰接孔1-4铰接，且食指齿轮的L形连接臂位于该连接侧臂1-3(连接侧臂1-3a)的外侧，而中指齿轮的L形连接臂则位于该连接侧臂1-3(连接侧臂1-3a)的内侧。
小拇指电机固定座1-5、无名指电机固定座1-6、中指电机固定座1-7、食指电机固定座1-8、第一齿轮轴b支撑座1-13、第二齿轮轴b支撑座1-14、第三齿轮轴b支撑座1-15上均设置有安装端耳，则小拇指电机固定座1-5的安装端耳、第一齿轮轴b支撑座1-13的安装端耳形成小拇指轴承支撑座1-9，用于安装小拇指轴承；无名指电机固定座1-6的安装端耳、第三齿轮轴b支撑座1-14的安装端耳形成无名指轴承支撑座1-10，用于安装无名指轴承；中指电机固定座1-7的安装端耳、第三齿轮轴b支撑座1-14的安装端耳形成中指轴承支撑座1-11，用于安装中指轴承；食指电机固定座1-8的安装端耳、第二齿轮轴b支撑座1-14的安装端耳形成食指轴承支撑座1-12，用于安装食指轴承。
基于上述的康复训练装置，可知本发明的工作原理如下：
当需要对大拇指末端指节进行康复训练时，启动大拇指指套作动机构的大拇指电机28，大拇指电机28输出的动力，通过与齿轮轴a相啮合的第一连杆a进行动力传递，从而带动第一连杆a旋转，再通过第二连杆a带动大拇指末端指套25动作，实现大拇指末端指节的被动康复运动；
当需要对食指指关节进行康复训练时，启动食指指套作动机构，以带动食指指关节指套，实现食指指关节的被动康复；
当需要对中指指关节进行康复训练时，启动中指指套作动机构，以带动中指指关节指套，实现中指指关节的被动康复；
当需要对无名指指关节进行康复训练时，启动无名指指套作动机构，以带动无名指指关节指套，实现无名指指关节的被动康复；
当需要对小拇指指关节进行康复训练时，启动小拇指指套作动机构，以带动小拇指指关节指套，实现小拇指指关节的被动康复。
由于食指指关节指套、中指指关节指套、无名指指关节指套以及小拇指指关节指套均包括有两个指套，分别为中间指节指套以及末端指节指套；食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构均为二指关节连控作动机构，包括齿轮传动机构以及绳索连杆复合传动机构；
因此，二指关节连控作动机构通过作动中间指节指套、末端指节指套，实现对应指关节康复训练的具体步骤如下：
正向启动驱动电机，驱动齿轮轴b正向旋转，带动弧形内齿轮20-1相对于中间指节指套做开度增大的旋转运动，通过绳索同步带动二连杆传动机构，此时中间指节指套、末端指节指套均承受推力(压力)，促使中间指节、末端指节做被动伸展康复运动；
反向启动驱动电机，驱动齿轮轴b反向旋转，带动弧形内齿轮20-1相对于中间指节指套做开度减小的旋转运动，通过绳索同步带动二连杆传动机构，此时中间指节指套、末端指节指套均承受拉力，促使中间指节、末端指节做被动弯曲康复运动。

Claims (10)

  1. 一种外骨骼手指康复训练装置，包括外骨骼手指康复训练机构，该外骨骼手指康复训练机构包括支撑座、指套作动机构以及与指套作动机构的动力输出端连接的指关节指套；指关节指套能够套接在待康复指关节外围，且指关节指套在指套作动机构的动力作动下，带动待康复指关节被动弯曲/拉伸，其特征在于，所述支撑座包括仿形壳，该仿形壳的内表面依照完整的手掌背面/部分的手掌背面仿形设置，而仿形壳的背面则设置有动力固定座；
    所述指套作动机构的动力部分安装在动力固定座上；
    当待康复指关节进行康复运动时，所述指套作动机构位于手掌外侧。
  2. 根据权利要求1所述的外骨骼手指康复训练装置，其特征在于，所述指关节指套包括有两个指套，分别为中间指节指套以及末端指节指套；
    所述指套作动机构包括驱动电机、齿轮传动机构以及绳索连杆复合传动机构；
    中间指节指套的背面设置有两个传动位点，分别为传动位点A、传动位点B；末端指节指套的背面设置有一个传动位点，为传动位点C；
