Intelligent finger exoskeleton mechanism and intelligent finger rehabilitation exoskeleton robot

Abstract

The invention relates to an intelligent finger exoskeleton mechanism which comprises an MCP joint seat, an MCP arc-shaped arm, a PIP joint seat and a PIP arc-shaped arm which are sequentially connected towards the far end, the near end of the MCP arc-shaped arm is arranged in a first arc-shaped sliding groove of the MCP joint seat in a sliding mode, the far end of the MCP arc-shaped arm is fixedly connected with the PIP joint seat, the near end of the PIP arc-shaped arm is arranged in a second arc-shaped sliding groove of the PIP joint seat in a sliding mode, and the near end of the PIP arc-shaped arm is fixedly connected with the PIP joint seat. A connecting seat is arranged at the far end of the PIP arc-shaped arm, and finger connecting pieces are arranged on the connecting seat and the PIP joint seat; pressure sensing assemblies are arranged between the connecting base and the finger connecting piece and between the PIP joint base and the finger connecting piece and comprise frames, the bottom ends of the connecting bases are fixedly connected with middle-layer plates, the upper ends and the lower ends of the frames are fixedly provided with upper plates and lower plates respectively, the connecting bases, the upper plates, the middle-layer plates and the lower plates are sequentially arranged from top to bottom, and the frames and the connecting bases are movably connected up and down. An upper pressure sensor is arranged between the upper plate and the middle-layer plate, and a lower pressure sensor is arranged between the lower plate and the middle-layer plate.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, in particular to an intelligent finger exoskeleton mechanism and an intelligent finger rehabilitation exoskeleton robot. Background technique [0002] The goal of rehabilitation robots is to replace or assist rehabilitation therapists and simplify the traditional "one-on-one" heavy treatment process. With the continuous upgrading of technology, wearable rehabilitation robots, namely exoskeleton robots, have emerged in recent years. The exoskeleton robot is designed according to the characteristics of ergonomics, which is equivalent to the patient's exoskeleton. Patients can wear it on their limbs to assist rehabilitation training and improve the patient's rehabilitation effect. However, the existing exoskeleton robots for hand rehabilitation have the following defects: 1. The structure is complicated, the parts are complicated, and the processing and manufacturing are difficult; 2. Th...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of complex structure, inconvenient wearing and lack of training feedback existing in the prior art, the present invention provides an intelligent finger exoskeleton mechanism and an intelligent finger rehabilitation exoskeleton robot

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