An exoskeleton finger and wrist rehabilitation assistance device

Abstract

The present invention is applicable to the field of rehabilitation assistance technology, and provides an exoskeleton finger and wrist rehabilitation assistance device, which includes a rehabilitation manipulator device. The rehabilitation manipulator device includes a fixing plate, a four-finger flexion and extension device, and a thumb flexion and extension device. The fixing plate is connected with a torsion drive component for driving the whole thumb flexion and extension device to swing relative to the fixing plate; the four-finger flexion and extension device includes a proximal finger connecting component, a middle finger connecting component rotatable relative to the proximal finger connecting component, and a first movable bow component for driving the proximal finger connecting component and the middle finger connecting component. The exoskeleton finger and wrist rehabilitation assistance device further includes a wrist joint rotation device for driving the whole rehabilitation manipulator device to rotate reciprocally. The exoskeleton finger and wrist rehabilitation assistance device provided by the embodiment of the present invention has a small and compact structure, can realize the integrated movement of wrist joint flexion / extension, five-finger flexion / extension and thumb torsion, and has better rehabilitation treatment effect.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation assistance, and particularly relates to an exoskeleton finger and wrist rehabilitation assistance device. Background Art

[0002] In the prior art, the exoskeleton hand rehabilitation training devices are mostly for the rehabilitation training of finger flexion / extension and grasping / openning. Such upper limb training devices lack the wrist joint training part, which is not conducive to the rehabilitation treatment of patients' upper limbs. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above deficiencies of the prior art, and provide an exoskeleton finger and wrist rehabilitation assistance device, which is small and compact in structure, can realize the integrated movement of wrist joint flexion / extension, five-finger flexion / extension and thumb torsion, and has better rehabilitation treatment effect.

[0004] The technical solution of the present invention is: an exoskeleton finger and wrist rehabilitation assistance device, including a rehabilitation manipulator device. The rehabilitation manipulator device includes a fixing plate that can be connected to the back of the user's hand, a four-finger flexion and extension device, and a thumb flexion and extension device. The fixing plate is connected with a torsion driving component for driving the whole thumb flexion and extension device to swing relative to the fixing plate; the four-finger flexion and extension device includes a proximal finger connecting component, a middle finger connecting component that can rotate relative to the proximal finger connecting component, and a first movable bow component for driving the proximal finger connecting component and the middle finger connecting component. The first movable bow component includes a first power device, a first guide rail seat and a link mechanism. The first guide rail seat is fixedly connected to the fixing plate and has a first arc-shaped chute; the proximal finger connecting component is connected to the first arc-shaped chute, and the link mechanism is rotatably connected to the first power device, the proximal finger connecting component and the middle finger connecting component; the exoskeleton finger and wrist rehabilitation assistance device further includes a wrist joint rotation device for driving the whole rehabilitation manipulator device to rotate reciprocally.

[0005] Optionally, the link mechanism and the middle finger connecting component have a sliding connection structure;

[0006] The link mechanism includes a first link, a second link, a third link and a fourth link; the rear end of the first link, the rear end of the proximal finger connecting component and the linear push rod at the front end of the first power device are rotatably connected through a first pin shaft; the rear end of the second link is connected to the first guide rail seat, and the front end of the second link, the front end of the first link and the rear end of the third link are rotatably connected through a second pin shaft; the front end of the third link and the upper rear end of the fourth link are rotatably connected, and the lower rear end of the fourth link is rotatably connected to the front end of the proximal finger connecting component; the front end of the fourth link and the middle finger connecting component have the sliding connection structure;

[0007] The sliding connection structure includes a linear sliding groove provided on the middle finger connecting member and a linear sliding member connected to the front end of the fourth link and slidably connected to the linear sliding groove;

[0008] The linear sliding member includes a connecting shaft passing through the fourth link and first bearings connected to both ends of the connecting shaft, and the first bearings are arranged in the linear sliding groove;

[0009] The middle finger connecting member includes a middle finger connecting piece and a middle finger fixing band connected to the middle finger connecting piece. The middle finger connecting piece includes a middle finger bottom plate and two middle finger side plates arranged at intervals facing each other; the linear sliding grooves are provided on both middle finger side plates. The front end of the fourth link extends between the two middle finger side plates. The middle finger side plates are provided with two first through holes, and there are two connecting shafts respectively passing through the two first through holes. There are four first bearings respectively sleeved on both ends of the two connecting shafts, and each linear sliding groove has two first bearings that can slide along the linear sliding groove;

[0010] The first guide rail seat includes a guide rail bottom plate and two guide rail side plates arranged at intervals facing each other; the first arc-shaped sliding grooves are provided on both guide rail side plates;

[0011] The proximal finger connecting member includes a proximal finger connecting piece and a proximal finger fixing band connected to the proximal finger connecting piece; the proximal finger connecting piece has a proximal finger connecting rod located between the two guide rail side plates. The proximal finger connecting rod is provided with two second connection holes, and proximal finger shafts are passed through the second connection holes. There are two proximal finger shafts respectively passing through the second connection holes, and there are four proximal finger bearings respectively connected to both ends of the two proximal finger shafts. Each first arc-shaped sliding groove has two proximal finger bearings that can slide along the first arc-shaped sliding groove;

[0012] One end of the proximal finger connecting rod close to the first power device has a proximal finger connecting fork. The rear end of the first link is a first fork, and the front end of the first link is a second fork;

[0013] There are two second links. Each guide rail side plate is provided with a third connection hole at the lower part of the middle of the first arc-shaped sliding groove; the second links are arranged outside the guide rail side plates, and the rear ends of the second links are rotatably connected to the third connection holes through third pin shafts;

[0014] The first fork is arranged inside the proximal finger connecting fork, the front end of the linear push rod extends inside the first fork, and the first pin shaft passes through the proximal finger connecting fork, the first fork and the front end of the linear push rod;

[0015] The second fork is located between the two second link rods. The rear end of the third link rod is located inside the second fork. The second pin shaft passes through the front end of the second link rod, the second fork and the rear end of the third link rod.

