Exoskeleton type finger motion function rehabilitation machine

Abstract

The invention relates to an exoskeleton type finger motion function rehabilitation machine. The rehabilitation machine comprises a far knuckle connecting rod, a middle knuckle connecting rod, a near knuckle connecting rod, a first serpentine spring, a second serpentine spring, a rack, a tail rod, a driving mechanism and a controller. The far knuckle connecting rod, the middle knuckle connecting rod and the near knuckle connecting rod are in hinge connection sequentially so as to matching a finger far knuckle, a finger middle knuckle and a finger near knuckle. One end of the tail rod and the near knuckle connecting rod are hinged to the rack, the other end of the tail rod is hinged to one end of the second serpentine spring, and the other end of the second serpentine spring is hinged to the middle knuckle connecting rod. One end of the first serpentine spring is hinged to the far knuckle connecting rod, and the other end of the first serpentine spring is hinged to the near knuckle connecting rod. The driving mechanism is connected to the tail end, and drives the tail rod to rotate by the hinge point between the tail rod and the rack under the control of the controller. The rehabilitation machine is advantageous in that the rehabilitation machine can automatically assist the wounded in exercising flexion and extension motions, and modes, the strength, the time and angles can be controlled, thereby bringing great convenience for the wounded whose fingers need rehabilitation.

Description

technical field [0001] The invention relates to the technical field of finger rehabilitation training, in particular to an exoskeleton type finger motor function rehabilitation machine. Background technique [0002] A person's finger injury usually requires a cast to fix it, and after the cast is removed, the finger will be inflexible for a period of time. The main way to make it recover quickly is exactly to carry out bending exercise, but it is very monotonous to form mechanical action repeatedly by patient's own bending finger. At the same time, patients suffering from stroke and other diseases do not have the ability to move their joints autonomously and need passive movement for rehabilitation. Continuous passive motion (Continuous Passive Motion, referred to as CPM) equipment is a mechanical device that uses the basic principle of continuous passive motion in rehabilitation medicine to rehabilitate injured limbs. It is the only application of robotic biomechanics or b...

AI Technical Summary

Problems solved by technology

Precise control of multiple joints cannot be achieved when rehabilitation treatment is performed on multiple joints at the same time

The reason is that the current hand function rehabilitation CPM machines are all based on the setting of single-degree-of-freedom mechanisms. In order to perform precise control of rehabilitation exercises on multiple joints of the human hand at the same time, it is necessary to increase the degree of freedom of the CPM device.

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