Hybrid driving type exoskeleton device for hand rehabilitation

Abstract

The invention relates to a hybrid driving type exoskeleton device for hand rehabilitation. The device comprises a palm support exoskeleton, a finger support exoskeleton and a finger driving mechanism;the finger support exoskeleton comprises a root end knuckle support exoskeleton, a middle knuckle support exoskeleton and a tip end knuckle support exoskeleton, and every two adjacent exoskeletons are hinged to each other through a rotating joint; the finger driving mechanism comprises a gear motor, a winding wheel, a hand back side line rope, a shape memory alloy spring, a palm side line rope, aheating driver, a cooling fan, a temperature sensor, a transmitter and a controller. The hand back side of the finger support exoskeleton is connected in series through the hand back side line rope,the hand back side line rope is used for pulling the fingers to extend straight, and the pulling force of the hand back side line rope is provided by the gear motor and the winding wheel. The palm side of the finger support exoskeleton is connected in series through the palm side line rope, the palm side line rope is used for pulling the fingers to bend, the pulling force of the palm side line rope is provided by the shape memory alloy spring, and the deformation process of the shape memory alloy spring is regulated according to temperature.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation training equipment, in particular to a hybrid-driven exoskeleton device for hand rehabilitation. Background technique [0002] At present, for people who have lost hand function due to accidental injury or disease, the defect of hand function will bring inconvenience to their life. If the hand does not get exercise for a long time, muscle atrophy will occur. In some cases, it may even cause joint and tendon adhesion, which will cause irreversible damage to the hand. [0003] In order to avoid the occurrence of the above situation, it is necessary to carry out passive rehabilitation training on the hand, and through reasonable rehabilitation training, the muscle atrophy can be greatly slowed down, and even some functions of the hand can be restored to a certain extent. [0004] However, for the existing hand rehabilitation training equipment, it generally has the disadvantages of poor mobil...

AI Technical Summary

Problems solved by technology

[0004] However, for the existing hand rehabilitation training equipment, it generally has the disadvantages of poor mobility and poor portability. Because the equipment is too large and heavy, it can only be confined to one place when performing hand rehabilitation training, and cannot be used anytime, anywhere. Rehabilitation training, and the driving mode is relatively single, which affects the effect of rehabilitation training

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