[0016] A third fork is provided at the rear end of the fourth link rod. The third fork is provided with an upper connection hole and a lower connection hole. The front end of the third link rod is located between the third forks and is rotatably connected to the upper connection hole through a fourth pin shaft. The front end of the near finger connecting rod is located between the third forks and is rotatably connected to the lower connection hole through a fifth pin shaft.

[0017] Optionally, the middle finger fixing band is slidably connected to the middle finger connecting member through a middle finger slider. The near finger fixing band is connected to or directly connected to the near finger connecting member through a near finger slider.

[0018] Optionally, the thumb flexion and extension device includes a second power device, a second guide rail base and a thumb near finger clip. The second guide rail base has a second arc-shaped chute. The thumb near finger clip is slidably connected to the second arc-shaped chute. The rear end of the second power device is rotatably connected to the second guide rail base. The front end of the second power device is rotatably connected to the rear end of the thumb near finger clip.

[0019] The second guide rail base includes a thumb guide rail bottom plate and two oppositely spaced thumb guide rail side plates. Both of the two thumb guide rail side plates are provided with the second arc-shaped chute. The thumb near finger clip includes a thumb connecting member and a thumb fixing band connected to the thumb connecting member. The thumb connecting member has a thumb connecting rod located between the two thumb guide rail side plates. The thumb connecting rod is provided with two fifth connection holes. Both of the two fifth connection holes are passed through by a fifth pin shaft. Both ends of each fifth pin shaft are provided with a second bearing. There are two second bearings in each second arc-shaped chute. A thumb connecting fork is provided at the rear end of the thumb connecting rod. The front end of the second power device extends between the thumb connecting forks and is rotatably connected to the thumb connecting forks through a sixth pin shaft. The thumb fixing band is connected to or directly connected to the thumb connecting rod through a thumb slider.

[0020] Optionally, the torsion drive component includes a third power device, a third guide rail base and a third transmission rod. The third guide rail base is fixedly connected to the fixing plate. The third guide rail base has a third arc-shaped chute. The third transmission rod is slidably connected to the third arc-shaped chute. One end of the third transmission rod is rotatably connected to the front end of the third power device. The other end of the third transmission rod is connected to the thumb flexion and extension device. The rear end of the third power device is rotatably connected to the fixing plate or the third guide rail base.

[0021] Optionally, two sixth pin shafts are connected to the third transmission rod member, and third bearings are arranged at both ends of each sixth pin shaft; two of the third bearings are provided in each of the third arc-shaped chutes.

[0022] Optionally, the wrist joint rotation device includes a rotation support base, an arm bracket connected to the rotation support base and used for supporting the user's wrist, a rotation support plate rotatable relative to the rotation support base, and a rotation driving member for driving the rotation support plate. A docking structure is arranged between the side of the fixing plate away from the thumb flexion and extension device and the rotation support plate;

[0023] An electronic limit device and a mechanical limit device are arranged between the rotation support plate and the rotation support base.

[0024] Optionally, the docking structure includes a docking hole arranged on the rotation support plate and a docking protrusion arranged on the fixing plate.

[0025] Optionally, the electronic limit device includes an induction sheet connected to the rotation support plate and a photoelectric sensor arranged on the rotation support base;

[0026] The mechanical limit device includes a fixing member and a limiting member. The fixing member is fixed to the rotation support base, and the limiting member is connected to the rotation support plate.

[0027] Optionally, two of the photoelectric sensors and the fixing members are respectively provided, and the two photoelectric sensors are located between the two fixing members.

[0028] An exoskeleton finger and wrist rehabilitation assistance device provided by the present invention can drive each finger to perform independent flexion / extension movements. The thumb can also be driven by a torsion driving member to perform a torsion movement. The torsion and flexion / extension of the thumb can be performed simultaneously, and the rehabilitation training effect is good. The main movements of the fingers are completed with fewer mechanisms, the component layout is more compact, the limited space on the back of the hand is utilized efficiently, and the movement of the fingers will not be interfered with after wearing; through holes for passing straps are provided on the fixing plate, and the device is worn and installed with straps, making the fixing method simpler. The integrated movements of flexion / extension of the wrist joint, flexion / extension of the five fingers, and torsion of the thumb can be realized, and the rehabilitation treatment effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1 is a three-dimensional exploded view of an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0031] Figure 2 is a three-dimensional assembly view of a rehabilitation manipulator device (in the extended state) in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0032] Figure 3 is a three-dimensional assembly view of a four-finger flexion and extension device (in the extended state) in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0033] Figure 4 is a three-dimensional exploded view of a four-finger flexion and extension device in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0034] Figure 5 is a three-dimensional assembly view of a torsion drive component, a thumb flexion and extension device, and a fixing plate in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0035] Figure 6 is a three-dimensional exploded view of a torsion drive component in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0036] Figure 7 is a three-dimensional exploded view of a thumb flexion and extension device in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0037] Figure 8 is a plan view of the application of a four-finger flexion and extension device (in the open state) in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0038] Figure 9 is a plan view of the application of a four-finger flexion and extension device (in the flexed and adducted state) in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0039] Figure 10 is a plan view of the application of a thumb flexion and extension device (in the open state) in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0040] Figure 11 is a plan view of the application of a thumb flexion and extension device (in the flexed and adducted state) in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0041] Figure 12It is a three-dimensional assembly schematic diagram of a thumb flexion and extension device driven by a torsion drive component in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0042] Figure 13 It is a three-dimensional assembly schematic diagram of a rehabilitation manipulator device (flexion and adduction state) in an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention;

[0043] Figure 14 It is a three-dimensional assembly schematic diagram of an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention. Detailed implementation manners

[0044] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0046] It should also be noted that the terms of orientation such as left, right, up, and down in the embodiments of the present invention are only relative concepts to each other or are referenced based on the normal use state of the product, and should not be considered restrictive.

