Two-hand-tracking type multi-degree-of-freedom soft-body finger rehabilitation robot and use method thereof

Abstract

The invention provides a two-hand-tracking type multi-degree-of-freedom soft-body finger rehabilitation robot. The robot comprises a normal hand flexible exoskeleton glove, a recovery hand flexible exoskeleton glove, a control system, a driving module, a motion sensing unit and bowden cables. Three-finger control and driving are adopted; the motion sensing unit comprises a plurality of sets of flexible angle sensors distributed on the normal hand flexible exoskeleton glove and on the recovery hand flexible exoskeleton glove, and electromyographic signal sensors on corresponding arms; the metacarpus and the proximal phalanx of each finger of the recovery hand flexible exoskeleton glove are provided with motor drivers; the motor drivers are connected with the joint ends or fingertip ends ofthe recovery hand flexible exoskeleton glove through the bowden cables. The invention further comprises a use method of the robot. By means of the two-hand-tracking type rehabilitation design type flexible exoskeleton gloves of the three-finger structure, the symmetry contact of a normal hand and a recovery hand is built, the motor drivers on the glove can also be used for controlling multiple joints of each finger, six degrees of freedom can be controlled, and the cost is reduced while the functionality and the comfort are improved.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation medical equipment, and in particular relates to a hands-tracking multi-degree-of-freedom software finger rehabilitation robot and a use method thereof. Background technique [0002] As our country gradually enters an aging society, stroke in the elderly has become a major problem that plagues the society. According to relevant data, there are 15 million new stroke patients every year in my country, and most of the patients will suffer from hemiplegia, limb motor dysfunction and other problems after stroke. These problems have led to the poor quality of life of the elderly and the inability to take care of themselves. The motor function of the hand is more difficult to recover because of the complex innervation of the nerves, and there are many traumas that can cause damage or even loss of the motor function of the hand. Medical theory and practice have proved that in order to prevent musc...

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Problems solved by technology

[0003] Chinese patent application CN105496728A discloses a soft robot glove for rehabilitation of hand motor function. This device can help patients to carry out finger rehabilitation training, but there are still some deficiencies. When using this device for rehabilitation training, multiple fingers cannot be controlled. The joints are free to move, and only the whole finger can move, which reduces the effect of rehabilitation training; the control system of the glove is separated from the glove, and it is inconvenient to carry around when using it

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