Driving device for rope-driven hand rehabilitation robot and control method

Abstract

The invention discloses a driving device for a rope-driven hand rehabilitation robot and a control method. The device comprises a fixing frame, a large spool, a small spool, a planetary gear motor, a buckling driving rope, a stretching driving rope, a buckling driving module and a stretching driving module. The buckling driving module and the stretching driving module each comprise a plurality of optical shafts, a thumb sliding block, an index finger and middle finger sliding block and a finger rope. Movement of the thumb, the index finger and the middle finger is controlled through a single planetary gear motor, self-adaptive grabbing of the hand rehabilitation robot is achieved through a differential structure of a pulley block, and the cost and complexity of the system are reduced; a spring is used for controlling the distance between the thumb sliding block and the index finger and middle finger sliding block, so that the hand rehabilitation robot can return to the initial hand posture after completing self-adaptive grasping; and through the design of different radiuses of the large thread spool and the small thread spool, the kinematics difference during finger bending and stretching is compensated, and the use comfort and the control efficiency of the hand rehabilitation robot are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, relates to finger rehabilitation technology, and particularly relates to a driving device and a control method for a cable-driven hand rehabilitation robot. Background Art

[0002] With the increasing demand of humans for health and rehabilitation treatment, hand rehabilitation robots, as an effective treatment means, have gradually received extensive attention. Hand rehabilitation robots are designed to help patients recover from hand dysfunction caused by reasons such as stroke and spinal cord injury, simulate the natural movement trajectory of the hand, and assist patients in various rehabilitation trainings. Common types of hand rehabilitation robot drivers include pneumatic drive and cable drive, etc.

[0003] The pneumatic drive system is widely used in the field of robots due to its advantages such as simple structure and good mechanical properties. However, pneumatic drive has disadvantages such as low control accuracy, complex system, slow response speed, etc., and the supply and management of the gas source are relatively complex and are easily affected by environmental factors, thus limiting its application in precise rehabilitation training. In contrast, the cable drive system has become a widely adopted drive method in hand rehabilitation robots in recent years because of its low cost, simple structure, and ability to achieve a large movement range.

[0004] The cable drive system drives the cable and pulley system through a motor to transmit power and achieve precise control of hand movement. Compared with pneumatic drive, cable drive can not only provide higher control accuracy, but also achieve more flexible motion control in a smaller space, has stronger adaptability, and is relatively simple to repair and maintain. Therefore, the cable drive structure has significant advantages in hand rehabilitation robots.

[0005] However, modern common cable drive systems still have some problems. In terms of the cable, the cable drive system will be unstable due to cable slack, and at the same time, it will lead to poor controllability of hand movement, affecting the accuracy and smoothness of robot movement; in terms of the motor, in order to achieve the degrees of freedom of multiple fingers, many cable drive systems need to configure corresponding motors for each finger for control, greatly increasing the system cost and complexity. And for the drive system controlled by a single motor, generally only limited types of action trainings can be carried out, and it is difficult to achieve the grasping of different-shaped objects, greatly reducing the rehabilitation assistance effect of the hand rehabilitation robot.

[0006] Therefore, further optimizing the cable drive system and solving the above problems are crucial for improving the functions of hand rehabilitation robots. Summary of the Invention

[0007] In view of the problems existing in the prior art, the present invention proposes a driving device and a control method for a cable-driven hand rehabilitation robot, which uses a single planetary reduction motor to drive the finger cables of the thumb, index finger and middle finger, and uses a pulley group configuration and a fixed finger cable movement path to enable the hand rehabilitation robot to achieve adaptive grasping under underactuation; two spools with different diameters are used to compensate for the kinematic differences during finger flexion and extension, reduce the slack of the cables, and further improve the comfort and efficiency of the hand rehabilitation robot.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0009] A driving device for a cable-driven hand rehabilitation robot, comprising a fixing frame, a large spool, a small spool, a planetary reduction motor, a flexion driving cable, an extension driving cable, a flexion driving module and an extension driving module; the large spool, the planetary reduction motor and the small spool are installed on the fixing frame and are meshed by bevel gears in sequence, the large spool and the small spool are respectively connected to the fixing frame through bearings and rotate in opposite directions under the drive of the planetary reduction motor; both the flexion driving module and the extension driving module include multiple optical axes, a thumb slider, an index finger and middle finger slider, and finger cables, the multiple optical axes are installed between both ends of the fixing frame and respectively pass through the thumb slider and the index finger and middle finger slider; the thumb slider and the index finger and middle finger slider can slide on the optical axes, and a spring is arranged between them; the finger cables pass through the pulley groups inside the thumb slider and the index finger and middle finger slider and are used to connect to an external hand rehabilitation robot, one end of the flexion driving cable is connected to the thumb slider of the flexion driving module, and the other end is wound around the large spool, and one end of the extension driving cable is connected to the thumb slider of the extension driving module, and the other end is wound around the small spool.

