Hand rehabilitation device based on spherical connecting rod mechanism, and hand thumb control device

Abstract

The invention belongs to the technical field of rehabilitation training instruments, particularly relates to a hand rehabilitation device based on a spherical connecting rod mechanism, and a hand thumb control device, and aims to solve the problems that an existing hand rehabilitation device is poor in flexibility and compatibility. According to the hand thumb control device disclosed by the invention, a movement compatibility scheme of three-degree-of-freedom independent driving of a thumb is provided, a two-degree-of-freedom driving mechanism is designed by adopting the spherical connecting rod mechanism and a gear and rack mechanism, and two-degree-of-freedom independent driving of a CMC joint of the thumb is realized; a PRRP space mechanism is adopted to design a motion compatibility mechanism of the thumb CMC joint, the adaptive capacity of the thumb CMC joint can be achieved, and the wearing comfort is improved; and according to the scheme provided by the invention, each finger can move independently, so that the flexibility of the fingers is greatly improved, and motion forms such as spherical mastering, two-fingertip pinching and multi-fingertip pinching are realized.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation training equipment, and in particular relates to a hand rehabilitation device and a hand thumb control device based on a spherical link mechanism. Background technique [0002] Hands are an important organ of our human body, and they play a vital role in our daily life and work. However, some accidents (such as: car accidents, work-related injuries) or some diseases (such as: stroke) lead to different degrees of nerve damage and limb movement disorders in patients, which will seriously affect their quality of life and mobility. The traditional hand rehabilitation program largely depends on the experience and level of the physician, and the physician is labor-intensive and inefficient during the rehabilitation training process, and it is difficult to achieve the expected rehabilitation effect. So we need a hand rehabilitation equipment to make up for some of the deficiencies of professional...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem of poor flexibility of existing hand rehabilitation devices, the first aspect of the present invention provides a hand rehabilitation device based on a spherical linkage mechanism, including a thumb drive assembly , the index finger drive assembly, the middle finger drive assembly, the ring finger drive assembly, the little finger drive assembly and the master control center, the thumb drive assembly, the index finger drive assembly, the middle finger drive assembly, the ring finger drive assembly, the little finger drive assembly The driving components are all signal-connected with the master control center; the index finger driving component, the middle finger driving component, the ring finger driving component, and the little finger driving component are fixed on the hand through the back of the hand mounting plate, and the thumb driving component The thumb mounting plate is fixed to the back of the hand mounting plate; the thumb mounting plate is an L-shaped structure;

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