Functional rehabilitation robot based on flexible cable-driven hand movement

Abstract

The invention provides a functional rehabilitation robot based on flexible cable-driven hand movement. The functional rehabilitation robot is composed of a driving unit and an execution unit connected with the driving unit; the execution unit comprises a metacarpophalangeal joint unit module for driving the finger root joints to move, a proximal interphalangeal joint unit module for driving the finger middle joints to move and a distal interphalangeal joint unit module for driving the finger end joints to move, and the driving unit comprises three sets of driving modules which work independently, have the completely same structure and correspondingly drive the metacarpophalangeal joint unit module, the proximal interphalangeal joint unit module and the distal interphalangeal joint unit module. According to the functional rehabilitation robot, not only can the three freedom degrees of the fingers except for the thumb and the movement angles of all the joints be met, but also a serial elastic driver is introduced, and therefore precise control over the joint moment is guaranteed; in addition, most parts are made through 3D printing, the weight of the acting fingers is greatly decreased on the premise that the strength is guaranteed; furthermore, the robot adapts to the individual difference of the finger length within a certain range.

Description

technical field [0001] The invention relates to a functional rehabilitation robot. In particular, it relates to a hand motor function rehabilitation robot driven by flexible cables for performing motion rehabilitation training on the finger joints of patients with finger motor dysfunction. Background technique [0002] Human hands are extremely vulnerable, and hand movement disorders caused by injuries have become a major problem in today's society. Hand movement disorders mainly include upper limb hemiplegia, sports injuries and accidental injuries caused by stroke. Studies have shown that the central nervous system has high plasticity, and experiments have shown that specific functional training can promote the reorganization and compensation of the central nervous system and restore the limb function of patients. Therefore, rehabilitation therapy is of great significance to restore the motor ability of the patient's hand, the ability to take care of himself, reduce the ...

AI Technical Summary

Problems solved by technology

However, the traditional rehabilitation method is one-on-one rehabilitation for patients by rehabilitation physiotherapists. This method is not only expensive but also time-consuming and laborious, so hand rehabilitation robots came into being

However, the existing rehabilitation equipment has the following deficiencies: poor wearability, too much weight on the hand; it cannot adapt to the individual differences in the length of the patient's finger; there is an axial component that acts on the patient's recovery during the rehabilitation process; Precise Control of Rehabilitation Moments on Finger Joints

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