Auxiliary rehabilitation exercise device for realizing finger rehabilitation exercise

Abstract

The invention discloses an auxiliary rehabilitation exercise device for realizing finger rehabilitation exercise. The device comprises a bracket and a finger support arranged on the bracket. One end of the bracket is provided with a first shaft, and one end of the first shaft is connected with a motor; the other end of the bracket is provided with a second shaft, one end of the second shaft is connected with a magnetorheological fluid damper, and the other end of the second shaft is connected with the other end of the first shaft by a spring; the finger support is fixed on the second shaft, the second shaft is also provided with an angular transducer for measuring angular displacement of the second shaft and a force transducer for measuring torque of the second shaft. Compared with the prior art, the device combines active and passive finger rehabilitation exercises, is especially suitable for the rehabilitation exercise of single wounded finger. Meanwhile, the device has simple and compact structure and low machining precision requirement.

Description

technical field [0001] The invention relates to an auxiliary rehabilitation training device for realizing finger rehabilitation training. Background technique [0002] The function of the hand plays an important role in life. Due to the particularity of the function, there are more chances of injury, which leads to dysfunction of the hand and affects normal daily life. With the development of microsurgical techniques, the survival rate of severed finger replantation is very high, but the recovery of hand function after replantation is not ideal. Active early exercise is effective in preventing tendon adhesion, scar contracture, joint stiffness, and promoting the recovery of hand function. , an important part of restoring hand motor function to the greatest extent. [0003] At present, the traditional method of finger rehabilitation training is that doctors conduct one-on-one training to patients. There are some problems in this training method: (1) The training efficiency i...

AI Technical Summary

Problems solved by technology

With the development of microsurgical techniques, the survival rate of severed finger replantation is very high, but the recovery of hand function after replantation is not ideal. Active early exercise is effective in preventing tendon adhesion, scar contracture, joint stiffness, and promoting the recovery of hand function. , an important link in maximizing the restoration of hand motor function

[0003]At present, the traditional method of finger rehabilitation training is that physicians conduct one-on-one training to patients. This training method has some problems: (1) The training efficiency is low, and due to The therapist's own reasons may not be able to ensure that the patient receives sufficient training intensity, and the treatment effect depends on the experience and level of the therapist; (2) The training parameters cannot be accurately controlled and recorded, which is not conducive to the determination and improvement of the treatment plan; (3 ) The rehabilitation evaluation index is not objective enough, which is not conducive to the in-depth study of the patient's rehabilitation law; (4) Can not provide real-time and intuitive feedback information to the patient, the training process is not attractive, the patient accepts the treatment passively, and the enthusiasm is not high

There are few reports on single-finger rehabilitation training equipment alone. Force feedback data gloves can also be used for rehabilitation training after finger injuries, but there are some problems as follows: (1) The fracture needs to be fixed and protected, while force-feedback data gloves generally have The exoskeleton mechanism or the mechanism installed on the palm occupies the fixed space at the fracture of the finger, and it is easy to cause re-injury at the fracture when wearing data gloves; (2) a combination of active training and passive training is required to achieve better results , while the force-sensing data glove basically can only generate active force or passive force, and cannot carry out active and passive training; Waste; (4) Rehabilitation training requires relatively gentle force, but force sensory data gloves are difficult to generate such force due to the high rigidity of the mechanism

The cost of force feedback data gloves is relatively high, which cannot be afforded by ordinary people

[0005]Rehabilitation training is divided into active training and passive training. Passive training equipment is mostly driven by motors, and some are driven by pneumatic, hydraulic or electromagnetic devices. Its stability is relatively poor and it is prone to vibration

Active rehabilitation training is driven by passive actuators, such as brakes, dampers, etc. These devices themselves dissipate energy and are relatively stable, but the force / torque of mechanical friction passive actuators is completely dependent on mechanical contact, so It is easy to cause vibration of the system when driven by fast switching controller

What's more, the friction material has a relatively high coefficient of dynamic friction, which can easily lead to the occurrence of stick-slip phenomenon, which can cause discontinuous braking torque

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