Exoskeleton seven-degree-of-freedom rehabilitation manipulator

Abstract

The invention provides an exoskeleton seven-degree-of-freedom rehabilitation manipulator, comprising a four-finger bending mechanism unit (1), a finger stretching mechanism unit (2), a hand back bearing unit (4) and a thumb bending mechanism unit (5). The four-finger bending mechanism unit (1), the finger stretching mechanism unit (2), and the thumb bending mechanism unit (5) are respectively connected with the hand back bearing unit (4). The four-finger bending mechanism unit (1) can drive the PIP joint and the MP joint of the four fingers to rotate independently, the finger stretching mechanism unit (2) can drive the four fingers to stretch, and the thumb bending mechanism unit (5) can drive the MP joint and the PIP joint of the thumb to rotate independently. The manipulator has seven joint rotational degrees of freedom, solves the problems of four-finger stretching action which cannot be realized by a finger rehabilitation mechanism and the bending action function of a finger MP anda PIP joint independently, and can be used in the rehabilitation treatment for realizing more complex gesture actions.

Description

technical field [0001] The invention relates to the field of rehabilitation robots, in particular to an exoskeleton type seven-degree-of-freedom rehabilitation manipulator. Background technique [0002] Due to the lack of professional rehabilitation technicians and the high cost of the rehabilitation process, patients with paralysis caused by stroke or trauma often do not receive further rehabilitation after receiving rescue, so many patients miss the opportunity to regain their freedom of movement Chance. [0003] The joints on the fingers are one of the most complex and important parts of human beings, which also makes the rehabilitation process of patients with finger paralysis more time-consuming and difficult. The emergence of finger rehabilitation medical machines is accurate and can easily achieve repeated passive rehabilitation. Training and other reasons have solved these problems to a certain extent. [0004] Finger rehabilitation training is divided into two tra...

AI Technical Summary

Problems solved by technology

[0007] In summary, the existing patents for exoskeleton rehabilitation manipulators are only applicable to the passive treatment stage of the rehabilitation process due to the low degree of freedom of joint movement, and cannot be applied to the active treatment stage.

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