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An exoskeleton robot for thumb function rehabilitation

An exoskeleton robot and exoskeleton technology, applied in the field of rehabilitation robots, can solve the problems of unsatisfactory rehabilitation treatment effect and lack of sensing function, and achieve the effects of convenient preloading, reducing impact and reducing burden

Active Publication Date: 2019-07-16
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The present invention aims to solve the problem that the existing rehabilitation manipulator fails to fully simulate the natural movement of the finger joints, has unsatisfactory rehabilitation treatment effects and does not have the perception function, and further provides an exoskeleton robot for thumb function rehabilitation

Method used

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  • An exoskeleton robot for thumb function rehabilitation
  • An exoskeleton robot for thumb function rehabilitation
  • An exoskeleton robot for thumb function rehabilitation

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0034] Specific implementation mode one: as Figure 1-8 As shown, the exoskeleton robot for thumb function rehabilitation in this embodiment includes an exoskeleton actuator and a transmission drive mechanism, and the exoskeleton actuator includes an interphalangeal joint unit 1, a metacarpophalangeal joint unit 2, a carpal joint unit 3 and a palm The adjustment mechanism 4, wherein the interphalangeal joint unit 1 and the metacarpophalangeal joint unit 2 both use a planar guide rod mechanism to drive the interphalangeal joint and the metacarpophalangeal joint of the thumb to perform flexion or extension movements; The adduction or abduction movement of the wrist joint is directly aligned with the wrist joint of the thumb; the transmission drive mechanism uses a DC motor 5 as a power source, and the winding wheel module 7 transmits the torque output by the DC motor 5 through the Bowden wire 6 To interphalangeal joint unit 1, metacarpophalangeal joint unit 2 and carpal joint un...

specific Embodiment approach 2

[0035] Specific implementation mode two: as figure 2 As shown, the interphalangeal joint unit 1 in this embodiment includes the distal phalanx base 1-1, the first joint guide sleeve 1-2, the first joint linear bearing 1-3, the first joint guide rod 1-4, the first joint guide rod 1-4, One joint connecting rod 1-5, first joint end cover 1-6, first joint angular displacement sensor 1-7, first joint magnetic steel 1-8, two first joint bearings 1-9, first joint D-shaped shaft 1-10, first joint wire wheel 1-11, two first joint sleeves 1-12, two first joint pressure springs 1-13 and proximal phalanx seat 1-14; distal phalanx seat 1-1 is fixed on the distal phalanx by Velcro, the proximal phalanx base 1-14 is fixed on the proximal phalanx by Velcro, and the first joint guide sleeve 1-2 is fixed on the distal phalanx base 1-1 , the first joint linear bearing 1-3 is fixedly embedded in the first joint guide sleeve 1-2, one end of the first joint guide rod 1-4 is mounted on the first j...

specific Embodiment approach 3

[0036] Specific implementation mode three: as image 3 As shown, the metacarpophalangeal joint unit 2 of this embodiment includes a second joint guide sleeve 2-2, a second joint linear bearing 2-3, a second joint guide rod 2-4, a second joint connecting frame rod 2-5, Two-joint wire wheel 2-6, second joint angular displacement sensor 2-7, two second joint bearings 2-8, second joint D-shaped shaft 2-9, second joint magnetic steel 2-10, metacarpal base 2 -11, metacarpal ring 2-12, second joint end cap 2-13, two second joint pressure springs 2-14 and two second joint sleeves 2-15; second joint guide sleeve 2-2 wear It is fixed on the proximal phalanx base 1-14, the second joint linear bearing 2-3 is fixedly embedded in the second joint guide sleeve 2-2, and one end of the second joint guide rod 2-4 is mounted on the second joint linear bearing 2-3, the other end of the second joint guide rod 2-4 is rotationally connected with one end of the second joint connecting frame rod 2-5,...

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Abstract

A thumb function rehabilitation exoskeleton robot relates to exoskeleton robots. The thumb function rehabilitation exoskeleton robot solves the problem that existing rehabilitation mechanical arm cannot thoroughly simulate natural motions of finger joints, is poor in rehabilitation treatment effects and lacks a sensing function. According to the thumb function rehabilitation exoskeleton robot, an interphalangeal joint unit and a metacarpophalangeal joint unit drive thumb joints and metacarpophalangeal joints to bend or stretch through flat guide rod mechanisms; a thumb carpal joint unit is centered to the carpal joint of a thumb directly through a metacarpal adjustment mechanism to achieve contracting or extending motions of the carpal joint; a transmission driving mechanism is powered by a direct current motor; a cable reel module transfers the moment output by the direct current motor to the interphalangeal joint unit, the metacarpophalangeal unit and the carpal joint unit through Bowden cables. The thumb function rehabilitation exoskeleton robot is applicable thumb function rehabilitation.

Description

technical field [0001] The invention relates to an exoskeleton robot for thumb function rehabilitation, belonging to the field of rehabilitation robots. Background technique [0002] Since the human hand often touches various tools frequently to complete some delicate and high-intensity operations under the condition of lack of protection, the hand becomes one of the most vulnerable organs. In the past ten years, researchers at home and abroad have also developed many robots for hand function rehabilitation, but nearly 70% of the robots only support the flexion / extension movement of the four fingers, and there are very few robots that can actively support the movement of the thumb. The thumb is the key to realizing the grasping movement function of the human hand. If the thumb is lost, the function of the hand will be lost by nearly 40%. [0003] There are three main types of movement of the thumb: flexion / extension, adduction / abduction, and palmar / return movement. Opposit...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02B33Y10/00B33Y70/00B33Y80/00
CPCA61H1/0285A61H1/0288A61H2201/1207A61H2201/1638A61H2201/165A61H2205/065A61H2205/067B33Y10/00B33Y70/00B33Y80/00
Inventor 张福海付宜利牟洋杨磊
Owner HARBIN INST OF TECH
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