[0047] Such as Figures 1 to 14As shown in the figure, an exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention includes a rehabilitation manipulator device 10. The rehabilitation manipulator device 10 includes a fixing plate 900 that can be connected to the back of the user's hand, a four-finger flexion and extension device 100, and a thumb flexion and extension device 200. There can be one thumb flexion and extension device 200, which corresponds to the thumb (the first finger); there can be four four-finger flexion and extension devices 100, which correspond to the index finger (the second finger), the middle finger (the third finger), the ring finger (the fourth finger), and the little finger (the fifth finger) respectively. The fixing plate 900 is connected with a torsion driving component 300 for driving the whole thumb flexion and extension device 200 to swing relative to the fixing plate 900. That is, each finger can perform independent flexion / extension movements, and the thumb can also be driven by the torsion driving component 300 to perform torsion movements. Moreover, the torsion and flexion / extension of the thumb can be performed simultaneously, and the rehabilitation training effect is good. Each flexion and extension device (the four-finger flexion and extension device 100 and the thumb flexion and extension device 200) can be independently controlled. Looking along the forward extension direction of the flexion and extension device, the front part is the "front end" (close to the user's fingertip direction during use), and the rear part is the "rear end"; looking from the palm surface to the back of the hand, the upper part is the "upper end", and the lower part is the "lower end"; the fingers corresponding to the four-finger flexion and extension device 100 are divided into three sections. The part close to the palm is called the proximal finger, the middle part is called the middle finger (in this embodiment, it refers to the middle phalanx of the finger), and the part far from the palm is called the distal finger. In specific applications, if some fingers of the user are normal and do not need rehabilitation, the flexion and extension devices corresponding to the corresponding fingers can be selected to be removed accordingly. Of course, it can also be selected not to be removed. The four-finger flexion and extension device 100 includes a proximal finger connecting component 130, a middle finger connecting component 140 that can rotate relative to the proximal finger connecting component 130, and a first movable bow component for driving the proximal finger connecting component 130 and the middle finger connecting component 140. The first movable bow component includes a first power device 110, a first guide rail seat 120, and a link mechanism. The first guide rail seat 120 is fixedly connected to the fixing plate 900 and has a first arc-shaped chute 121; the proximal finger connecting component 130 is connected to the first arc-shaped chute 121, and the link mechanism is rotatably connected to the first power device 110, the proximal finger connecting component 130, and the middle finger connecting component 140; each four-finger flexion and extension device 100 includes an independently controllable first power device 110. The first power device 110 is used to drive the four-finger flexion and extension device 100 to perform flexion and extension movements, simulate the hand gripping action and open, and repeat cyclically. The first power device 110 can be a linear power device (linear driver, linear push rod), such as a linear motor, a screw slider driven by a servo motor, etc.The exoskeleton finger and wrist rehabilitation assistance device further includes a wrist joint rotation device 400 for driving the entire rehabilitation manipulator device 10 to rotate reciprocally, which can be used for the flexion / extension movement of the wrist joint, and is more conducive to the rehabilitation treatment of the patient's upper limb. It can be seen that the device provided in this embodiment has a compact layout and a small external dimension. When the wrist joint performs flexion / extension rehabilitation training, the wrist will not interfere with the back of the manipulator. It can independently control the flexion / extension of each finger, and the thumb can not only perform independent flexion / extension movements, but also perform twisting movements. The twisting and flexion / extension of the thumb can be performed simultaneously, and the integrated movements of the flexion / extension of the wrist joint, the flexion / extension of the five fingers, and the twisting of the thumb can be realized, and the rehabilitation treatment effect is better.

[0048] Specifically, the link mechanism and the middle finger connecting component 140 have a sliding connection structure. During the process of the middle finger connecting component 140 rotating under the action of the link mechanism, it can slide an appropriate distance relative to the link mechanism, so as to better match the movement trajectory of the human hand, and the user experience is better.

[0049] Specifically, as Figures 2 to 8 shown, the link mechanism includes a first link 150, a second link 160, a third link 170, and a fourth link 180; the front end of the first power device 110 is a linear push rod, and the rear end of the first link 150, the rear end of the proximal finger connecting component 130, and the front end of the linear push rod are rotationally connected through a first pin shaft; the rear end of the second link 160 is connected to the first guide rail seat 120, and the front end of the second link 160, the front end of the first link 150, and the rear end of the third link 170 are rotationally connected through a second pin shaft 192; the front end of the third link 170 is rotationally connected to the upper rear end of the fourth link 180, and the lower rear end of the fourth link 180 is rotationally connected to the front end of the proximal finger connecting component 130; the front end of the fourth link 180 and the middle finger connecting component 140 have the sliding connection structure, and its structure is reliable and compact.

[0050] Specifically, the sliding connection structure includes a linear sliding groove 143 provided on the middle finger connecting component 140 and a linear sliding component connected to the front end of the fourth link 180 and slidably connected to the linear sliding groove 143, and its structure is simple and reliable.

