Exoskeleton robot for hand function rehabilitation based on double four-bar mechanisms

Abstract

The invention belongs to the field of rehabilitation medical instruments, and discloses an exoskeleton robot for hand function rehabilitation based on double four-bar mechanisms. As a whole, the exoskeleton robot for hand function rehabilitation based on the double four-bar mechanisms is composed of the double four-bar mechanisms, linear motors, and wearable parts. The purpose of the invention isto develop a wearable hand function exoskeleton which is simple in structure and easy to control; the wearable hand function exoskeleton has the advantages of being low in cost, light in weight and convenient to carry, and is capable of facilitating rehabilitation exercises of a patient. According to the exoskeleton, each finger of the exoskeleton controls bending and straightening of a metacarpophalangeal joint and a proximal interphalangeal joint by combined action of one linear motor and an electric push rod, and controls leftward and rightward wobble of each finger of a user by a steeringgear; and thus, extension and adduction of a whole hand are allowed.

Description

technical field [0001] The invention relates to a hand function rehabilitation exoskeleton robot based on a double four-bar mechanism, which belongs to the field of rehabilitation medical equipment. Background technique [0002] The hand is one of the most important structures of the human body. It has a decisive influence on the coordination of the overall functions of human beings and the embodiment of external beauty. In addition to the necessary surgery and drug treatment for hand symptoms of stroke patients, scientific and effective rehabilitation training plays an important role in the recovery of limb functions of patients. The nervous system has a high degree of plasticity. Experiments have shown that specific training can promote the reorganization and compensation of the central nervous system and restore the motor function of the limbs. Traditional treatment methods are mostly massage, physical therapy, and acupuncture. The treatment effect is unstable and has n...

AI Technical Summary

Problems solved by technology

At present, most exoskeleton upper limb rehabilitation robots still have some problems, such as: large size, complex structure, inconvenient use, mostly single-joint rehabilitation equipment, low integration, etc.

In order to drive the many degrees of freedom of the hand, most hand rehabilitation devices are developed using a large number of sensors and actuators, they can achieve precise position control, but it is accompanied by a complex system, so these devices are developed as a benchtop Yes, patients need frequent and regular visits to fixed places for treatment

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