[0010] Further, the finger cables include a thumb cable and an index finger and middle finger cable, the thumb slider includes a housing, a thumb pulley group and an adjustment knob, the index finger and middle finger slider includes a housing and two pulley groups, one end of the thumb cable is fixed to the adjustment knob of the thumb slider, and the other end sequentially bypasses one pulley group of the index finger and thumb slider and the pulley group of the thumb slider, and finally passes out from one end of the thumb slider and is used to connect the thumb part of the hand rehabilitation robot; the index finger and middle finger cable enters and passes out from the other pulley group in the index finger and middle finger slider, and both ends of it are respectively used to connect the index finger part and the middle finger part of the hand rehabilitation robot.

[0011] Further, the housing of the thumb slider and the thumb pulley group are attracted by magnets.

[0012] Further, the adjustment knob penetrates through the thumb pulley group and the housing of the thumb slider, is meshed with the thumb pulley group through a cross tooth, and the thumb cable in the finger cable is fixed to the adjustment knob and wound around the winch of the adjustment knob.

[0013] Furthermore, a linear bearing is embedded inside the index finger and middle finger slider housing, enabling it to slide on the optical axis; on both side surfaces of the index finger and middle finger slider housing, a slave pulley group and a two-finger pulley group are respectively embedded, and both pulley groups are mutually attracted to the housing through the internal magnets; two grooved pulleys are placed inside each pulley group to arrange the finger rope path, and the two pulley group covers are matched with the corresponding pulley groups through the grooves on the pulley group surfaces.

[0014] Furthermore, the winding radius ratio of the small spool and the large spool is 5:6.

[0015] Furthermore, the finger rope is connected to the hand rehabilitation robot through a Teflon interface.

[0016] Furthermore, the thumb slider and the index finger and middle finger slider are connected to the optical axis through linear bearings.

[0017] Furthermore, the pulleys on the pulley groups in the thumb slider and the index finger and middle finger slider are all provided with grooves.

[0018] The present invention also provides a control method for a driving device of a rope-driven hand rehabilitation robot, including the following steps:

[0019] The planetary reduction motor rotates, drives the large spool and the small spool to rotate simultaneously in opposite directions through the meshing bevel gears, and the extension driving rope fixed on the small spool drives the extension driving module to slide to control finger extension; the flexion driving rope fixed on the large spool drives the flexion driving module to slide to control finger flexion.

[0020] When the slider moves in one direction and the thumb rope is blocked, the rope between the two sliders becomes shorter, driving the index finger and middle finger slider to continue moving, thereby driving the index finger and middle finger of the hand rehabilitation robot to continue moving, and the spring is in a compressed state; when the index finger rope or the middle finger rope is blocked, the length of the rope between the two sliders remains unchanged, and the remaining rope continues to drive the corresponding finger to move, realizing the adaptive grasping of the hand rehabilitation robot; when the slider moves in the opposite direction, the spring returns to its original length, and the posture of the hand rehabilitation robot returns to the initial state.

[0021] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0022] 1. The present invention drives the movement of the thumb, index finger, and middle finger through a single planetary reduction motor, realizes the under-actuated control of the hand rehabilitation robot, and reduces the energy consumption and cost of the system.

[0023] 2. The present invention adopts the differential structure of the pulley group with grooved pulleys to realize the adaptive grasping of the hand rehabilitation robot, reduces the complexity of the system, and improves the flexibility of the hand rehabilitation robot.

[0024] 3. The present invention uses a spring to control the distance between the thumb slider and the index and middle finger sliders, enabling the hand rehabilitation robot to return to the initial hand posture after completing adaptive grasping, thereby improving the comfort and efficiency of using the hand rehabilitation robot.