[0051] Specifically, the linear sliding component includes a connecting shaft passing through the fourth link 180 and first bearings 182 connected to both ends of the connecting shaft. The first bearings 182 are arranged in the linear sliding groove 143, and each linear sliding groove 143 has two first bearings 182, and its sliding is smooth. Of course, in this embodiment, the cooperation of the bearing and the sliding groove is adopted. In specific applications, a dovetail type or T-type self-lubricating guide rail structure can also be used to realize linear sliding, which also belongs to the protection scope of the present invention.

[0052] Specifically, the middle finger connecting member 140 includes a middle finger connecting piece 141 and a middle finger fixing band 142 connected to the middle finger connecting piece 141. The middle finger fixing band 142 can be an elastic binding band or a Velcro binding band, etc. The middle finger connecting piece 141 includes a middle finger bottom plate and two middle finger side plates arranged at intervals facing each other; both of the two middle finger side plates are provided with the linear sliding grooves 143. The front end of the fourth connecting rod 180 extends between the two middle finger side plates. The fourth connecting rod 180 is between the two middle finger side plates, and the fourth connecting rod 180 is not prone to swing to both sides, and the structure is reliable. Each middle finger side plate is provided with two first through holes, and there are two connecting shafts which respectively pass through the two first through holes. There are four first bearings 182 which are respectively sleeved at both ends of the two connecting shafts. Each of the linear sliding grooves 143 has two first bearings 182 that can slide along the linear sliding groove 143, and the actions of rotating and sliding can be smoothly realized without being prone to jamming.

[0053] Specifically, the first guide rail seat 120 includes a guide rail bottom plate and two guide rail side plates arranged at intervals facing each other and connected to the guide rail bottom plate; both of the two guide rail side plates are provided with the first arc-shaped sliding grooves 121; the first guide rail seat 120 can be integrally formed by aluminum alloy.

[0054] Specifically, the proximal finger connecting member 130 includes a proximal finger connecting piece 131 and a proximal finger fixing band 132 connected to the proximal finger connecting piece 131. Both ends of the proximal finger fixing band 132 can be connected to two connecting holes of the proximal finger connecting piece 131. The proximal finger fixing band 132 can be an elastic binding band or a magic towel binding band, etc.; the proximal finger connecting piece 131 has a proximal finger connecting rod, and the proximal finger connecting rod is located between the two guide rail side plates. The proximal finger connecting rod is provided with two second connecting holes, and there are two proximal finger shafts which respectively pass through the second connecting holes. There are four proximal finger bearings 134 which are respectively connected to both ends of the two proximal finger shafts. Each of the first arc-shaped sliding grooves 121 has two proximal finger bearings 134 that can slide along the first arc-shaped sliding groove 121, and the sliding effect is good.

[0055] Specifically, one end of the proximal finger connecting rod 135 close to the first power device 110 has a proximal finger connecting fork 136, and the proximal finger connecting fork 136 can be in a U shape. The rear end of the first connecting rod 150 is a first fork 151, and the front end of the first connecting rod 150 is a second fork 152; the first fork 151 and the second fork 152 can be in a U shape.

[0056] Specifically, two second link rods 160 are provided, and the two second link rods 160 are arranged in parallel at intervals and can move synchronously. Each guide rail side plate is provided with a third connection hole below the middle part of the first arc-shaped chute 121; the second link rod 160 is arranged outside the guide rail side plate, and the rear end of the second link rod 160 is rotationally connected to the third connection hole through a third pin shaft; the second link rod 160 and the near finger connecting rod 135 are separated by the guide rail side plate and will not interfere with each other, and the movement structure is compact and reliable.

[0057] Specifically, the first fork 151 is arranged inside the near finger connecting fork 136, the front end of the linear push rod extends into the inside of the first fork 151, and the first pin shaft 191 passes through the near finger connecting fork 136, the first fork 151 and the front end of the linear push rod, and the structure is compact.

[0058] Specifically, the second fork 152 is located between the two second link rods 160, the rear end of the third link rod 170 is located inside the second fork 152, and the second pin shaft 192 passes through the front end of the second link rod 160, the second fork 152 and the rear end of the third link rod 170, and the structure is compact.

[0059] Specifically, a third fork 183 is provided at the rear end of the fourth link rod 180, and the third fork 183 can be U-shaped. The third fork 183 is provided with an upper connection hole and a lower connection hole. The front end of the third link rod 170 is located between the third forks 183 and is rotationally connected to the upper connection hole through a fourth pin shaft; the front end of the near finger connecting rod 135 is located between the third forks 183 and is rotationally connected to the lower connection hole through a fifth pin shaft.

[0060] Specifically, the fixing plate 900 is connected with a fixing seat 910, and the rear end of the first power device 110 is hinged to the fixing seat 910.

[0061] Specifically, the middle finger fixing band 142 can be slidably connected to the middle finger connecting piece 141 through a middle finger slider, and the positions of the middle finger slider and the middle finger fixing band 142 can be adjusted; the near finger fixing band 132 is connected to or directly connected to the near finger connecting piece 131 through a near finger slider, and the positions of the near finger slider and the near finger fixing band 132 can be adjusted to meet the specific needs of different users and make the adaptability of the exoskeleton finger and wrist rehabilitation assistance device better.

[0062] Specifically, as Figures 1 to 8As shown, the thumb flexion and extension device 200 includes a second power device 210, a second guide rail base 220, and a thumb proximal finger clip 230. The second guide rail base 220 has a second arc-shaped chute 221, and the second power device 210 can be the same as the above-mentioned first power device 110 (same model and specification). The thumb proximal finger clip 230 is slidably connected to the second arc-shaped chute 221. The rear end of the second power device 210 is rotationally connected to the second guide rail base 220 (through a second connecting seat 920 or directly), and the front end of the second power device 210 is rotationally connected to the rear end of the thumb proximal finger clip 230.

