Finger rehabilitation exoskeleton robot with adduction, abduction, flexion and stretching functions

Abstract

The invention belongs to the field of biomechanical engineering, aims to solve the problem that an existing finger rehabilitation robot assisting metacarpophalangeal joints in adduction, abduction, flexion and stretching movement cannot achieve self-adaptive alignment of man-machine joints, and particularly relates to a finger rehabilitation exoskeleton robot with adduction, abduction, flexion and stretching functions. The finger rehabilitation exoskeleton robot comprises three driving assemblies, a metacarpophalangeal joint transmission assembly and a near-end joint transmission assembly, wherein inner and outer driving rope wheels in the metacarpophalangeal joint transmission assembly can control the adduction and abduction movement of the human hand under the driving of the first driving assembly; a first fixed rope wheel and a second fixed rope wheel in the metacarpophalangeal joint transmission assembly can control the flexion and stretching movement of the near-end phalanx under the driving of the second driving assembly; and the near-end joint transmission assembly can control the flexion and stretching movement of the middle phalanx under the driving of the third driving assembly. According to the invention, the self-adaptive alignment of the man-machine joints of the rehabilitation robot capable of doing the adduction, abduction, flexion and stretching movement can be realized, and meanwhile, the joint mechanical stress generated between a man and a machine can be effectively eliminated.

Description

technical field [0001] The invention belongs to the field of biomechanical engineering, in particular to a finger rehabilitation exoskeleton robot with adduction, abduction, flexion and extension. Background technique [0002] After stroke, 30%-60% of patients have left upper limb motor dysfunction, especially hand motor dysfunction. In daily life, the human hand has the functions of gesture (second language), grasping, and operation, and bears 27% of the overall function of daily activities; in the cerebral motor cortex, the human hand is one of the organs with the largest proportion of motor control areas. Therefore, under the guidance of rehabilitation physicians, it is of great significance to standardize the treatment of the hands of stroke patients and restore the hand function of patients. However, the number of rehabilitation therapists is completely insufficient to meet the huge demand of the rehabilitation market. Simply expecting to rely on clinical therapists to...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the existing rehabilitation robots that assist in adduction, abduction, flexion and extension of the metacarpophalangeal joints, the adaptive alignment of the human-machine joints cannot be achieved, and there is joint mechanical stress between the man-machine, The invention provides a finger rehabilitation exoskeleton robot with adduction, abduction, flexion and extension, comprising a drive assembly, a metacarpophalangeal joint transmission assembly and a proximal joint transmission assembly; the drive assembly includes a first drive assembly, a second drive assembly components and a third drive component;

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