[0025] 4. The present invention sets small and large spools with different radii to compensate for the kinematic differences during finger flexion and extension, reduce the degree of rope slack, and improve the comfort and control efficiency of using the hand rehabilitation robot. Description of the Drawings

[0026] Figure 1 It is an overall schematic diagram of the driving device for a cable-driven hand rehabilitation robot provided by the present invention;

[0027] Figure 2 It is a schematic diagram of the finger cable path provided by the present invention; Figure 2 In (a) is a schematic diagram of the thumb cable connection, (b) is a schematic diagram of the index finger cable connection, and (c) is a schematic diagram of the connection between the thumb slider and the index and middle finger sliders;

[0028] Figure 3 It is a schematic diagram of the thumb slider provided by the present invention; Figure 3 In (a) is a schematic diagram of the thumb slider structure, (b) is a sectional structure diagram of (a) in the E-E direction, (c) is a rear view of (a), (d) is an internal structure diagram of (c), and (e) is a schematic diagram of the adjustment knob structure;

[0029] Figure 4 It is a schematic diagram of the index and middle finger slider provided by the present invention; Figure 4 In (a) is a schematic diagram of the index and middle finger slider structure, and (b) is a sectional structure diagram of (a) in the A-A direction;

[0030] Figure 5 It is a schematic diagram of the small and large spools provided by the present invention, Figure 5 In (a) is a sectional structure diagram of the large spool, and (b) is a sectional structure diagram of the small spool.

[0031] Description of the Reference Numerals:

[0032] 1 - Fixed bracket, 2 - Large spool, 3 - Bevel gear, 4 - Small spool, 5 - Driving rope, 6 - Thumb slider, 7 - Spring, 8 - Index and middle finger slider, 9 - Teflon tube straight-through joint, 10 - Optical axis, 11 - Finger rope, 12 - Planetary reduction motor, 201 - Thumb rope, 202 - Index finger rope, 203 - Middle finger rope, 301 - Thumb slider housing, 302 - Fixed groove, 303 - Grooved pulley, 304 - Linear bearing, 305 - Driving rope window, 306 - Thumb pulley set, 307 - Thumb pulley set cover, 308 - Thumb pulley set magnet, 309 - Thumb slider housing magnet, 310 - External thread bearing, 311 - Adjusting knob, 312 - Spring holder, 313 - Cross teeth, 314 - Rope slot, 315 - Bottom groove, 316 - Adjusting knob winch, 401 - Index and middle finger slider housing, 402 - Slave pulley set, 403 - Linear bearing, 404 - Two-finger pulley set, 405 - Grooved pulley, 406 - Pulley set magnet, 407 - Slider magnet, 408 - Pulley set cover, 501 - Bearing with set screw, 502 - Large spool rope fixing groove, 503 - Large spool stranding groove, 504 - Large spool gear end, 505 - Small spool gear end, 506 - Small spool stranding groove, 507 - Small spool rope fixing groove. Detailed implementation mode

[0033] The technical solutions provided by the present invention will be described in detail below in conjunction with specific embodiments. It should be understood that the following specific implementation modes are only used to illustrate the present invention and not to limit the scope of the present invention. It should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the terms "inner" and "outer" refer to the directions towards or away from the geometric center of a specific component respectively.