[0063] Specifically, the second guide rail base 220 includes a thumb guide rail bottom plate and two oppositely spaced thumb guide rail side plates; both of the two thumb guide rail side plates are provided with the second arc-shaped chute 221. The thumb proximal finger clip 230 includes a thumb connecting member 231 and a thumb fixing strap 232 connected to the thumb connecting member 231; the thumb connecting member 231 has a thumb connecting rod located between the two thumb guide rail side plates. The thumb connecting rod is provided with two fifth connection holes, and fifth pins are passed through both of the two fifth connection holes. Second bearings 242 are provided at both ends of each fifth pin; there are two second bearings 242 in each second arc-shaped chute 221; a thumb connecting fork is provided at the rear end of the thumb connecting rod, and the front end of the second power device 210 extends into the thumb connecting fork and is rotationally connected to the thumb connecting fork through a sixth pin.

[0064] Specifically, the thumb fixing strap 232 can be connected to the thumb connecting rod through a thumb slider or directly connected to the thumb connecting rod.

[0065] Specifically, the torsion drive component 300 includes a third power device 310, a third guide rail base 320, and a third transmission rod 330. The third power device 310 can be a linear motor or the like. The third guide rail base 320 is fixedly connected to the fixing plate 900. The third guide rail base 320 has a third arc-shaped chute 321. The third transmission rod 330 is slidably connected to the third arc-shaped chute 321. One end of the third transmission rod 330 is rotationally connected to the front end of the third power device 310, and the other end of the third transmission rod 330 is connected to the second guide rail base 220 of the thumb flexion and extension device 200. The rear end of the third power device 310 is connected to the fixing plate 900 or the third guide rail base 320 through a third rotating seat 930. In this way, the third power device 310 can drive the entire thumb flexion and extension device 200 to twist, so that the thumb can move relative to the palm as a whole.

[0066] Specifically, the third transmission rod 330 is connected with two sixth pin shafts, and third bearings 342 are arranged at both ends of each sixth pin shaft; there are two third bearings 342 in each third arc-shaped chute 321, and its transmission is stable and reliable.

[0067] Specifically, the wrist joint rotation device 400 includes a rotation support base, an arm bracket 510 connected to the rotation support base and used for supporting the user's wrist, a rotation support plate 410 rotatable relative to the rotation support base, and a rotation driving component 450 for driving the rotation support plate 410. A docking structure is arranged between the side of the fixing plate 900 away from the thumb flexion and extension device 200 and the rotation support plate 410, so as to facilitate placing the rehabilitation manipulator device 10 as a whole on the rotation support plate 410. The rotation support plate 410 can swing left and right relative to the rotation support base, and thus can perform rehabilitation training on the patient's wrist.

[0068] Specifically, a height adjustment device 520 can be arranged at the bottom of the arm bracket 510 to meet the usage requirements of different patients. The height adjustment device 520 can adopt an electric type or a pneumatic type (such as an airbag), etc. The arm bracket 510 can be used to support the patient's arm (near the wrist joint). The arm bracket 510 can be in a U shape. The rotation support plate 410 is located in front of the arm bracket 510.

[0069] Specifically, an electronic limit device and a mechanical limit device are arranged between the rotation support plate 410 and the rotation support base to prevent the rotation support plate 410 and the rehabilitation manipulator device 10 from swinging excessively and causing accidents.

[0070] Specifically, the docking structure includes a docking hole 411 arranged on the rotation support plate 410 and a docking protrusion 911 arranged on the fixing plate 900. The docking hole 411 and the docking protrusion 911 can be in a suitable state such as a waist shape (oval), a polygon, etc. In specific applications, a magnetic adsorption component can be optionally arranged between the rotation support plate 410 and the fixing plate 900, that is, a magnet is arranged on the rotation support plate 410, and another magnet or iron sheet can be arranged on the fixing plate 900, so that the rehabilitation manipulator device 10 can be stably connected to the rotation support plate 410 and can be pulled out and separated at any time without auxiliary tools.

[0071] Specifically, the rotation support plate 410 is driven by the rotation driving component 450, and the rotation driving component 450 is arranged below the rotation support plate 410 and connected to the rotation support base.

[0072] Specifically, as Figures 1 to 12As shown in the figure, the electronic limit device includes an induction sheet 461 connected to the rotary support plate 410 and a photoelectric sensor 462 arranged on the rotary support base. When the induction sheet 461 extends to the light emitting end and the light receiving end of the photoelectric sensor 462, the photoelectric sensor 462 is triggered. The photoelectric sensor 462 can be connected to a control module, and the control module can be connected to a motor. When the photoelectric sensor 462 is triggered, the rotary drive component 450 can be stopped in time, and then the rotary support plate 410 and the rehabilitation manipulator device 10 can only swing reciprocally within a set angle range.

[0073] Specifically, the mechanical limit device includes a fixing member 471 and a limiting member 472. The fixing member 471 is fixed to the rotary support base, and the limiting member 472 is connected to the lower part of the rotary support plate 410. When the rotary support plate 410 and the rehabilitation manipulator device 10 rotate to the set limit position, the limiting member 472 abuts against the fixing member 471, so as to achieve the forced stop of the rotary support plate 410 and the rehabilitation manipulator device 10. In this way, even if the photoelectric sensor 462 fails, the rotary support plate 410 and the rehabilitation manipulator device 10 can still be stopped from rotating at the set limit position by the mechanical limit device, and the safety and reliability are better.

[0074] Specifically, there are two photoelectric sensors 462 and two fixing members 471 respectively. The two photoelectric sensors 462 are located between the two fixing members 471. The photoelectric sensor 462 serves as the first safety barrier. When the photoelectric sensor 462 works normally, the mechanical limit device can not participate in the work and can serve as the second safety barrier, with good reliability.

