Under-actuation exoskeleton recovery mechanical hand

Abstract

The invention discloses an under-actuation exoskeleton recovery mechanical hand which comprises a thumb joint assembly, an index finger joint assembly, a middle finger joint assembly, a ring finger joint assembly, a little finger joint assembly, a motor first assistant supporting plate, a finger bend-stretch drive motor set, a finger sway drive motor set, a motor second assistant supporting plate, a palm assembly and a palm fixer, wherein the thumb joint assembly, the index finger joint assembly, the middle finger joint assembly, the ring finger joint assembly and the little finger joint assembly are connected to the palm assembly; and the mechanical hand can be used to achieve recovery training of five fingers of a patient and can also achieve bending, unbending and left-right swaying of a single finger. An under-actuation form is adopted; the single finger is driven by two motors; the freedom degree is lower than the freedom degree of the single finger; power is transmitted by a flexible belt and a rope; and the mechanical hand is characterized by a simple structure, lower control complexity and higher motion flexibility.

Description

technical field [0001] The invention belongs to the field of rehabilitation robots, in particular to an underactuated exoskeleton rehabilitation manipulator. Background technique [0002] Traditional stroke treatment mainly relies on the assistance and guidance of physical therapists, and stimulates damaged nerves through a large number of repetitive movements. This method has disadvantages such as low efficiency, high cost, and difficult operation. With the development of robotics, robotics has been gradually applied to the medical field. Therefore, the design of exoskeleton rehabilitation manipulator is of great significance to the limb rehabilitation of stroke patients. [0003] At present, exoskeleton rehabilitation manipulators mostly use motors and connecting rods to form a transmission mechanism. This type of mechanism is heavy and difficult to wear. At the same time, the shock and vibration generated by the impact load will cause damage to the transmission system an...

AI Technical Summary

Problems solved by technology

[0003] At present, exoskeleton rehabilitation manipulators mostly use motors and connecting rods to form a transmission mechanism. This type of mechanism is heavy and difficult to wear. At the same time, the shock and vibration generated by the impact load will cause damage to the transmission system and users.

Few designs at home and abroad use pneumatic muscles with cushioning effect, mainly because pneumatic muscles are relatively expensive, use air source devices, increase noise pollution, etc.

One human hand has 27 degrees of freedom. If each joint is driven by a motor, the complexity of the mechanism and the control system will be increased, making the rehabilitation robot hand more expensive and difficult to meet the needs of patients.

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