[0034] Such as Figure 1As shown, the driving device for a rope-driven hand rehabilitation robot provided by the present invention comprises a fixed frame 1, a large bobbin 2, a bevel gear 3, a small bobbin 4, a driving rope 5, a thumb slider 6, a spring 7, an index finger and middle finger slider 8, a Teflon tube straight-through joint 9, an optical axis 10, a finger rope 11, and a planetary reduction motor 12. The large bobbin 2, the small bobbin 4, the Teflon tube straight-through joint 9, the optical axis 10, and the planetary reduction motor 12 are all fixed on the fixed frame 1, wherein the large bobbin 2 and the small bobbin 4 are fixed on both sides of the same end of the fixed frame 1, the large bobbin 2 is fixed on the upper side of the right end of the fixed frame 1, and the small bobbin 4 is fixed on the lower side of the right end of the fixed frame 1. The bevel gear 3 is installed on the inner side of the large bobbin 2, the planetary reduction motor 12, and the inner side of the small bobbin 4 and meshes in sequence. When the planetary reduction motor 12 rotates, the large bobbin 2 and the small bobbin 4 are driven to rotate through the bevel gear 3. There are two driving ropes 5, thumb sliders 6, and index and middle finger sliders 8, which are respectively arranged on the upper and lower sides of the right end of the fixing frame 1. One end of the two driving ropes 5 is fixed on the fixing frame 1, and the other end is respectively fixed on the large spool 2 or the small spool 4 after passing through the bearings in the thumb sliders 6 on the side. The optical axis 10 is arranged on both sides of the fixing frame 1, and passes through the thumb sliders 6 and the index and middle finger sliders 8 on both sides. Specifically, there are 6 optical axes 10, 3 of which are symmetrically arranged on the upper and lower sides. Taking one side as an example, two of the optical axes 10 pass through the index and middle finger sliders 8, and all three optical axes 10 pass through the thumb slider 6. There are 4 springs 7, still taking one side as an example, 2 springs 7 are sleeved on the optical axis 10, and are respectively connected to the thumb slider 6 and the index and middle finger slider 8. The finger rope 11 is used to pass through the pulley block inside the thumb slider 6 and the index and middle finger slider 8, and pass through the Teflon tube straight-through joint 9 to connect with the external hand rehabilitation robot for driving the hand rehabilitation robot.

[0035] like Figure 2 As shown, the finger ropes include a thumb rope 201, an index finger rope 202 and a middle finger rope 203. Among them, the thumb rope 201 is fixed on the knob of the thumb slider, and passes through the pulley group of the index finger thumb slider and the thumb pulley group of the thumb slider in turn, and finally passes through one end of the thumb slider, and enters the Teflon tube straight-through interface to connect to the thumb part of the hand rehabilitation robot. The index finger rope 202 and the middle finger rope 203 are respectively the two ends of the same rope wrapped around the two-finger pulley group of the index finger thumb slider. They respectively enter the Teflon tube straight-through interface to connect to the index finger part and the middle finger part of the hand rehabilitation robot. Since the thumb rope 201, the index finger rope 202 and the middle finger rope 203 all pass through the Teflon tube straight-through connector 9, there are 6 Teflon tube straight-through connectors 9, corresponding to the finger ropes on both sides. They are fixed at the left end of the fixing frame 1 and are symmetrically distributed. Figure 2For example, during the process of the two sliders moving to the left, when the thumb rope 201 is blocked, the rope between the two sliders will become shorter, driving the index finger and middle finger sliders to continue moving, thereby driving the index finger and middle finger of the hand rehabilitation robot to continue moving. At this time, the spring is in a compressed state; when the index finger rope 202 or the middle finger rope 203 is blocked, the length of the rope between the two sliders remains unchanged, and the remaining rope continues to drive the corresponding finger to move, thereby realizing the adaptive grasping of the hand rehabilitation robot. When the slider moves in the opposite direction, the spring returns to its original length, returning the posture of the hand rehabilitation robot to the initial state.

