Wearable rigid-flexible hybrid driving finger joint rehabilitation training robot

Abstract

The invention relates to the technical field of finger rehabilitation training, in particular to a wearable rigid-flexible hybrid driving finger joint rehabilitation training robot. Comprising a first finger section and a second finger section. The first finger section comprises an upper end cover and a first finger section base, the upper end cover is fixedly connected with the first finger section base, a cavity is formed between the upper end cover and the first finger section base, a driving motor and a speed reducer are arranged in the cavity, and an output shaft of the driving motor is connected with the input end of the speed reducer. The output end of the speed reducer is connected with the transmission system, and two gear systems are further arranged at the bottoms of the first finger section and the second finger section. The robot and the fingers are fixed through the binding bands, the acting force borne by the finger joints in the finger direction can be reduced through sliding of the connecting rods and the stiffness springs in the rectangular grooves, and the influence factors of joint damage are reduced; the two rotating blocks can act in sequence through the inclined plane inclination angles of the first rotating telescopic structure and the second rotating telescopic structure, and the bending angle of the fingers can be controlled to a certain degree by controlling the rotating angle of the motor.

Description

technical field [0001] The invention relates to the technical field of finger rehabilitation training, in particular to a wearable rigid-flexible mixed drive finger joint rehabilitation training robot. Background technique [0002] In recent decades, with the intensification of population aging process, stroke has become a major public health problem in my country. As a non-communicable disease, stroke has become the first cause of death in my country, and it is also the leading cause of adult disability in my country. number one reason. A variety of neurological deficit symptoms may appear in patients after stroke, among which hemiplegia and movement disorders are the most common, while hand dysfunction in patients with upper limb disabilities is often clinically manifested as flexion contracture, the flexor muscle tension of the hand is dominant, interphalangeal joints and metacarpophalangeal Difficulty in joint extension, loss of fine motor functions such as grasping, sid...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a wearable rigid-flexible mixed drive finger joint rehabilitation training robot to solve the existing technical problems: the traditional mechanical exoskeleton robot may cause impact on the cartilage tissue of each joint of the hand, so there are Certain potential safety hazards, and usually its motion form is coupled, and the degree of freedom is low

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