    齿轮传动机构包括齿轮轴b以及与齿轮轴b的齿轮部分内啮合的弧形内齿轮；弧形内齿轮的两径向截面端分别为弧形内齿轮的A端、弧形内齿轮的B端；
    绳索连杆复合传动机构包括绳索以及二连杆传动机构；
    驱动电机的基座固定在动力固定座上；
    齿轮轴b与驱动电机的动力输出端连接，弧形内齿轮的A端通过L形连接臂与动力固定座连接，弧形内齿轮的B端则与中间指节指套上的传动位点A连接；而弧形内齿轮的外圆面与动力固定座上安装的轴承导向连接；
    中间指节指套的传动位点B与末端指节指套的传动位点C之间，通过二连杆传动机构连接；
    所述的绳索，一端与弧形内齿轮的A端固定，另一端则依次穿过第一连杆b、第二连杆b上所设置的线槽布置；二连杆传动机构在绳索的牵引下，与弧形内齿轮的A端联动。
  3. 根据权利要求1所述的外骨骼手指康复训练装置，其特征在于，所述的指关节指套包括能够套接在待康复食指指关节外围的食指指关节指套、能够套接在待康复中指指关节外围的中指指关节指套、能够套接在待康复无名指指关节外围的无名指指关节指套以及能够套接在待康复小拇指指关节外围的小拇指指关节指套；
    所述的指套作动机构，包括各自独立工作的食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构；
    食指指套作动机构的动力输出端与食指指关节指套连接；中指指套作动机构的动力输出端与中指指关节指套连接；无名指指套作动机构的动力输出端与无名指指关节指套连接；小拇指指套作动机构的动力输出端与小拇指指关节指套连接；
    动力固定座包括四指动力固定座，该四指动力固定座邻近于仿形壳的四指指根齐平端所在位置处设置，所述仿形壳的四指指根齐平端，能够与食指指根、中指指根、无名指指根、小拇指指根所在截面齐平；
    四指动力固定座包括支座以及安装在支座上的食指动力固定座、中指动力固定座、无名指动力固定座、小拇指动力固定座；
    支座固定在仿形壳的背面；食指动力固定座对应于食指指根的位置处安装在支座上， 中指动力固定座对应于中指指根的位置处安装在支座上，无名指动力固定座对应于无名指指根的位置处安装在支座上，小拇指动力固定座对应于小拇指指根的位置处安装在支座上；
    食指指套作动机构的动力部分安装在食指动力固定座上，中指指套作动机构的动力部分安装在中指动力固定座上，无名指指套作动机构的动力部分安装在无名指动力固定座上，小拇指指套作动机构的动力部分安装在小拇指动力固定座上。
  4. 根据权利要求3所述的外骨骼手指康复训练装置，其特征在于，所述的指关节指套还包括够套接在待康复大拇指指关节外围的大拇指指关节指套；所述的指套作动机构还包括大拇指指套作动机构；
    大拇指指套作动机构的动力输出端与大拇指指关节指套连接，且大拇指指套作动机构与食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构各自独立工作；
    所述的大拇指指套作动机构，包括大拇指电机以及与大拇指电机的动力输出端连接的大拇指连杆传动机构；
    大拇指电机的动力输出端设置齿轮轴a；
    大拇指连杆传动机构为二连杆机构，包括第一连杆a、第二连杆a，第一连杆a的一端设置有内齿轮，以与齿轮轴a的齿轮部分相啮合，第一连杆a的另一端则与第二连杆a的一端连接，第二连杆a的另一端则与大拇指末端指套铰接；
    动力固定座还包括大拇指动力固定座，该大拇指动力固定座邻近于仿形壳的大拇指指根齐平端固定在仿形壳上，且仿形壳的大拇指指根齐平端能够与大拇指的指根所在位置齐平；所述的大拇指动力固定座上分别固定安装有齿轮轴a支撑座、大拇指电机固定座，大拇指电机固定安装在大拇指电机固定座上，齿轮轴a的两端分别对应地通过大拇指电机固定座上的支撑孔以及齿轮轴a支撑座上的支撑孔支撑。