[0075] Specifically, the rotary support base includes a mounting plate 421, a support member 423 and a bottom plate 422. Both ends of the support member 423 are connected to the mounting plate 421 and the bottom plate 422. The support member 423 can be a support shaft, a support plate or a collar, etc. The arm bracket 510, the fixing member 471, the photoelectric sensor 462, etc. can be fixed on the mounting plate 421. The mounting plate 421 can be provided with mounting holes. The rotary drive component 450 is located below the mounting holes and is fixedly connected to the bottom plate 422. The output shaft of the rotary drive component 450 can be directly connected to the hollow rotary table 430. The rotary support plate 410 can be fixed or integrally connected to the hollow rotary table 430, and the rotary support plate 410 can protrude from the surface of the mounting plate 421. The rotary drive component 450 can adopt a direct drive motor or a reduction motor, etc. In specific applications, the motor in the rotary drive component 450 can be a servo motor, etc. When its output torque is greater than the set range, it can automatically reverse or stop, with high reliability.

[0076] In this embodiment, the four-finger flexion and extension device 100, the thumb flexion and extension device 200, and the torsion drive component 300 all use linear drivers as power. The four-finger flexion and extension device 100 and the thumb flexion and extension device 200 are equipped with a transmission mechanism composed of a grooved guide rail assembly and a linkage mechanism, achieving the main finger movements with fewer mechanisms. By installing the four-finger flexion and extension device 100 and the torsion drive component 300 on the fixed plate 900 covering the back of the palm area, and fixing the thumb flexion and extension device 200 on the third transmission rod 330 of the torsion drive component 300, the component layout is more compact, efficiently utilizing the limited space on the back of the hand and not interfering with finger movement after wearing. Through holes for tying straps are provided on the fixed plate 900 for wearing and installation by straps, making the fixing method simpler. The fixed plate 900 can be L-shaped, and the docking protrusion 911 can be a flat key, which is in interference fit with the waist-shaped groove on the side surface of the fixed plate 900 to form an integral body with the fixed plate 900. The flat key protrudes from the side surface of the fixed plate 900, and the protruding part of the flat key cooperates with the waist-shaped hole (docking hole 411) on the rotating support plate 410. When the rotating support plate 410 rotates, it drives the entire rehabilitation manipulator to rotate, thus realizing the rotation of the wrist joint. The rotating support plate 410 can be fixed to the hollow rotating table 430 by screws. The fixed part of the hollow rotating table 430 can be fixed to the mounting plate 421 by screws, and the rotating part (input end) of the hollow rotating table 430 can be directly connected to the motor. The limiting part 472 (columnar) is in interference fit with the cylindrical hole at the front end of the rotating support plate 410 to form an integral body. Fixing parts 471 are distributed on both the left and right sides of the hollow rotating table 430 on the mounting plate 421. The fixing parts 471 (which can be block-shaped) are fixed to the mounting plate 421 by screws. The limiting part 472 and the fixing part 471 constitute a mechanical limiting device for the rotation of the wrist joint. The induction sheet 461 is fixed to the front end of the rotating support plate 410 by screws. The photoelectric sensors 462 (photoelectric switches) are distributed on both the left and right sides of the hollow rotating table 430 on the mounting plate 421. The photoelectric sensors 462 form a certain angle with the rotation center of the hollow rotating table 430. The photoelectric sensors 462 are fixed to the mounting plate 421 by screws. The induction sheet 461 and the photoelectric sensors 462 constitute an electronic limiting device for the rotation of the wrist joint. Five support parts 423 (collars) support the mounting plate 421 at a certain height and are connected and fixed to the bottom plate 422 by screws. The arm bracket 510 and the height adjustment block are fixed to the mounting plate 421 by screws to support the weight of the arm.

[0077] The four-finger flexion and extension device 100 includes a linear actuator arranged along the finger extension direction and a first movable bow composed of a guide rail base 120 and a multi-link structural component. When the linear actuator extends, it drives the proximal finger connecting component 130 to rotate along the trajectory of the slotted guide rail (arc-shaped chute 121) of the guide rail base 120. The center corresponding to the arc-shaped chute 121 fits (or is close to fitting) with the first virtual center A, and the first virtual center A is the rotation center for the proximal finger to rotate around the palm, so as to realize that the proximal finger connecting component 130 drives the proximal finger to rotate around the palm by a certain angle, such as 55 degrees. At the same time, when the linear actuator extends, it can drive the multi-link structural component composed of the first link 150, the second link 160, the third link 170, and the fourth link 180 to work, so as to realize the rotation of the fourth link 180 around the third rotation center C. The third rotation center is the hinge center where the proximal finger connecting component 130 and the fourth link 180 are coaxially hinged, so as to realize that the fourth link 180 drives the middle finger connecting component 140 to rotate around the third rotation center, and the middle finger connecting component 140 drives the middle finger to rotate around the second virtual center B. The second virtual center B is the rotation center for the middle finger to rotate around the proximal finger, such as Figure 8 As shown, since the second virtual center B and the third rotation center C cannot be fitted (or closely fitted), when the middle finger connecting component 140 drives the middle finger joint to rotate, there will be a relative position slip with the middle finger. To solve this problem, linear chutes 143 are provided on both sides of the middle finger connecting component 140, so that while the fourth link 180 rotates around the third rotation center C, it can slide along the trajectory of the linear chute 143 on the middle finger connecting component 140, thereby transferring the relative position slip between the middle finger connecting component 140 driving the middle finger to rotate and the middle finger to the slip between the fourth link 180 and the slotted guide of the middle finger connecting component 140.

