Flexible exoskeleton wrist function rehabilitation device based on leaf spring driving

Abstract

A flexible exoskeleton wrist function rehabilitation device based on leaf spring driving comprises a wrist driving mechanism, the front end of the wrist driving mechanism is fixed to a hand back framemodule through a hand back bearing sleeve, and the hand back frame module is sewn on a glove module; the rear end of the wrist driving mechanism is connected with linear push rod motors through pushrod bearing blocks, and the linear push rod motors are fixed to an arm frame module; the arm frame module is sewn on an oversleeve module, and the oversleeve module is worn on a forearm of a patient.The wrist driving mechanism comprises a left driving leaf spring and a right driving leaf spring, and the linear push rod motors comprise the left linear push rod motor and the right linear push rod motor. The two linear push rod motors simultaneously push the driving leaf springs to move forwards to drive the wrist to bend downwards; rear legs of the driving leaf springs are pulled simultaneouslyby the two linear push rod motors to drive the wrist to bend upwards; if one linear push rod motor pushes one driving leaf spring to move forwards, and the other linear push rod motor pulls the otherdriving leaf spring to move backwards, the wrist is driven to deflect. The device is used for providing CPM rehabilitation training for the patient, the structure is simple and compact, and the device can be applicable to different wrist sizes.

Description

technical field [0001] The invention relates to the technical field of human body movement rehabilitation, in particular to a flexible exoskeleton wrist function rehabilitation device driven by a spring sheet. Background technique [0002] The wrist is one of the most commonly used joints in the human body. Accidental injuries, strokes, etc. will cause hand motor function impairment and affect patients' daily life. Scientific exercise training can help patients rebuild or improve the function of the affected hand. CPM (Continuous passive motion), continuous passive motion, is a new rehabilitation medical theory proposed by Canadian orthopedic surgeon Salter RB in the 1970s to prevent joint stiffness and improve joint mobility. In the early stage of hemiplegia, CPM rehabilitation training for patients can effectively improve the function of the affected limbs. However, the current rehabilitation treatment mainly involves "one-on-one" rehabilitation training for patients by ...

AI Technical Summary

Problems solved by technology

However, the current rehabilitation treatment mainly involves "one-on-one" rehabilitation training for patients by rehabilitation physicians, which brings the following problems: high cost, requiring a lot of physical and energy from therapists and patients, which restricts patients from completing sufficient rehabilitation training; It is extremely dependent on the level of rehabilitation physicians themselves, and it is difficult to accurately control rehabilitation training parameters

However, the existing wrist function rehabilitation equipment has the following deficiencies: poor wearability, large weight and size, which affects the patient experience; it cannot adapt to the individual wrist size differences of patients; most rehabilitation equipment is a rigid body linkage mechanism, and the joint center and the connecting rod There is a deviation in the rotation center of the mechanism, and a slight deviation will cause the patient's secondary injury; the palm is often not free, and the entire palm needs to hold the rehabilitation equipment, which does not provide the function of interactive contact between the affected palm and objects, and cannot assist in daily life activities Function

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