  5. 根据权利要求3所述的外骨骼手指康复训练装置，其特征在于，所述的食指指关节指套、中指指关节指套、无名指指关节指套以及小拇指指关节指套均包括有中间指节指套；
    所述的食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构均包括驱动电机以及齿轮传动机构；
    中间指节指套的背面设置传动位点A；
    齿轮传动机构包括齿轮轴b以及与齿轮轴b的齿轮部分内啮合的弧形内齿轮；弧形内齿轮的两径向截面端分别为弧形内齿轮的A端、弧形内齿轮的B端；
    齿轮轴b与基座固定在支撑座上的驱动电机的动力输出端连接，弧形内齿轮的A端通过L形连接臂与支撑座连接，弧形内齿轮的B端则与中间指节指套上的传动位点A连接，而弧形内齿轮的外圆面与支撑座上安装的轴承导向连接。
  6. 根据权利要求3所述的外骨骼手指康复训练装置，其特征在于，所述的食指指关节指套、中指指关节指套、无名指指关节指套以及小拇指指关节指套均包括有两个指套，分别为中间指节指套以及末端指节指套；
    中间指节指套的背面设置有两个传动位点，分别为传动位点A、传动位点B；末端指节指套的背面设置有一个传动位点，为传动位点C；
    所述的食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套 作动机构均为二指关节连控作动机构，包括驱动电机、齿轮传动机构以及绳索连杆复合传动机构；
    齿轮传动机构包括驱动电机、齿轮轴b以及与齿轮轴b的齿轮部分内啮合的弧形内齿轮；弧形内齿轮的两径向截面端分别为弧形内齿轮的A端、弧形内齿轮的B端；
    绳索连杆复合传动机构包括绳索以及二连杆传动机构；
    齿轮轴b与基座固定在支撑座上的驱动电机的动力输出端连接，弧形内齿轮的A端通过L形连接臂与支撑座连接，弧形内齿轮的B端则与中间指节指套上的传动位点A连接；而弧形内齿轮的外圆面与支撑座上安装的轴承导向连接；
    中间指节指套的传动位点B与末端指节指套的传动位点C之间，通过二连杆传动机构连接；
    所述的绳索，一端与弧形内齿轮的A端固定，另一端则依次穿过第一连杆b、第二连杆b上所设置的线槽布置；二连杆传动机构在绳索的牵引下，与弧形内齿轮的A端联动。
  7. 根据权利要求2或6所述的外骨骼手指康复训练装置，其特征在于，所述的二连杆机构，包括第一连杆b、第二连杆b；第一连杆b的两端分别为第一连杆b的A端、第一连杆b的B端；第二连杆b的两端分别为第二连杆b的A端、第二连杆b的B端；
    第一连杆b的A端与中间指节指套的传动位点B铰接，第一连杆b的B端与第二连杆b的A端铰接，而第二连杆b的B端与传动位点C铰接；
    绳索均在弧形内齿轮的A端、第一连杆b的A端、第一连杆b与第二连杆b之间的铰接点、第二连杆b的B端绕行，并在第一连杆b上固定，以使第一连杆b的A端、第一连杆b与第二连杆b之间的铰接点、第二连杆b的B端在绳索的牵引下，能够与弧形内齿轮的A端联动连接。
  8. 根据权利要求5或6所述的外骨骼手指康复训练装置，其特征在于，所述支座呈U形设置，包括横杆以及对称地设置在横杆两端的连接侧臂a、连接侧臂b，横杆固定在仿形壳的背面，并横跨仿形壳的四指指根齐平端设置，连接侧臂a/连接侧臂b的一端与横杆固定，另一端则闲置，且连接侧臂a/连接侧臂b的闲置端设置有铰接孔；
    食指动力固定座为食指电机固定座，中指动力固定座为中指电机固定座，无名指动力固定座为无名指电机固定座，小拇指动力固定座为小拇指电机固定座；小拇指电机固定座、无名指电机固定座、食指电机固定座、中指电机固定座分别固定在横杆杆体上，且在小拇指电机固定座、食指电机固定座之间，依次设置有第一齿轮轴b支撑座、第三齿轮轴b支撑座，在无名指电机固定座、食指电机固定座之间，设置有第二齿轮轴b支撑座；
