Finger rehabilitation robot based on rope driving and control method

Abstract

The invention belongs to the field of rehabilitation medical instruments, and particularly relates to a finger rehabilitation robot based on rope driving and a control method.The finger rehabilitation robot mainly comprises a base, a thumb assembly and a four-finger assembly, the thumb assembly is installed on the base through a torsional spring installation shaft, and the four-finger assembly is installed on the base through a rotating support and a switching hinge; the hand back is fixed to the base through the palm supporting strip, the fingers are worn in the four-finger assembly and the thumb assembly respectively, multi-dimensional driving modes such as a motor, an electric cylinder and a Bowden cable are fused, all the freedom degrees of motion of the fingers are covered, and multiple humanoid actions such as five-finger bending and stretching and finger adduction and abduction can be completed; multi-degree-of-freedom rehabilitation training aiming at fingers is accurately realized, and sufficient rehabilitation treatment is provided; meanwhile, a limiting block is arranged on the metacarpophalangeal joint support, so that injury caused by excessive bending or reverse bending of fingers in the rehabilitation process is avoided, and the safety of rehabilitation training is guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of rehabilitation medical devices, and particularly relates to a finger rehabilitation robot based on rope driving and a control method. BACKGROUND

[0002] With the development of robots and rehabilitation medicine, researchers have designed many robots to help rehabilitation, but most of the proposed rehabilitation devices are used for lower limbs or arms, and there are few effective hand rehabilitation mechanisms at present. At the same time, the existing rehabilitation devices have poor precision, poor rehabilitation effect and high price, and are difficult to promote to the market.

[0003] In the prior art, an invention patent with patent announcement number CN202410246574.0 discloses a connecting rod type finger rehabilitation robot and an optimization design method thereof. The robot can only move according to a preset trajectory, is difficult to adapt to different hand sizes or abnormal postures such as finger contracture, and can only perform flexion and extension exercises, and cannot perform expansion exercises.

[0004] Therefore, it is necessary to design a finger rehabilitation robot based on rope driving and a control method to solve the problems of poor precision and poor rehabilitation effect of the existing rehabilitation devices. SUMMARY

[0005] In order to solve the above problems of the prior art, the application provides a finger rehabilitation robot based on rope driving and a control method. The back of the hand is fixed on the base by the palm support bar, the fingers are respectively worn in the four-finger assembly and the thumb assembly, the multi-dimensional driving modes such as motors, electric cylinders and Bowden wires are fused, all the movement degrees of freedom of the fingers are covered, multiple human-like actions such as five-finger flexion and extension and finger adduction and abduction can be completed, the rehabilitation training for multiple degrees of freedom of the fingers can be accurately realized, and sufficient rehabilitation treatment is provided.

[0006] To achieve the above purpose, the application adopts the following technical solutions: The application provides a rope-driven finger rehabilitation robot, which comprises a base, a thumb assembly, a four-finger assembly, a first motor, a half gear, a first gear, a torsional spring, a first rack, a second gear, a second rack, a second motor and a palm support bar, the thumb assembly is installed on the base, the first end of the torsional spring is arranged below the base, the second end of the torsional spring is arranged below the thumb assembly, the four-finger assembly is installed on the base, the first motor is arranged on a first support of the base, the first rack is installed in a first sliding groove of the base and is connected with the output end of the first motor, the first gear is arranged below the four-finger assembly at the index finger position, the second gear is arranged below the four-finger assembly at the little finger position and is in meshing transmission with the first rack, the second motor is arranged on a second support of the base, the second rack is installed in a second sliding groove of the base and is connected with the output end of the second motor, the half gear is arranged below the four-finger assembly at the middle finger position and is in meshing transmission with the second rack and the first gear respectively, and the two ends of the palm support bar are arranged on the two sides of the base.

[0007] Preferably, the thumb assembly is installed on the rotating shaft hole of the base through a torsional spring mounting shaft, the torsional spring is sleeved on the torsional spring mounting shaft, and the four-finger assembly is sequentially installed on the vertical shaft seat and the mounting hole of the base through a rotating support and a adapter hinge respectively.

