Hand exoskeleton for rehabilitation

Abstract

Disclosed in the present invention is a hand exoskeleton for rehabilitation. The hand exoskeleton for rehabilitation comprises a base, a driving mechanism and a phalangeal sleeve, wherein the base is configured to be worn on an extensor side of a metacarpal bone; the driving mechanism is arranged on the base and comprises at least one driving unit; and the phalangeal sleeve is worn on an extensor side of a phalanx, at least one phalangeal sleeve is provided, the phalangeal sleeve is in transmission connection with the driving unit, and the driving unit can drive the phalangeal sleeve to rotate so as to assist in flexion or extension of the phalanx. The hand exoskeleton for rehabilitation can effectively adapt to different rehabilitation requirements of different patients for finger joints, thereby achieving the effects of performing intervention and assisting in terms of rehabilitation in different rehabilitation stages.

Description

A hand exoskeleton for rehabilitation Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots for hand rehabilitation, and in particular to a hand exoskeleton for rehabilitation. Background Art

[0002] Hand motor function plays a significant role in daily life. On average, a person clenches and tightens their hands over 1,500 times a day. Impaired hand motor function can significantly limit the number of daily tasks a patient can perform, impacting their quality of life and potentially leading to mental illness.

[0003] Aside from the thumb, the human finger consists of three primary parts: the proximal phalanx, the middle phalanx, and the distal phalanx. The proximal phalanx forms the metacarp-phalangeal (MCP) joint with the metacarpal, which has two degrees of freedom (DOF) for adduction, abduction, and flexion-extension. The middle phalanx forms the proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints with the proximal and distal phalanx, respectively, each with only one DOF for flexion-extension. The DIP and PIP joints are highly coupled, with the DIP joint moving in conjunction with the PIP joint. The thumb's carpometacarpal (CMC) joint has three DOFs: adduction, abduction, flexion-extension, and opposition. The MCP and IP joints each have only one DOF: flexion-extension.

[0004] Exoskeleton robots currently used in hand rehabilitation focus on a single, most frequently used degree of freedom: flexion or extension of the entire finger. Most hand rehabilitation robots are limited to finger flexion or extension training. This results in existing hand rehabilitation robots being unable to accurately support a single joint or multiple joints across different fingers. Consequently, existing hand rehabilitation robots are unable to effectively adapt to the diverse rehabilitation needs of different patients for their finger joints, and are unable to provide intervention and assist rehabilitation at all stages of rehabilitation. Technical issues

[0005] Most hand rehabilitation robots can only perform finger flexion or extension training. This means they can't accurately support a single joint or multiple joints on different fingers. Consequently, existing hand rehabilitation robots can't adapt to the diverse rehabilitation needs of different patients for their finger joints, and can't provide comprehensive intervention and assistance at every stage of rehabilitation. Technical Solutions

[0006] The purpose of the present invention is to propose a hand exoskeleton for rehabilitation, which can better adapt to the different rehabilitation needs of different patients for finger joints, and achieve the effect of intervening and assisting rehabilitation in different rehabilitation stages.

[0007] In order to achieve the above technical effects, the technical solutions of the present invention are as follows:

[0008] The present invention discloses a hand exoskeleton for rehabilitation, comprising: a base, the base being used to be worn on the extended side of a metacarpal bone; a drive mechanism, the drive mechanism being arranged on the base and comprising at least one drive unit; a phalangeal sleeve, the phalangeal sleeve being worn on the extended side of a phalange, the phalangeal sleeve being at least one and being transmission-connected to the drive unit; wherein the drive unit is capable of driving the phalangeal sleeve to rotate to assist in flexion or extension of the phalanges.

[0009] In some embodiments, the phalanx sleeve includes a proximal phalanx sleeve and a middle phalanx sleeve, the proximal phalanx sleeve is worn on the proximal phalanx of the phalanx, and the middle phalanx sleeve is worn on the middle phalanx of the phalanx; the driving mechanism includes a first driving unit and a second driving unit, the first driving unit is in transmission cooperation with the proximal phalanx sleeve, and the second driving unit is in transmission cooperation with the middle phalanx sleeve.

[0010] In some specific embodiments, the first drive unit includes a first drive source, a first drive link and a first transmission link; wherein: the output shaft of the first drive source is connected to one end of the first drive link, the other end of the first drive link is connected to one end of the first transmission link, and the other end of the first transmission link is rotatably connected to the proximal phalanx sleeve.

[0011] In some more specific embodiments, the first drive connecting rod includes a first rod and a second rod, one end of the first rod cooperates with the output shaft of the first drive unit, the other end of the first rod is rotatably connected to one end of the second rod, and the second rod is arranged perpendicular to the rotation axis of the output shaft of the first drive unit relative to the rotation axis of the first rod, and the other end of the second rod is connected to the first transmission connecting rod.

[0012] In some more specific embodiments, the first driving link is connected to the first transmission link via a first rotating pin, and a first angle detection device is provided on the first rotating pin to measure the relative rotation angle information between the first driving link and the first transmission link.

[0013] In some specific embodiments, the second drive unit includes a second drive source, a winding pulley, a tendon rope, a second drive link and a second transmission link, the output shaft of the second drive source is connected to the winding pulley, one end of the second transmission link is rotatably connected to the middle phalanx sleeve, the other end of the second transmission link is connected to one end of the second drive link, the tendon rope cooperates with the winding pulley and the other end of the second drive link, and the other end of the second drive link is rotatably connected to the proximal phalanx sleeve; wherein: when the second drive source drives the winding pulley to rotate, the tendon rope can drive the second drive link to rotate.