[0078] Figure 10 shows the state of the thumb flexion and extension device 200 corresponding to the thumb before bending, Figure 11 shows the state of the thumb flexion and extension device 200 corresponding to the thumb after bending. The thumb flexion and extension device 200 includes a thumb power device 210 arranged along the thumb extension direction and a second movable bow composed of a thumb guide rail base 220 and a multi-link structural component. When the linear actuator (power device 210) extends, it drives the thumb proximal finger clip 230 to rotate along the trajectory of the thumb arc-shaped chute 221 of the thumb guide rail base 220. The center of the thumb arc-shaped chute 221 trajectory fits with the virtual center of the thumb, and the virtual center is the rotation center D for the proximal finger of the thumb to rotate around the palm; thus, the thumb proximal finger clip 230 drives the proximal finger of the thumb to rotate around the palm by a certain angle, such as 55 degrees.

[0079] The torsion drive component 300 corresponding to the thumb includes a third power device 310 arranged along the thumb torsion direction (transverse), a third transmission rod 330, and a third movable bow of the third guide rail base 320. When the third power device 310 extends, it drives the third transmission rod 330 to rotate along the third arc-shaped chute 321 of the third guide rail base 320. The center corresponding to the third arc-shaped chute 321 fits (or is close to fitting) with the virtual center of the thumb torsion. The torsion virtual center is the torsion center of the proximal phalanx of the thumb rotating around the palm; thus, the torsion of the thumb is realized.

[0080] In specific applications, the protruding part (docking protrusion 911) of the flat key of the rehabilitation manipulator device 10 is inserted into the waist-shaped hole (docking hole 411) of the rotating support plate 410 on the wrist joint rotation device 400. The arm is fixed on the arm bracket 510, and the motor drives the hollow rotating table 430 to rotate within a certain angle range ( Figure 14 as shown, the dotted line is another position of the rehabilitation manipulator device 10), thereby driving the rotating support plate 410 fixed on the rotating surface of the hollow rotating table 430 to rotate around the rotation center of the rotating platform, and further driving the entire rehabilitation manipulator device 10 to rotate, thus realizing the rotation of the wrist joint.

[0081] An exoskeleton finger and wrist rehabilitation assistance device provided by an embodiment of the present invention can be used as a wearable device and is used to help patients perform passive rehabilitation training on the fingers and wrists of the hand. It is provided with a four-finger flexion and extension device 100 corresponding to each of the four fingers and a thumb flexion and extension device 200 corresponding to the thumb; both the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 use linear drivers as power and are equipped with a transmission mechanism composed of a first guide rail base 120 and a linkage mechanism, realizing the main actions of the fingers with fewer mechanisms; by installing the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 on the fixing plate 900 covering the metacarpal region, the component layout is more compact, making efficient use of the limited space on the back of the hand and not interfering with finger movement after wearing; through holes for wearing straps are provided on the fixing plate 900, and the wearing and installation are carried out with straps, making the fixing method simpler.

[0082] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, or improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An exoskeleton finger and wrist rehabilitation assistance device, characterized in that, It includes a rehabilitation manipulator device, and the rehabilitation manipulator device includes a fixing plate that can be connected to the back of the user's hand, a four-finger flexion and extension device, and a thumb flexion and extension device. The fixing plate is connected with a torsion drive component for driving the whole thumb flexion and extension device to swing relative to the fixing plate; The four-finger flexion and extension device includes a proximal finger connecting component, a middle finger connecting component that can rotate relative to the proximal finger connecting component, and a first movable bow component for driving the proximal finger connecting component and the middle finger connecting component. The first movable bow component includes a first power device, a first guide rail seat, and a link mechanism. The first guide rail seat is fixedly connected to the fixing plate and has a first arc-shaped chute; The proximal finger connecting component is connected to the first arc-shaped chute, and the link mechanism is rotatably connected to the first power device, the proximal finger connecting component, and the middle finger connecting component; The thumb flexion and extension device includes a second power device, a second guide rail seat, and a thumb proximal finger clip. The second guide rail seat has a second arc-shaped chute, and the thumb proximal finger clip is slidably connected to the second arc-shaped chute. The rear end of the second power device is rotatably connected to the second guide rail seat, and the front end of the second power device is rotatably connected to the rear end of the thumb proximal finger clip; Among them, the front end of the first power device is a linear push rod, and the link mechanism includes a first link, a second link, a third link, and a fourth link; The rear end of the first link, the rear end of the proximal finger connecting component, and the front end of the linear push rod are rotatably connected through a first pin shaft; The rear end of the second link is connected to the first guide rail seat, and the front end of the second link, the front end of the first link, and the rear end of the third link are rotatably connected through a second pin shaft; The front end of the third link is rotatably connected to the upper rear end of the fourth link, and the lower rear end of the fourth link is rotatably connected to the front end of the proximal finger connecting component; The exoskeleton finger and wrist rehabilitation assistance device further includes a wrist joint rotation device for driving the whole rehabilitation manipulator device to rotate reciprocally.