[0036] Such as Figure 3As shown, the thumb slider includes a thumb slider housing 301, a fixed groove 302, a grooved pulley 303, a linear bearing 304, a drive rope window 305, a thumb pulley set 306, a thumb pulley set cover 307, a thumb pulley set magnet 308, a thumb slider housing magnet 309, an external thread bearing 310, an adjustment knob 311, a spring holder 312, a cross tooth 313, a rope slot 314, a bottom groove 315, and an adjustment knob winch 316. The external thread bearing 310 is embedded inside the thumb slider housing 301 and penetrates through one side of the housing to form the drive rope window 305. The drive rope enters the thumb slider housing through the drive rope window, passes through the external thread bearing 310, and then connects to the spool. The drive rope can slide through the external thread bearing 310 to drive the thumb slider 301 to move along the optical axis. The linear bearing 304 is embedded inside the thumb slider housing 301 and penetrates through the optical axis. The linear bearing 304 makes the movement of the thumb slider housing 301 on the optical axis smoother. The thumb pulley set 306 is embedded on the surface of the thumb slider housing 301, and the two are attracted to each other through the internal thumb pulley set magnet 308 and thumb slider housing magnet 309. Specifically, the thumb slider housing 301 is fixedly connected to the thumb slider housing magnet 309, and the thumb pulley set 306 is fixedly connected to the thumb pulley set magnet 308. When the two magnets are separated and no longer attracted, it is convenient to disassemble and assemble the finger rope in the thumb pulley set 306. Two grooved pulleys 303 are placed inside the thumb pulley set 306 to arrange the finger rope path. The thumb pulley set cover 307 is matched with it through the fixed groove 302 on the surface of the thumb pulley set 306 to prevent the external environment from affecting the movement of the rope. The spring holder 312 is used to fix the spring between the thumb slider and the index finger-middle finger slider, so that the spring connects these two sliders. The adjustment knob 311 penetrates through the thumb pulley set 306 and the thumb slider housing 301 and meshes with the thumb pulley set 306 through the cross tooth 313. At this time, the adjustment knob 311 cannot rotate. The finger rope is fixed through the rope slot 314 of the adjustment knob 311 and wound around the winch 316 of the adjustment knob 311. The adjustment knob 311 is matched with the thumb slider housing 301 through the bottom groove 315 to fix the adjustment knob 311. When the adjustment knob 311 is pulled out, the cross tooth 313 and the thumb pulley set 306 are no longer meshed, and the adjustment knob 311 can rotate freely, so that the thumb rope is wound around the winch 316, thereby adjusting the length of the thumb rope and the distance between the sliders.

[0037] As Figure 4As shown in the figure, the index finger and middle finger slider includes an index finger and middle finger slider housing 401, a slave pulley set 402, a linear bearing 403, a two-finger pulley set 404, a grooved pulley 405, a pulley set magnet 406, a slider magnet 407, and a pulley set cover 408. A linear bearing 403 is embedded inside the index finger and middle finger slider housing 401 to enable it to slide on the optical axis; the slave pulley set 402 and the two-finger pulley set 404 are respectively embedded on both side surfaces of the index finger and middle finger slider housing 401. Both the pulley sets 402 and 404 are mutually attracted to the slider magnet 407 of the housing 401 through the pulley set magnet 406 inside, so as to fix the pulley sets on the slider. Specifically, the pulley set magnet 406 is fixedly connected to the pulley set, and the slider magnet 407 is fixedly connected to the index finger and middle finger slider housing 401; two grooved pulleys 405 are placed inside both the pulley sets 402 and 404 to arrange the finger rope path, and the two pulley set covers 408 are respectively matched with the pulley sets 402 and 404 through the grooves on the surfaces of the pulley sets 402 and 404.

[0038] As Figure 5 shown in the figure, the large spool includes a bearing with a setscrew 501, a large spool rope fixing groove 502, a large spool stranding groove 503, and a large spool gear end 504. The small spool includes a bearing with a setscrew 501, a small spool gear end 505, a small spool stranding groove 506, and a small spool rope fixing groove 507. Both the large spool and the small spool are connected to the fixed seat through the bearing with a setscrew 501 and can rotate relative to the fixed seat. When the planetary reduction motor rotates, the large spool and the small spool are driven to rotate through the meshing bevel gears, and the rotation directions of the two are opposite. The extension drive rope is fixed in the small spool rope fixing groove 507, and the flexion drive rope is fixed in the large spool rope fixing groove 502. After the spools start to rotate, the two drive ropes are respectively wound in the small spool stranding groove 506 and the large spool stranding groove 503, driving the sliders on both sides to move in opposite directions. The small spool is used to control finger extension, and the large spool is used to control finger flexion. Among them, the radius ratio of the small spool stranding groove 506 to the large spool stranding groove 503 is 5:6, and different radius configurations are used to make up for the rope path differences in the extension and flexion of the human finger, improving the wearing comfort and use efficiency of the hand rehabilitation robot.

[0039] It should be noted that the above content only illustrates the technical idea of the present invention and cannot be used to limit the protection scope of the present invention. For those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and retouches can still be made, and these improvements and retouches all fall within the protection scope of the claims of the present invention.

