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Perceptive bionic manipulator for clinical injured finger rehabilitation

A manipulator and finger technology, applied in the field of perceptual bionic manipulator and its combined modules, can solve the problem that force position information and rehabilitation effect cannot be established effectively, the scope of application is small, and there is no precise control of joint position, joint speed and rehabilitation force. And other issues

Inactive Publication Date: 2007-07-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There have been CPM machines applying this theory in foreign countries, but there are still great limitations, concentrated in: 1. The scope of application is small, and it is mostly used for single-joint rehabilitation of large joints such as knee joints, elbow joints or wrist joints; 2. The perception function is poor, and the force position information and rehabilitation effect of the rehabilitation treatment process cannot be effectively evaluated; 3. The precise control of the joint position, joint speed and rehabilitation force is lacking during the rehabilitation treatment process; 4. Safety performance To be further improved

Method used

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  • Perceptive bionic manipulator for clinical injured finger rehabilitation
  • Perceptive bionic manipulator for clinical injured finger rehabilitation
  • Perceptive bionic manipulator for clinical injured finger rehabilitation

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0006] Specific embodiment one: this embodiment is described in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, and this embodiment is made up of the 3rd knuckle module 1, frame assembly 11 and nail bionic muscle module 2; The 3rd knuckle module 1 consists of a third base 1-1, a third torque sensor 1-2, a third connecting rod 1-3, a third shaft 1-4, a third magnetic steel 1-5, a third pulley 1-6, a third Fixed column 1-7, first cylinder 1-8, second cylinder 1-9, first spring 1-10, second spring 1-11, second base 10; third base 1-1 Hinged with the left end of the third torque sensor 1-2, the third torque sensor 1-2 and the third pulley 1-6 are contained in the fork 1-3-1 of the third connecting rod 1-3 and use the third shaft 1- 4 is connected with the third connecting rod 1-3, the end surface of the third pulley 1-6 is fixedly equipped with a third fixed column 1-7, and the front end shaft hole of the third shaft 1-4 is equipped with a third magnetic steel 1- 5. The third co...

specific Embodiment approach 2

[0007] Specific embodiment two: illustrate this embodiment in conjunction with Fig. 3, nail tensioning mechanism 2-2 among the present embodiment is made up of first guide support 2-2-1, first fastening connector 2-2-2, first guide pin 2-2-3, the first fixed pin 2-2-4 is composed; the left end of the first guide bearing 2-2-1 passes through the first fastening connector 2-2-2 and the left end upper bracket 11- in the frame assembly 11 1 is connected, the upper end hole of the first guide bearing 2-2-1 is equipped with the lower end of the first fixed pin 2-2-4, and the upper end of the first fixed pin 2-2-4 is connected with the upper cover plate 11 in the frame assembly 11 The lower end faces of -5 are in contact, the upper end of the first guide pin 2-2-3 is installed in the lower end hole of the first guide support 2-2-1, and the lower end of the first guide pin 2-2-3 is installed in the frame assembly 11 In the first long hole 11-6-1 of the mounting plate 11-6. Other comp...

specific Embodiment approach 3

[0008]Specific embodiment three: this embodiment is described in conjunction with Fig. 1, Fig. 2, Fig. 4, Fig. 5, and this embodiment is made up of second knuckle module 3, frame assembly 11 and second bionic muscle module 4; The second knuckle module 3 consists of the second base 10, the second torque sensor 3-2, the second connecting rod 3-3, the second shaft 3-4, the second magnetic steel 3-5, the second pulley 3-6, and the second fixed column 3-7, the third cylinder 3-8, the fourth cylinder 3-9, the third spring 3-10, the fourth spring 3-11 and the first support 12; the second support 10 and the second torque The left end of sensor 3-2 is hinged, and the second torque sensor 3-2 and the second pulley 3-6 are contained in the fork 3-3-1 of the second connecting rod 3-3 and use the second shaft 3-4 and the second The connecting rod 3-3 is connected, the end face of the second pulley 3-6 is fixedly equipped with a second fixed column 3-7, and the second magnetic steel 3-5 is ...

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Abstract

The invention is a perception bionical mechanical hand and relates to a wounded finger rehabilitation device. It consists of either third knuckle module 1, framework 11 and first bionical muscle module 2 or second finger knuckle module 3, framework 11 and second bionical muscle module 4 or first finger knuckle module 5, framework 11, third bioncal muscle module 6 and fourth bionical muscle module 7 or bionical finger module 8 and bionical muscle module 9. The third knuckle module 1 links with the second knuckle module 3 which links with first knuckle module 5 in the bionical finger module 8 and third knuckle module 1 links with first bionical muscle module 2 while second knuckle module 3 links with second bionical muscle 4. First knuckle module 1 links with third bionical muscle module 6 and fourth bionical muscle module 7. The invention is of simple structure and fine safety and is able to cast rehabilitation treatment on single or multiple knuckles of the finger.

Description

Technical field: [0001] The invention relates to a wounded finger rehabilitation device, in particular to a sensory bionic manipulator and a combination module thereof for clinical wounded finger rehabilitation. Background technique: [0002] The main function of the hand is accomplished through the flexible movement of the fingers, and the trauma that seriously affects the function of the fingers mainly includes: hand extensor and flexor tendon injuries, finger fractures, dislocations, corresponding nerve injuries that affect finger movements, finger separation injuries, finger injuries, etc. And palm soft tissue contusion. Clinically, it is often necessary to fix the affected finger in a functional position, a rest position, or a special position for 3 to 4 weeks after hand trauma surgery, resulting in stasis around the tendons in the joints and fibrosis, which leads to adhesion of finger joints and tendons, affecting The function of the affected finger. At present, the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/08B25J19/02A61B17/56
Inventor 付宜利张付祥王树国孟庆刚
Owner HARBIN INST OF TECH
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