Rigid-flexible hand exoskeleton based on line driving

Abstract

The invention relates to the technical field of medical rehabilitation instruments, in particular to a rigid-flexible hand exoskeleton based on line driving. The rigid-flexible hand exoskeleton comprises a hand back plate, a palm plate and four finger stalls connected with the hand back plate and the palm plate, and the four finger stalls are correspondingly used for driving an index finger, a middle finger, a ring finger and a little finger to move. The finger stalls are connected with the hand back plate and the palm plate through one hand back driving line and one palm driving line. Flexible linear transmission design is adopted, the hand back plate, the palm plate and the fingerstalls are made of metal materials, flexibility and rigidity are combined through the hand back plate, the palm plate and the finger stalls made of metal materials, rigidity needed by training is provided, and meanwhile, shaping is facilitated to adapt to different patients; meanwhile, flexible flexion and extension force is provided by one driving line, so that all the finger stalls do not influence one another in the flexion and extension process, and the defects that an existing rehabilitation assisting exoskeleton glove is heavy, inconvenient to carry and poor in comfort degree are overcome; and detachable connection between the rehabilitation assisting exoskeleton glove and an external driving mechanism is designed, and free assembling and pairing are achieved.

Description

technical field [0001] The invention relates to the technical field of medical rehabilitation equipment, in particular to a wire-driven rigid-flexible hand exoskeleton. Background technique [0002] Hand dysfunction is one of the functional disorders caused by diseases such as stroke, spinal cord injury, stroke, cerebral palsy, or other injuries. Daily activities, and hand dysfunction is difficult to recover, requiring a lot of repeated training to gradually restore muscle strength. [0003] In the prior art, exoskeleton manipulators are usually used to assist patients in hand activities, but most of these mechanical structures are rigid manipulators controlled by rigid rods, which are complicated to wear and heavy in structure, which is not conducive to daily use. [0004] Patent CN109044735A discloses a wire-driven flexible exoskeleton rehabilitation manipulator, which uses four motors to drive four traction wires to drive the movement of the knuckle sleeve and the finger...

AI Technical Summary

Problems solved by technology

[0002] Hand dysfunction is one of the functional disorders caused by diseases such as stroke, spinal cord injury, stroke, cerebral palsy, or other injuries. Daily activities, and hand dysfunction is difficult to recover, requiring a lot of repeated training to gradually restore muscle strength

[0003] In the prior art, exoskeleton manipulators are usually used to assist patients with hand activities, but most of these mechanical structures are rigid manipulators controlled by rigid rods, which are complicated to wear and heavy in structure, which is not conducive to daily use

[0004] Patent CN109044735A discloses a wire-driven flexible exoskeleton rehabilitation manipulator, which uses four motors to drive four traction wires to drive the movement of the knuckle sleeve and the fingertip sleeve to achieve the purpose of flexible control of the manipulator, although it is different from the existing commonly used rigid manipulator. Compared with it, it lightens and simplifies the structure, but the four motors, the rigid connection between the fingertip cover and the knuckle cover, and the four connecting tubes for guiding the traction wire all make the manipulator still inconvenient to wear, Issues with large size and low sensitivity for daily activities

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