[0008] Preferably, the thumb assembly further comprises a spring, a cross shaft and a button, the two ends of the cross shaft are arranged in the inside of the adjusting seat through the two inner walls on the two sides of the adjusting seat, the button passes through the inner wall above the adjusting seat, the end of the button is attached to the first end of the cross shaft, the first end of the spring is attached to the second end of the cross shaft, and the second end of the spring is arranged on the inner wall of the adjusting seat.

[0009] Preferably, when normally operating, the boss below the cross shaft is in abutment with the surface of the L-shaped connecting rod under the action of the spring, so that the adjusting seat is limited; and the position of the adjusting seat on the L-shaped connecting rod can be adjusted by pressing the button.

[0010] Preferably, the proximal joint sleeve is arranged below the proximal joint support, the metacarpophalangeal joint sleeve is arranged below the metacarpophalangeal joint support, the first end of the proximal joint support is rotationally connected with the first end of the metacarpophalangeal joint support, and the second end of the proximal joint support is rotationally connected with the first end of the driving rod.

[0011] Preferably, the second end and the fourth end of the metacarpophalangeal joint bracket are provided with limiting blocks.

[0012] Preferably, the first gear is installed below the four-finger assembly at the index finger position by means of a first gear drive shaft, the second gear is installed below the four-finger assembly at the little finger position by means of a second gear drive shaft, and the half gear is installed below the four-finger assembly at the middle finger position by means of a half gear drive shaft.

[0013] In a second aspect, the application provides a control method for a rope-driven finger rehabilitation robot, comprising the following steps: S1. Adjusting the position of the thumb sleeve according to the shape of the thumb, pressing the button in the thumb assembly, and pushing the adjusting seat along the L-shaped connecting rod to the target position. After the adjustment is completed, release the button, and lock the adjusting seat; S2. The robot is powered on and initialized, the first motor, the second motor and the electric cylinder are reset to the initial position, and the target rehabilitation mode is selected. The rehabilitation mode includes passive training mode, auxiliary training mode and impedance training mode, specifically: Passive training mode: the speed of the first motor, the second motor and the electric cylinder is very low, and the robot drives the fingers to move according to the preset trajectory; Auxiliary training mode: the robot provides auxiliary force to assist the fingers to complete the target motion trajectory, and the robot adjusts the output force according to the deviation between the target position and the actual position; Impedance training mode: the speed of the first motor, the second motor and the electric cylinder is medium-high, and the robot applies a preset resistance to the first motor, the second motor and the electric cylinder; S3. The robot drives the fingers to complete the rehabilitation training, and after completion, the robot is powered off.

[0014] Preferably, in step S2, when selecting the target rehabilitation mode, it is determined whether to collect electroencephalogram signals or electromyogram signals as control input.

[0015] Preferably, in step S2, in the impedance training mode, the resistance is dynamically adjusted according to the muscle strength test, and the resistance is constant or adjustable.

[0016] Compared with the prior art, the application has the following advantages: (1) The rope-driven finger rehabilitation robot provided by the application fixes the back of the hand on the base by means of the palm support bar, sets the metacarpophalangeal joint sleeve in the metacarpophalangeal joint sleeve, sets the proximal phalangeal joint sleeve in the proximal phalangeal joint sleeve, and combines multiple driving modes such as motors, electric cylinders and Bowden wires, thereby covering all the movement degrees of freedom of the fingers, completing multiple human-like actions such as finger flexion and extension and finger adduction and abduction, and accurately realizing rehabilitation training for multiple degrees of freedom of the fingers to provide sufficient rehabilitation treatment.

