Line drive flexible exoskeleton rehabilitation mechanical hand

Abstract

The invention provides a line drive flexible exoskeleton rehabilitation mechanical hand. The mechanical hand is characterized in that a hand unit is provided with four finger stalls, four traction lines which correspond to the four finger stalls and are used for pulling the corresponding finger stalls to perform bending motion, and a driving unit for driving the traction lines to move, wherein each finger stall is provided with a palm fixing block, two knuckle sleeves and a fingertip sleeve which are sequentially connected through elastic components, the palm fixing block, the two knuckle sleeves and the two sides of the fingertip sleeve are each provided with a first guiding hole, a second guiding hole and a third guiding hole respectively, the two ends of the traction lines sequentiallypenetrate through the third guiding holes, the second guiding holes and the first guiding holes in the two sides of the corresponding finger stalls and then are connected with the driving unit, when the traction lines are tensioned under the drive of the driving unit, the finger stalls are bent under pulling of the corresponding traction lines, and when the traction lines are not tensioned or loosened, the finger stalls are recovered to the stretching state under the effect of the elastic components.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation equipment, and in particular relates to a line-driven flexible exoskeleton rehabilitation manipulator. Background technique [0002] According to statistics, there are more than 2 million new stroke patients in China every year. On average, one person has a stroke every 12 seconds, and one person dies every 21 seconds. Stroke has become the number one cause of death in China. Hand dysfunction is the most common and most difficult to recover from stroke sequelae, requiring a lot of repeated training to gradually restore muscle strength. In recent years, with the continuous application of robotics in the field of rehabilitation, more and more rehabilitation training robots have been used in the rehabilitation of hand dysfunction. [0003] However, the current exoskeleton rehabilitation manipulators are mostly rigid transmission structures. Although this type of structure has strong motion ac...

AI Technical Summary

Problems solved by technology

[0003] However, the current exoskeleton rehabilitation manipulators are mostly rigid transmission structures. Although this type of structure has strong motion accuracy, the adaptability of the rigid structure is too poor to adapt to the hand size and structure of different patients, and the human-machine movement is not coordinated.

At the same time, because the rigid structure is mostly designed as a connecting rod, its volume and weight are large, which will put a lot of pressure on the patient's hand, and cannot be used in daily life assistance.

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