Exoskeleton robot for finger rehabilitation with adduction, abduction, flexion and extension

Abstract

The invention belongs to the field of biomechanical engineering, and aims to solve the problem that existing finger rehabilitation robots that assist metacarpophalangeal joint adduction and abduction and flexion and extension cannot realize self-adaptive alignment of man-machine joints, and specifically relate to a device with adduction and abduction and The flexion and extension finger rehabilitation exoskeleton robot includes three sets of driving components, the metacarpophalangeal joint transmission component and the proximal joint transmission component; the inner and outer drive sheaves in the metacarpophalangeal joint transmission component can control the movement of the human hand under the drive of the first drive component. adduction and abduction movement; the first and second fixed sheaves in the metacarpophalangeal joint transmission assembly can control the flexion and extension of the proximal phalanx under the drive of the second drive assembly; the proximal joint transmission assembly is driven by the third drive assembly The flexion and extension movement of the middle phalanx can be controlled under driving; the invention can realize the adaptive alignment of the human-machine joints of the rehabilitation robot in adduction, abduction, flexion and extension, and can effectively eliminate the joint mechanical stress generated between the human and the machine.

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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