Exoskeleton type finger motion function rehabilitation robot

Abstract

The invention relates to an exoskeleton type finger motion function rehabilitation robot which comprises an executing part, a distal and proximal end joint driving part and a metacarpus joint driving part. The distal and proximal end joint driving part and the metacarpus joint driving part are independent to each other; separately bidirectional drive of the executing part is realized through a steel wire; the executing part comprises a distal end joint module, a proximal end joint module and a metacarpus joint module; the modules are connected with a driving bearing seat through sliding grooves of movable bearing seats, and the distances among the modules can be adjusted through the sliding grooves on the movable bearing seats to adapt to patients with different sizes; both the distal andproximal end joint driving part and the metacarpus joint driving part mainly comprise motors with encoders, spiral wheels, ratio wheels, driving wheels and fixed frames. The robot can carry out separately bidirectional drive for each joint of a finger; the executing part can be adjusted in length for being worn by people with different sizes in a certain range; and the robot has mechanical limit.

Description

Technical field: [0001] The invention relates to an exoskeleton finger motor function rehabilitation robot, which relates to a robot device for performing motor function rehabilitation training on the finger joints of patients with finger motor dysfunction. technical background: [0002] The hand is one of the most important structures in the human body, and it is extremely important to human function and appearance. Especially the motor ability of the hand is the basic guarantee for the smooth progress of human's daily life and work. However, the joints, bones, tendons, and nerves of the hand are easily damaged in life and work. Generally, the treatment of damage requires long-term braking of the fingers, but prolonged braking will cause fibrosis due to congestion of the joints and tendons. Cause finger joint and tendon adhesion and muscle atrophy. In addition, hemiplegia caused by cardiovascular diseases such as joint disease and stroke can also lead to fibrosis of the t...

AI Technical Summary

Problems solved by technology

[0006] In the invention patent (application number: 200910081170.6) that the inventor applied for before, there is a moving pair in the executive part. The moving pair introduces friction to the system and affects the performance of the system. If you want to ensure its good motion performance, you must Machining accuracy puts forward higher requirements, which not only increases the difficulty of processing, but also increases the cost of manufacturing

In addition, due to the mechanism design of the scheme, after the human hand wears the rehabilitation robot, the motion range of each joint of the finger is related to the sub-stroke of the movement, and due to space constraints, the sub-stroke of the movement limits the range of motion of the finger joints

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