    食指指套作动机构的齿轮传动机构中：驱动电机固定在食指电机固定座上，齿轮轴b的两端通过食指电机固定座的支撑孔a与第一齿轮轴b支撑座的支撑孔c支撑，弧形内齿轮通过L形连接臂与连接侧臂a上铰接孔的外侧铰接；
    中指指套作动机构的齿轮传动机构中，驱动电机固定在中指电机固定座上，齿轮轴b的两端通过中指电机固定座的支撑孔a与第二齿轮轴b支撑座的支撑孔e支撑，弧形内齿轮通过L形连接臂与连接侧臂a上铰接孔的内侧铰接；
    无名指指套作动机构的齿轮传动机构中，驱动电机固定在无名指电机固定座上，齿轮轴b的两端通过无名指电机固定座的支撑孔a与第二齿轮轴b支撑座的支撑孔d支撑，弧形内齿轮通过L形连接臂与连接侧臂b上铰接孔的内侧铰接；
    小拇指指套作动机构的齿轮传动机构中，驱动电机固定在小拇指电机固定座上，齿轮 轴b的两端通过小拇指电机固定座的支撑孔a与第一齿轮轴b支撑座的支撑孔b支撑；弧形内齿轮通过L形连接臂与连接侧臂a上铰接孔的外侧铰接；
    所述中指指套作动机构的齿轮轴b的轴线与无名指指套作动机构的齿轮轴b的轴线共线设置，所述食指指套作动机构的齿轮轴b的轴线与小拇指指套作动机构的齿轮轴b的轴线共线设置，食指指套作动机构的齿轮轴b的轴线与中指指套作动机构的齿轮轴b的轴线平行并错位设置。
  9. 一种外骨骼手指康复装置的使用方法，其特征在于，包括：启动大拇指指套作动机构的大拇指电机，大拇指电机输出的动力，通过与齿轮轴a相啮合的第一连杆a进行动力传递，从而带动第一连杆a旋转，再通过第二连杆a带动大拇指末端指套动作；
    启动食指指套作动机构，以带动食指指关节指套作动；启动中指指套作动机构，以带动中指指关节指套作动；启动无名指指套作动机构，以带动无名指指关节指套作动；启动小拇指指套作动机构，以带动小拇指指关节指套作动；
    其中：
    食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构均包括驱动电机以及齿轮传动机构，该齿轮传动机构包括齿轮轴b以及与齿轮轴b的齿轮部分啮合的弧形齿轮；
    食指指关节指套、中指指关节指套、无名指指关节指套以及小拇指指关节指套均包括有中间指节指套；
    食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构的工作过程如下：
    正向启动驱动电机，驱动齿轮轴b正向旋转，带动弧形内齿轮相对于中间指节指套做开度增大的旋转运动，致使中间指节指套承受推力；
    反向启动驱动电机，驱动齿轮轴b反向旋转，带动弧形内齿轮相对于中间指节指套做开度减小的旋转运动，致使中间指节指套承受拉力。
  10. 根据权利要求9所述的外骨骼手指康复训练装置的使用方法，其特征在于，食指指关节指套、中指指关节指套、无名指指关节指套以及小拇指指关节指套均还包括有末端指节指套；
    食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构均还包括有绳索连杆复合传动机构；
    中间指节指套与末端指节指套之间通过绳索连杆复合传动机构连接；
    食指指套作动机构、中指指套作动机构、无名指指套作动机构以及小拇指指套作动机构的工作过程如下：
    正向启动驱动电机，驱动齿轮轴b正向旋转，带动弧形内齿轮相对于中间指节指套做开度增大的旋转运动，通过绳索同步带动二连杆传动机构，此时中间指节指套、末端指节指套均承受推力；
    反向启动驱动电机，驱动齿轮轴b反向旋转，带动弧形内齿轮相对于中间指节指套做开度减小的旋转运动，通过绳索同步带动二连杆传动机构，此时中间指节指套、末端指节指套均承受拉力。
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