Claims

1. A driving device for a cable-driven hand rehabilitation robot, characterized in that, It includes a fixed frame, a large spool, a small spool, a planetary reduction motor, a flexion drive rope, an extension drive rope, a flexion drive module and an extension drive module; the large spool, the planetary reduction motor and the small spool are installed on the fixed frame and are sequentially engaged by bevel gears. The large spool and the small spool are respectively connected to the fixed frame through bearings and rotate in opposite directions under the drive of the planetary reduction motor; both the flexion drive module and the extension drive module include multiple optical axes, a thumb slider, an index-middle finger slider, and finger ropes. The multiple optical axes are installed between the two ends of the fixed frame and respectively pass through the thumb slider and the index-middle finger slider; the thumb slider and the index-middle finger slider can slide on the optical axes, and a spring is arranged between them; the finger ropes pass through the pulley groups inside the thumb slider and the index-middle finger slider and are used to connect to an external hand rehabilitation robot. One end of the flexion drive rope is connected to the thumb slider of the flexion drive module, and the other end is wound around the large spool. One end of the extension drive rope is connected to the thumb slider of the extension drive module, and the other end is wound around the small spool.

2. The drive device for a cable-driven hand rehabilitation robot according to claim 1, characterized in that, The finger ropes include a thumb rope and an index-middle finger rope. The thumb slider includes a housing, a thumb pulley group, and an adjustment knob. The index-middle finger slider includes a housing and two pulley groups. One end of the thumb rope is fixed to the adjustment knob of the thumb slider, and the other end sequentially bypasses one pulley group of the index-thumb slider and the pulley group of the thumb slider and finally passes out from one end of the thumb slider, and is used to connect the thumb part of the hand rehabilitation robot; the index-middle finger rope enters the other pulley group in the index-middle finger slider and passes out, and its two ends are respectively used to connect the index finger part and the middle finger part of the hand rehabilitation robot.

3. The drive device for a cable-driven hand rehabilitation robot according to claim 2, wherein, The housing of the thumb slider and the thumb pulley group are attracted by magnets.

4. The drive device for a cable-driven hand rehabilitation robot according to claim 2, wherein, The adjustment knob penetrates through the thumb pulley group and the housing of the thumb slider and is engaged with the thumb pulley group through cross teeth. The thumb rope in the finger rope is fixed to the adjustment knob and wound around the winch of the adjustment knob.

5. The drive device for a cable-driven hand rehabilitation robot according to claim 2, characterized in that, Linear bearings are embedded inside the housing of the index-middle finger slider to enable it to slide on the optical axis; on both side surfaces of the housing of the index-middle finger slider, a slave pulley group and a two-finger pulley group are respectively embedded. Both pulley groups are mutually attracted to the housing through the magnets inside; two grooved pulleys are placed inside each pulley group to arrange the path of the finger rope, and the two pulley group covers are matched with the corresponding pulley groups through the grooves on the surface of the pulley groups.

6. The drive device for a cable-driven hand rehabilitation robot according to claim 1, wherein, The wire winding radius ratio of the small spool to the large spool is 5:

6.

7. The drive device for a cable-driven hand rehabilitation robot according to claim 1, characterized in that, The finger ropes are connected to the hand rehabilitation robot through Teflon interfaces.

8. The drive device for a cable-driven hand rehabilitation robot according to claim 1, characterized in that, The thumb slider and the index-middle finger slider are connected to the optical axis through linear bearings.

9. The drive device for a cable-driven hand rehabilitation robot according to claim 2, characterized in that, The pulleys on the pulley groups in the thumb slider and the index-middle finger slider are all provided with grooves.

10. A control method for a driving device of a cable-driven hand rehabilitation robot, characterized in that, It includes the following steps: The planetary reduction motor rotates, drives the large spool and the small spool to rotate in opposite directions at the same time through the engaged bevel gears. The extension drive rope fixed on the small spool drives the extension drive module to slide to control finger extension; the flexion drive rope fixed on the large spool drives the flexion drive module to slide to control finger flexion. When the slider moves in one direction and the thumb rope is blocked, the rope between the two sliders becomes shorter, driving the index finger and middle finger sliders to continue moving, thus driving the index finger and middle finger of the hand rehabilitation robot to continue moving, and the spring is in a compressed state; when the index finger rope or the middle finger rope is blocked, the length of the rope between the two sliders remains unchanged, and the remaining rope continues to drive the corresponding finger to move, realizing the adaptive grasping of the hand rehabilitation robot; when the slider moves in the opposite direction, the spring returns to its original length, and the posture of the hand rehabilitation robot returns to the initial state.

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