[0017] (2) The finger rehabilitation robot based on rope driving provided by the application is provided with a spring, a cross shaft and a button in the thumb assembly, the cross shaft is arranged in the adjusting seat through the inner walls on both sides of the adjusting seat at both ends, the button is arranged through the adjusting seat and is attached to the cross shaft, the spring is attached to the cross shaft and the inner wall of the adjusting seat at both ends, and the boss below the cross shaft is pressed against the surface of the L-shaped connecting rod under the action of the spring, so that the position of the adjusting seat is locked; the button is pressed, the spring is compressed, the position of the adjusting seat on the L-shaped connecting rod is quickly adjusted according to the shape of the thumb, and the adaptability of the robot to different users is improved.

[0018] (3) The finger rehabilitation robot based on rope driving provided by the application is provided with two limiting blocks on the metacarpophalangeal joint support, when the finger is bent to the maximum angle, the driving rod is pressed against the lower limiting block, the mechanism stops moving, and the condition of excessive bending of the finger is avoided; the upper limiting block is used for preventing the finger from being damaged due to reverse bending during the rehabilitation process, and also can avoid the coincidence of the proximal interphalangeal joint support and the driving rod, and further cause the dead point. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a first view overall component schematic diagram of the finger rehabilitation robot based on rope driving of the application; Figure 2 It is a second view overall component schematic diagram of the finger rehabilitation robot based on rope driving of the application; Figure 3 It is a base structure diagram of the finger rehabilitation robot based on rope driving of the application; Figure 4 It is a four-finger assembly structure diagram of the finger rehabilitation robot based on rope driving of the application; Figure 5 It is a thumb assembly structure diagram of the finger rehabilitation robot based on rope driving of the application; Figure 6 It is a local enlarged structure diagram of the thumb assembly of the finger rehabilitation robot based on rope driving of the application; Figure 7 It is a flexion and extension experimental curve diagram of the metacarpophalangeal joint of the index finger of the finger rehabilitation robot based on rope driving of the application; Figure 8 It is an adduction and abduction experimental curve diagram of the metacarpophalangeal joint of the index finger of the finger rehabilitation robot based on rope driving of the application; Figure 9 It is a flexion and extension experimental curve diagram of the proximal interphalangeal joint of the index finger of the finger rehabilitation robot based on rope driving of the application.

[0020] Main reference signs: Base 1, first support 101, first sliding groove 102, vertical shaft seat 103, second sliding groove 104, rotating shaft hole 105, mounting hole 106, second support 107, thumb assembly 2, thumb sleeve 201, adjusting seat 202, L-shaped connecting rod 203, driving rod 204, L-shaped support 205, thumb driving Bowden cable 206, spring 207, cross shaft 208, button 209, four-finger assembly 3, proximal phalanx support 301, proximal phalanx sleeve 302, driving rod 303, metacarpophalangeal joint support 304, limiting block 3041, metacarpophalangeal joint sleeve 305, four-finger driving Bowden cable 306, hinge connecting seat 307, electric cylinder 308, torsional spring mounting shaft 4, first motor 5, half gear 6, first gear driving shaft 7, first gear 8, half gear driving shaft 9, torsional spring 10, rotating support 11, first rack 12, second gear 13, second gear driving shaft 14, second rack 15, second motor 16, palm support bar 17, adapter hinge 18. DETAILED DESCRIPTION

[0021] To make the technical content of the present application, the purpose achieved and the effect clear, the following will be described in detail in conjunction with the drawings of the specification.

[0022] Based on the rope-driven finger rehabilitation robot, such as Figure 1 and Figure 2 As shown, it includes base 1, thumb assembly 2, four-finger assembly 3, torsional spring mounting shaft 4, first motor 5, half gear 6, first gear driving shaft 7, first gear 8, half gear driving shaft 9, torsional spring 10, rotating support 11, first rack 12, second gear 13, second gear driving shaft 14, second rack 15, second motor 16, palm support bar 17 and adapter hinge 18, the thumb assembly 2 is used for rehabilitation training of the thumb, and the four-finger assembly 3 is used for rehabilitation training of the index finger, middle finger, ring finger and little finger.

