Exoskeleton type 15-degree-of-freedom rehabilitation manipulator mechanism

Abstract

The invention discloses an exoskeleton type 15-degree-of-freedom rehabilitation manipulator mechanism, and relates to the field of rehabilitation robots. The exoskeleton type 15-degree-of-freedom rehabilitation manipulator mechanism comprises a base, a four-finger bending mechanism unit, a four-finger swinging mechanism unit, a thumb bending mechanism unit, a thumb swing mechanism unit, a wrist bearing unit and a driving unit. The rehabilitation mechanism has 15 degrees of freedom of joint rotation in total. PIP joints and MP joints of a thumb and four fingers each have one independent rotational degree of freedom. The MP joints of the four fingers each further have one independent swinging degree of freedom. A CM joint of the thumb has one swinging degree of freedom. The exoskeleton type15-degree-of-freedom rehabilitation manipulator mechanism achieves the function of full freedom of motion of each joint of a palm, which fails in existing finger rehabilitation mechanisms. Full freedom of movements of all of the fingers, except the PIP joints of the four fingers can be achieved. The exoskeleton type 15-degree-of-freedom rehabilitation manipulator mechanism can be applied to activerehabilitation therapy in the later period of rehabilitation therapy, so as to achieve independent and free motion of all of the joints of the fingers of a patient.

Description

technical field [0001] The invention relates to the field of rehabilitation robots, in particular to an exoskeleton type 15-degree-of-freedom rehabilitation manipulator mechanism. Background technique [0002] Rehabilitation manipulator is an important application direction of mechatronics technology recently, and it is used for rehabilitation training for patients with finger paralysis caused by stroke and trauma. [0003] Finger rehabilitation training is divided into two training modes according to time, namely passive training mode and active training mode. In the early stage of rehabilitation training, because patients cannot train independently, they need to rely on external forces for auxiliary training, which is called passive training. This stage is to train the plasticity of the entire muscles and nerves. After a period of rehabilitation training, the patient's hands have a certain sense of autonomous activity, and the next stage is to actively drive the fingers t...

AI Technical Summary

Problems solved by technology

[0008] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to solve the problem that the existing rehabilitation manipulator mechanism cannot be applied to the active rehabilitation treatment stage, and proposes an exoskeleton-type 15-degree-of-freedom rehabilitation manipulator mechanism, which can realize The independent bending motion of the MP and PIP joints of the four fingers, the swinging motion of the MP joints of the four fingers, the independent bending motion of the MP and PIP joints of the thumb, and the swinging motion of the CM joint of the thumb meet the needs of the rehabilitation manipulator in the active rehabilitation treatment stage. Freedom of Movement Requirements

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