Self-adaptive wearable submissive exoskeleton rehabilitation manipulator

Abstract

The invention relates to a self-adaptive wearable submissive exoskeleton rehabilitation manipulator, comprising a flexible driving push rod, five flexible hinge fingers, a straight push rod motor assembly, and a motor case. The five flexible hinge fingers are arranged on a supporting plate and a fixing frame. The straight push rod motor assembly is fixed in the motor case, and is connected with the five flexible hinge fingers through a linear motor push rod, a Bowdon cable, and the flexible driving push rod, to form a finger driving mechanism. The rehabilitation manipulator obtains power through three linear push rod motors, the linear push rod motors respectively drive four fingers and a thumb, and a driving method and the number of used motors are greatly simplified. The flexible hinge finger portions can preferably fit with fingers through a finger fixing bandage, to adapt to position forms of each finger. The rehabilitation manipulator has relatively good bionic effect, and can preferably assist a patient whose hand functions are damaged for rehabilitation training and daily life. The rehabilitation manipulator is simple in structure, and is portable, and is convenient to carry, and a patient can autonomously perform rehabilitation training in a community or at home.

Description

Technical field [0001] The invention relates to a wearable compliant exoskeleton rehabilitation manipulator, in particular to a rehabilitation training and daily life auxiliary device for stroke patients with hand dysfunction, belonging to the technical field of rehabilitation manipulators. Background technique [0002] According to statistics, there are 10.36 million stroke patients over 40 years old in my country, and more than 2 million new cases occur each year. Stroke is one of the most common disabling diseases, among which 70%-85% of patients are accompanied by hemiplegia. In the rehabilitation of upper limb function of hemiplegic patients, the rehabilitation of hand function is the most difficult. Because the hand structure is more complicated, hand function rehabilitation has problems such as long rehabilitation period and heavy tasks. Studies have shown that the rehabilitation effect of hand rehabilitation training for patients with external mechanical assistance is be...

AI Technical Summary

Problems solved by technology

The main reason is that the rigid exoskeleton manipulator has the disadvantages of complex structure, large volume and weight, and poor wearing adaptability due to the rigid mechanical transmission to realize the activities of the joints of the fingers.

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