[0023] As Figure 3As shown, the base 1 is a key component of the finger rehabilitation robot, which is used to support various main components. The base 1 includes a first support 101, a first sliding groove 102, a vertical shaft seat 103, a second sliding groove 104, a rotating shaft hole 105, a mounting hole 106, and a second support 107. The thumb assembly 2 is installed on the rotating shaft hole 105 of the base 1 through a torsional spring mounting shaft 4. A torsional spring 10 is sleeved on the torsional spring mounting shaft 4. The first end of the torsional spring 10 is arranged below the base 1, and the second end of the torsional spring 10 is arranged below an L-shaped support 205 of the thumb assembly 2. The torsional spring 10 can resist the thumb assembly 2 by its torsional force, so that the thumb assembly 2 will not sag and shake. The initial position of the torsional spring 10 is the initial position of the thumb assembly 2. The four-finger assembly 3 is sequentially installed on the vertical shaft seat 103 and the mounting hole 106 of the base 1 through a rotating support 11 and an adapter hinge 18, respectively. The adapter hinge 18 has two degrees of freedom. The L-shaped support 205 in the four-finger assembly 3 can move left and right and up and down around the adapter hinge 18. The first motor 5 is arranged on the first support 101 of the base 1. The first rack 12 is installed in the first sliding groove 102 of the base 1, and the end of the first rack 12 is connected with the output end of the first motor 5. The second gear driving shaft 14 is installed below the four-finger assembly 3 at the position of the little finger and passes through the adapter hinge 18. The second gear 13 is sleeved on the second gear driving shaft 14. The second gear 13 is in meshing transmission with the first rack 12. The second motor 16 is arranged on the second support 107 of the base 1. The second rack 15 is installed in the second sliding groove 104 of the base 1, and the end of the second rack 15 is connected with the output end of the second motor 16. The half gear driving shaft 9 is installed below the four-finger assembly 3 at the position of the middle finger and passes through the adapter hinge 18. The half gear 6 is sleeved on the half gear driving shaft 9. The first gear driving shaft 7 is installed below the four-finger assembly 3 at the position of the index finger and passes through the adapter hinge 18. The first gear 8 is sleeved on the first gear driving shaft 7. The half gear 6 is in meshing transmission with the second rack 15 and the first gear 8, respectively. The palm support strip 17 is arranged at both sides of the base 1. The first motor 5 and the second motor 16 are both micro linear motors, which directly output linear motion to push the first rack 12 and the second rack 15 to move linearly and reciprocally.

[0024] As Figure 4 and Figure 5As shown, the thumb assembly 2 includes a thumb sleeve 201, an adjusting seat 202, an L-shaped connecting rod 203, a driving rod 204, an L-shaped support 205, a thumb driving Bowden cable 206, a spring 207, a cross shaft 208 and a button 209, the adjusting seat 202 is sleeved on the L-shaped connecting rod 203 and can slide along the L-shaped connecting rod 203, the thumb sleeve 201 is arranged below the adjusting seat 202, the first end of the L-shaped support 205 is rotationally connected with the first end of the L-shaped connecting rod 203, the first end of the driving rod 204 is rotationally connected with the second end of the L-shaped connecting rod 203, the thumb driving Bowden cable 206 passes through the second end of the L-shaped support 205 and is fixed at the second end of the driving rod 204, the cross shaft 208 passes through the inner walls on both sides of the adjusting seat 202 and is arranged inside the adjusting seat 202, the button 209 passes through the inner wall above the adjusting seat 202, the end of the button 209 is attached to the first end of the cross shaft 208, the first end of the spring 207 is attached to the second end of the cross shaft 208, and the second end of the spring 207 is arranged on the inner wall of the adjusting seat 202. In normal operation, the boss below the cross shaft 208 is pressed against the surface of the L-shaped connecting rod 203 under the action of the spring 207, so as to lock the position of the adjusting seat 202; the button 209 is pressed, the spring 207 is compressed, the position of the adjusting seat 202 on the L-shaped connecting rod 203 can be quickly adjusted according to the shape of the thumb, and the adaptability of the robot to different users is improved.