2. The exoskeleton finger and wrist rehabilitation assistance device according to claim 1, characterized in that, The link mechanism and the middle finger connecting component have a sliding connection structure, and the front end of the fourth link and the middle finger connecting component have the sliding connection structure; The sliding connection structure includes a linear chute provided on the middle finger connecting component and a linear sliding component connected to the front end of the fourth link and slidably connected to the linear chute; The linear sliding component includes a connecting shaft passing through the fourth link and first bearings connected to both ends of the connecting shaft, and the first bearings are arranged in the linear chute; The middle finger connecting component includes a middle finger connecting piece and a middle finger fixing strap connected to the middle finger connecting piece. The middle finger connecting piece includes a middle finger bottom plate and two middle finger side plates arranged at intervals facing each other. Each of the two middle finger side plates is provided with the linear chute. The front end of the fourth connecting rod extends between the two middle finger side plates. The middle finger side plates are provided with two first through holes. There are two connecting shafts which respectively pass through the two first through holes. There are four first bearings which are respectively sleeved at both ends of the two connecting shafts. Each linear chute has two first bearings that can slide along the linear chute. The first guide rail base includes a guide rail bottom plate and two guide rail side plates arranged at intervals facing each other. Each of the two guide rail side plates is provided with the first arc chute. The proximal finger connecting component includes a proximal finger connecting piece and a proximal finger fixing strap connected to the proximal finger connecting piece. The proximal finger connecting piece has a proximal finger connecting rod located between the two guide rail side plates. The proximal finger connecting rod is provided with two second connection holes. The proximal finger shaft passes through the second connection holes. There are two proximal finger shafts which respectively pass through the second connection holes. There are four proximal finger bearings which are respectively connected to both ends of the two proximal finger shafts. Each first arc chute has two proximal finger bearings that can slide along the first arc chute. One end of the proximal finger connecting rod close to the first power device has a proximal finger connecting fork. The rear end of the first connecting rod is a first fork, and the front end of the first connecting rod is a second fork. There are two second connecting rods. Each guide rail side plate is provided with a third connection hole at the lower part in the middle of the first arc chute. The second connecting rods are arranged on the outer sides of the guide rail side plates, and the rear ends of the second connecting rods are rotationally connected to the third connection holes through third pin shafts. The first fork is arranged inside the proximal finger connecting fork. The front end of the linear push rod extends inside the first fork. The first pin shaft passes through the proximal finger connecting fork, the first fork and the front end of the linear push rod. The second fork is located between the two second connecting rods. The rear end of the third connecting rod is located inside the second fork. The second pin shaft passes through the front end of the second connecting rod, the second fork and the rear end of the third connecting rod. The rear end of the fourth connecting rod is provided with a third fork. The third fork is provided with an upper connection hole and a lower connection hole. The front end of the third connecting rod is located between the third forks and is rotationally connected to the upper connection hole through a fourth pin shaft. The front end of the proximal finger connecting rod is located between the third forks and is rotationally connected to the lower connection hole through a fifth pin shaft.

3. The exoskeleton finger and wrist rehabilitation assistance device according to claim 2, characterized in that, The middle finger fixing strap is slidably connected to the middle finger connecting piece through a middle finger slider. The proximal finger fixing strap is connected to or directly connected to the proximal finger connecting piece through a proximal finger slider.

4. The exoskeleton finger and wrist rehabilitation assistance device according to claim 1, characterized in that, The second guide rail base includes a thumb guide rail bottom plate and two oppositely spaced thumb guide rail side plates; each of the two thumb guide rail side plates is provided with the second arc-shaped chute, and the thumb proximal finger clip includes a thumb connecting piece and a thumb fixing band connected to the thumb connecting piece; the thumb connecting piece has a thumb connecting rod located between the two thumb guide rail side plates, the thumb connecting rod is provided with two fifth connection holes, each of the two fifth connection holes is penetrated by a fifth pin shaft, and both ends of each fifth pin shaft are provided with second bearings; each of the second arc-shaped chutes has two of the second bearings; the rear end of the thumb connecting rod is provided with a thumb connecting fork, and the front end of the second power device extends between the thumb connecting forks and is rotatably connected to the thumb connecting forks through a sixth pin shaft; the thumb fixing band is connected to the thumb connecting rod through a thumb slider or directly connected to the thumb connecting rod.

5. The exoskeleton finger and wrist rehabilitation assistance device according to any one of claims 1 to 4, characterized in that, The torsion drive component includes a third power device, a third guide rail base and a third transmission rod, the third guide rail base is fixedly connected to the fixing plate, the third guide rail base has a third arc-shaped chute, the third transmission rod is slidably connected to the third arc-shaped chute, and one end of the third transmission rod is rotatably connected to the front end of the third power device, the other end of the third transmission rod is connected to the thumb flexion and extension device, and the rear end of the third power device is rotatably connected to the fixing plate or the third guide rail base.

6. The exoskeleton finger and wrist rehabilitation assistance device according to claim 5, characterized in that, The third transmission rod is connected with two sixth pin shafts, and both ends of each sixth pin shaft are provided with third bearings; each of the third arc-shaped chutes has two of the third bearings.

7. The exoskeleton finger and wrist rehabilitation assistance device according to any one of claims 1 to 4, characterized in that, The wrist joint rotation device includes a rotation support base, an arm bracket connected to the rotation support base and used for supporting the user's wrist, a rotation support plate rotatable relative to the rotation support base, and a rotation drive component for driving the rotation support plate, and a docking structure is arranged between one side of the fixing plate away from the thumb flexion and extension device and the rotation support plate; An electronic limit device and a mechanical limit device are arranged between the rotation support plate and the rotation support base.

8. The exoskeleton finger and wrist rehabilitation assistance device according to claim 7, characterized in that, The docking structure includes a docking hole arranged on the rotation support plate and a docking protrusion arranged on the fixing plate.

9. The exoskeleton finger and wrist rehabilitation assistance device according to claim 7, characterized in that, The electronic limit device includes an induction sheet connected to the rotation support plate and a photoelectric sensor arranged on the rotation support base; The mechanical limit device includes a fixing piece and a limiting piece, the fixing piece is fixed on the rotation support base, and the limiting piece is connected to the rotation support plate.

10. The exoskeleton finger and wrist rehabilitation assistance device according to claim 9, characterized in that, There are two of the photoelectric sensors and the fixing pieces respectively, and the two photoelectric sensors are located between the two fixing pieces.

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