An exoskeleton rehabilitation manipulator device and method for independent movement of five fingers

Abstract

The invention discloses a device of an external skeleton rehabilitation mechanical arm with five independent-motion fingers and a method. The device comprises an external skeleton mechanical arm body,a control system, linear motors, a thumb three-dimensional position sensor and a pressure sensor. The six linear motors control different mechanical units respectively and are arranged on a palm backplatform, all the linear motors on the four fingers drive all the mechanical units on the four fingers to move independently, a thumb dual-linear motor assists in control over motion of the externalskeleton thumb, and the thumb three-dimensional position sensor is installed at the tail end of a thumb far-end finger sleeve and feeds back the position of the tail end of the thumb in the operationof the linear motors in real time; the pressure sensor is fixed to the far-end finger sleeve of the external skeleton index finger mechanical unit, corresponds to the position of the finger pulp of the far-end knuckle of the index finger of a user and measures the pressure of the index finger at the position, and the control system receives collection data. In combination with position signals ofthe linear motors and position signals of the thumb three-dimensional position sensor, motion and / or stopping of all the linear motors are controlled.

Description

technical field [0001] The invention relates to an exoskeleton rehabilitation manipulator device and method with independent movement of five fingers. Background technique [0002] The human hand is so exquisite and complex that it can not only display the human mind, but also establish a special relationship between human and the environment, and it is an important tool for human to perceive the environment and carry out daily activities. In a healthy state, human hands can perform multiple functions such as lifting, grasping, pinching, and side pinching of objects, and can sense the shape, temperature and other characteristics of objects. Fine, sensitive and complex hand functions play an irreplaceable role in people's daily life and work. [0003] Functional impairment of the hand, especially the functional impairment of the thumb, not only reduces the quality of life of the patient, but also consumes a lot of manpower and material resources and bears a huge economic bur...

AI Technical Summary

Problems solved by technology

However, most of the current rehabilitation manipulators use multi-finger linkage exoskeleton or terminal traction, which cannot control the movement of each finger independently, and there is no targeted rehabilitation training program for the stiff state of the thumb.

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