[0025] As shown, Figure 6 As shown, the four-finger assembly 3 includes a proximal interphalangeal joint support 301, a proximal interphalangeal joint sleeve 302, a driving rod 303, a metacarpophalangeal joint support 304, a metacarpophalangeal joint sleeve 305, a four-finger driving Bowden cable 306, a hinge connecting seat 307 and an electric cylinder 308, the proximal interphalangeal joint sleeve 302 and the metacarpophalangeal joint sleeve 305 are used to fix the fingers, the proximal interphalangeal joint sleeve 302 is arranged below the proximal interphalangeal joint support 301, the metacarpophalangeal joint sleeve 305 is arranged below the metacarpophalangeal joint support 304, the first end of the proximal interphalangeal joint support 301 is rotationally connected with the first end of the metacarpophalangeal joint support 304, the second end of the proximal interphalangeal joint support 301 is rotationally connected with the first end of the driving rod 303, the four-finger driving Bowden cable 306 passes through the second end of the metacarpophalangeal joint support 304 and is fixed at the second end of the driving rod 303, the third end of the metacarpophalangeal joint support 304 is connected with the output end of the electric cylinder 308 through the hinge connecting seat 307, and the fourth end of the metacarpophalangeal joint support 304 is provided with a limiting block 3041, which prevents the fingers from being injured due to reverse bending during rehabilitation, and also avoids the coincidence of the proximal interphalangeal joint support 301 and the driving rod 303, thereby causing a dead point.

[0026] In the experiment of flexion and extension of the metacarpophalangeal joint of the index finger, first, the expected angle of the rehabilitation robot is set, then the index finger is driven by the robot to perform the flexion and extension rehabilitation movement of the metacarpophalangeal joint, and the actual flexion angle, the expected flexion angle and the time relationship curves are as follows Figure 7As shown in the experimental results, the maximum flexion angle of the metacarpophalangeal joint of the index finger is 68.47°, and the accuracy rate for the expected maximum flexion angle of 70° is 97.81%, indicating that the rehabilitation robot has high stability for the flexion and extension movement of the metacarpophalangeal joint and can meet the rehabilitation requirements.

[0027] In the adduction and abduction experiment of the metacarpophalangeal joint of the index finger, the expected angle parameters of the metacarpophalangeal joint adduction and abduction are set, and the index finger is driven by the robot to perform the adduction and abduction rehabilitation movement of the metacarpophalangeal joint. Since the free angle of the finger when relaxed is the maximum adduction angle, in the adduction and abduction rehabilitation movement, the initial position is moved outward to the maximum angle, and then moved inward to the initial position. The actual abduction angle and the expected abduction angle are respectively related to the time curve as shown in Figure 8 The maximum abduction angle of the metacarpophalangeal joint of the index finger is 7.86°, and the accuracy rate for the expected maximum abduction angle of 8° is 98.25%, indicating that the rehabilitation robot has high stability for the adduction and abduction movement of the metacarpophalangeal joint and can meet the rehabilitation requirements.

[0028] Except for the thumb, the proximal interphalangeal joints of the other four fingers have the same structure, which are driven by the electric cylinder 308 at the distal end, and the power is transmitted by the four-finger-driven Bowden cable 306 to drive the proximal interphalangeal joint of the finger to flex and extend. Here, taking the index finger as an example, the flexion and extension angle experiment of the proximal interphalangeal joint is performed. The actual flexion angle and the expected flexion angle are respectively related to the time curve as shown in Figure 9 As can be seen from the experimental results, the maximum flexion angle of the proximal interphalangeal joint of the index finger is 78.48°, and the accuracy rate for the expected maximum flexion angle of 80° is 98.10%, indicating that the rehabilitation robot has high stability for the flexion and extension movement of the proximal interphalangeal joint and can meet the rehabilitation requirements.

