Hand function rehabilitation robot with rigid-flexible coupling structure for stroke patients

Abstract

The invention discloses a hand function rehabilitation robot with a compact rigid-flexible coupling structure for stroke patients. The robot comprises a hand back support mechanism, five finger bending and extending driving mechanisms, a five-finger closing and splaying driving mechanism, a control processor, a sensing sensor and a power supply assembly, wherein the five finger bending and stretching driving mechanisms are same in structure, and each finger bending and stretching driving mechanism consists of a linear motor, a sliding rod, a metacarpal segment block, a driving spring steel sheet, a proximal segment block, a middle segment block, a distal segment block, a proximal segment block strap, a middle segment block strap, a distal segment block strap, three connecting spring steelsheets, three sliding connecting spring steel sheets and two sliding blocks; and the five-finger closing and splaying driving mechanism consists of a direct current motor, a pull rope, a first torsionspring, a second torsion spring and a third torsion spring. The robot can realize independent bending and stretching movement training of five fingers, and can also realize closing and splaying movement training of the five fingers.

Description

technical field [0001] The invention relates to a hand function rehabilitation robot for stroke patients with a rigid-flexible coupling structure, which belongs to the intersecting fields of robotics, rehabilitation technology, control science, computer science and sensor technology. Background technique [0002] With the rapid development of society, the aging trend of the population structure is obvious, and the incidence of stroke is relatively high. Although medicine is very advanced, stroke is still one of the leading causes of disability worldwide. According to statistics, there are about 2.5 million new stroke patients in my country every year, and the number of stroke patients will reach 20 million by 2020. Therefore, the rehabilitation of stroke patients is particularly important. Hands are an important tool for people to communicate with the external environment, and stroke often causes hand motor dysfunction, which seriously affects the daily life of patients. R...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to solve the problems of poor ergonomics of the rigid exoskeleton hand rehabilitation robot, low physiological and psychological acceptance of patients, and the need to improve clinical practicability and patient acceptance, as well as flexibility Wearable hand rehabilitation robot is difficult to achieve precise motion angle and force control. A hand function rehabilitation robot for stroke patients with rigid-flexible structure coupling is designed, which has the advantages of precise motion control of rigid structure and the safety and comfort of flexible structure. advantage

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