[0029] The control method of the finger rehabilitation robot based on the rope driving will be further described below, which includes the following steps: S1, the fingers are respectively worn in the four-finger assembly 3 and the thumb assembly 2, the position of the thumb sleeve 201 is adjusted according to the shape of the thumb, the button 209 in the thumb rehabilitation assembly 2 is pressed, and the adjusting seat 202 is pushed to slide along the L-shaped connecting rod 203 to the target position, and then the button 209 is released and the adjusting seat 202 is locked.

[0030] S2, the robot is powered on and initialized, the first motor 5, the second motor 16 and the electric cylinder 308 are reset to the initial position, the target rehabilitation mode is selected according to the rehabilitation stage, and the rehabilitation mode includes passive training mode, auxiliary training mode and impedance training mode, which are specifically: Passive training mode: when in acute stage or early stage, the muscle strength is weak, the joint is stiff, and the pain is sensitive, the passive training mode is adopted, the speed of the first motor 5, the second motor 16 and the electric cylinder 308 is extremely low, so as to minimize the pain and avoid secondary injury, the robot completely drives the fingers to move according to the preset trajectory, such as five-finger gripping, finger adduction and abduction and the like.

[0031] Auxiliary training mode: when in subacute stage or middle stage, there are problems such as abnormal muscle tension and poor coordination, the auxiliary training mode is adopted, the robot provides auxiliary force to assist the fingers to complete the target movement trajectory after detecting the weak force of the user, promotes the recovery of active muscle strength and coordination, and adjusts the output force according to the deviation between the target position and the actual position.

[0032] Impedance training mode: when in functional recovery stage, the fine action control is insufficient and the endurance is poor, the impedance training mode is adopted, the speed of the first motor 5, the second motor 16 and the electric cylinder 308 is medium-high, the robot applies preset resistance to the first motor 5, the second motor 16 and the electric cylinder 308, the user needs to actively use force to overcome the resistance to move, so as to improve the functional strength, speed and coordination.

[0033] S3, the robot drives the fingers to complete the rehabilitation training, and the robot is powered off after completion.

[0034] Further, in step S2, when selecting the target rehabilitation mode, it is determined whether the electroencephalogram or electromyogram signal needs to be collected as the control input, the control input can control the rehabilitation robot to move autonomously and help the user to recover.

[0035] Further, in step S2, the impedance training mode is adopted, the resistance is dynamically adjusted according to the muscle strength test of the user, and the resistance is constant or adjustable.

[0036] The above-described embodiments are only used to describe the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements of the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A rope-driven finger rehabilitation robot, characterized in that, It includes a base, a thumb assembly, a four-finger assembly, a first motor, a half gear, a first gear, a torsion spring, a first rack, a second gear, a second rack, a second motor, and a palm support bar. The thumb assembly is mounted on the base. The first end of the torsion spring is located below the base, and the second end of the torsion spring is located below the thumb assembly. The four-finger assembly is mounted on the base. The first motor is mounted on the first bracket of the base. The first rack is mounted in the first groove of the base and connected to the output end of the first motor. The first gear is located below the four-finger assembly at the index finger position. The second gear is located below the four-finger assembly at the little finger position and meshes with the first rack. The second motor is mounted on the second bracket of the base. The second rack is mounted in the second groove of the base and connected to the output end of the second motor. The half gear is located below the four-finger assembly at the middle finger position and meshes with the second rack and the first gear respectively. The palm support bar has two ends located on both sides of the base. The thumb assembly includes a thumb sleeve, an adjustment seat, an L-shaped connecting rod, a drive rod, an L-shaped support, and a thumb drive Bowden cable. The adjustment seat is sleeved on the L-shaped connecting rod and can slide along the L-shaped connecting rod. The thumb sleeve is located below the adjustment seat. The first end of the L-shaped support is rotatably connected to the first end of the L-shaped connecting rod. The first end of the drive rod is rotatably connected to the second end of the L-shaped connecting rod. The thumb drive Bowden cable passes through the second end of the L-shaped support and is fixed to the second end of the drive rod. The four-finger assembly includes a proximal interphalangeal joint support, a proximal interphalangeal joint sleeve, an active rod, a metacarpophalangeal joint support, a metacarpophalangeal joint sleeve, a four-finger drive Bowden cable, a hinge connector, and an electric cylinder. The four-finger drive Bowden cable passes through the second end of the metacarpophalangeal joint support and is fixed to the second end of the active rod. The third end of the metacarpophalangeal joint support is connected to the output end of the electric cylinder through the hinge connector.

2. The rope-driven finger rehabilitation robot according to claim 1, characterized in that, The thumb assembly is mounted on the rotating shaft hole of the base via a torsion spring mounting shaft, and the torsion spring is sleeved on the torsion spring mounting shaft. The four-finger assembly is mounted on the vertical shaft seat and mounting hole of the base respectively via a rotating support and a transition hinge.

3. The rope-driven finger rehabilitation robot according to claim 1, characterized in that, The thumb assembly also includes a spring, a cross shaft, and a button. The two ends of the cross shaft pass through the inner walls on both sides of the adjustment seat and are located inside the adjustment seat. The button passes through the inner wall above the adjustment seat, and the end of the button is in contact with the first end of the cross shaft. The first end of the spring is in contact with the second end of the cross shaft, and the second end of the spring is located on the inner wall of the adjustment seat.

4. The rope-driven finger rehabilitation robot according to claim 3, characterized in that, During normal operation, the boss below the cross shaft abuts against the surface of the L-shaped connecting rod under the action of the spring, limiting the position of the adjusting seat; pressing the button can adjust the position of the adjusting seat on the L-shaped connecting rod.

5. The rope-driven finger rehabilitation robot according to claim 1, characterized in that, The proximal interphalangeal joint sleeve is located below the proximal interphalangeal joint support, the metacarpophalangeal joint sleeve is located below the metacarpophalangeal joint support, the first end of the proximal interphalangeal joint support is rotatably connected to the first end of the metacarpophalangeal joint support, and the second end of the proximal interphalangeal joint support is rotatably connected to the first end of the active rod.

6. The rope-driven finger rehabilitation robot according to claim 1, characterized in that, Limiting blocks are provided at the second and fourth ends of the metacarpophalangeal joint support.

7. The rope-driven finger rehabilitation robot according to claim 1, characterized in that, The first gear is mounted below the four-finger assembly at the index finger position via a first gear drive shaft, the second gear is mounted below the four-finger assembly at the little finger position via a second gear drive shaft, and the half gear is mounted below the four-finger assembly at the middle finger position via a half gear drive shaft.

8. A control method for a rope-driven finger rehabilitation robot according to any one of claims 1-7, characterized in that, It includes the following steps: S1. Adjust the position of the thumb sleeve according to the shape of the thumb. Press the button in the thumb assembly and push the adjustment seat along the L-shaped connecting rod to the target position. After adjustment, release the button and the adjustment seat will lock. S2. The robot is powered on and initialized. The first motor, the second motor, and the electric cylinder are reset to their initial positions. The target rehabilitation mode is selected. The rehabilitation modes include passive training mode, assisted training mode, and impedance training mode, specifically: Passive training mode: The speed of the first motor, the second motor and the electric cylinder is extremely low, and the robot drives the finger to move along a preset trajectory; Assisted training mode: The robot provides auxiliary force to help the finger complete the target movement trajectory, and at the same time the robot adjusts the output force according to the deviation between the target position and the actual position; Impedance training mode: The speed of the first motor, the second motor, and the electric cylinder is medium to high speed, and the robot applies a preset resistance to the first motor, the second motor, and the electric cylinder; S3. The robot guides the fingers to complete the rehabilitation training, and then the robot is powered off.

9. The control method for the rope-driven finger rehabilitation robot according to claim 8, characterized in that, In step S2, when selecting the target rehabilitation mode, it is determined whether it is necessary to collect EEG or EMG signals as control input.

10. The control method for the rope-driven finger rehabilitation robot according to claim 8, characterized in that, In step S2, during the resistance training mode, the resistance is dynamically adjusted based on muscle strength testing. The resistance can be constant or adjustable.

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