[0014] In some more specific embodiments, the second driving link is connected to the second transmission link via a second rotating pin, and a second angle detection device is provided on the second rotating pin to measure the relative rotation angle information between the second driving link and the second transmission link.

[0015] In some specific embodiments, the proximal phalanx sleeve and the middle phalanx sleeve are both provided with fixing grooves, and the proximal phalanx sleeve and the middle phalanx sleeve are respectively connected to the proximal phalanx and the middle phalanx via binding straps passing through the fixing grooves.

[0016] In some embodiments, the hand exoskeleton for rehabilitation further includes a fixing sleeve, which is mounted on the metacarpal bone.

[0017] In some specific embodiments, the fixing sleeve is provided with a plurality of bases so that the hand exoskeleton for rehabilitation can cooperate with a plurality of fingers. Beneficial effects

[0018] The beneficial effects of the hand exoskeleton for rehabilitation of the embodiment of the present invention are as follows: in the actual working process, the driving unit can drive the phalangeal sleeve to rotate to assist the flexion or extension of the phalanges. When there are multiple phalangeal sleeves, multiple independent driving units are used to realize the independent driving of the multiple phalangeal sleeves, and each phalangeal sleeve is driven by a separate driving unit. In actual rehabilitation, the number of phalangeal sleeves and driving units can be set according to the patient's different rehabilitation needs for the finger joints. For example, multiple phalangeal sleeves can be set on the same finger to achieve assisted rehabilitation of the metacarpophalangeal joints and proximal interphalangeal joints. It can also be used to assist rehabilitation of the metacarpophalangeal joints and proximal interphalangeal joints of two or three different fingers, so that the hand exoskeleton for rehabilitation can better adapt to the different rehabilitation needs of different patients for the finger joints, and achieve the effect of intervention and assisted rehabilitation in different rehabilitation stages. Since the hand exoskeleton for rehabilitation is worn on the extension side of the palm, that is, the back of the hand, the physiological tactile sensation of the human hand is retained to the greatest extent, which is conducive to rehabilitation.

[0019] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic structural diagram of a hand exoskeleton for rehabilitation according to an embodiment of the present invention.

[0021] FIG2 is a schematic diagram of the structure of the hand exoskeleton for rehabilitation in another direction according to an embodiment of the present invention.

[0022] Reference numerals:

[0023] 1. Base; 2. Proximal phalanx sleeve; 3. Middle phalanx sleeve; 4. First drive unit; 41. First drive source; 42. First rod; 43. Second rod; 44. First transmission link; 45. First angle detection device; 5. Second drive unit; 51. Second drive source; 52. Winding pulley; 53. First tendon; 54. Second tendon; 55. Second drive link; 56. Second transmission link; 57. Second angle detection device; 10. Metacarpal; 20. Proximal phalanx; 30. Middle phalanx; 40. Distal phalanx; 50. Metacarpophalangeal joint; 60. Proximal interphalangeal joint; 70. Distal interphalangeal joint. Best Mode for Carrying Out the Invention

[0024] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific implementation methods.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0026] In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and are used to distinguish and describe features, without distinction of order or importance. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0027] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0028] The specific structure of the hand exoskeleton for rehabilitation according to an embodiment of the present invention will be described below with reference to FIG1 and FIG2 .

[0029] The present invention discloses a hand exoskeleton for rehabilitation, as shown in Figures 1 and 2. The hand exoskeleton for rehabilitation includes a base 1, a driving mechanism and a phalangeal sleeve. The base 1 is used to be worn on the extended side of the metacarpal bone 10. The driving mechanism is arranged on the base 1 and includes at least one driving unit. The phalangeal sleeve is worn on the extended side of the phalange. There is at least one phalangeal sleeve, and the phalangeal sleeve is transmission-connected to the driving unit. The driving unit can drive the phalangeal sleeve to rotate to assist the phalanges in flexion or extension. It is understandable that in the actual working process, the drive unit can drive the phalangeal sleeve to rotate to assist the flexion or extension of the phalanges. When there are multiple phalangeal sleeves, multiple independent drive units are used to achieve independent drive of the multiple phalangeal sleeves, and each phalangeal sleeve is driven by a separate drive unit. In actual rehabilitation, the number of phalangeal sleeves and drive units can be set according to the patient's different rehabilitation needs for the finger joints. For example, multiple phalangeal sleeves can be set on the same finger to achieve assisted rehabilitation of the metacarpophalangeal joint 50 and the proximal interphalangeal joint 60. It can also assist rehabilitation of the metacarpophalangeal joint 50 and the proximal interphalangeal joint 60 of two or three different fingers, so that the hand exoskeleton used for rehabilitation can better adapt to the different rehabilitation needs of different patients for the finger joints, and achieve the effect of intervention and assisted rehabilitation in different rehabilitation stages. In addition, because the hand exoskeleton used for rehabilitation is worn on the extension side of the palm, that is, the back of the hand, the physiological tactile sensation of the human hand is retained to the greatest extent, which is conducive to rehabilitation.

[0030] In some embodiments, as shown in Figures 1 and 2, the phalangeal sleeve includes a proximal phalangeal sleeve 2 and a middle phalangeal sleeve 3. The proximal phalangeal sleeve 2 is worn on the proximal phalanx 20 of the phalanx, and the middle phalangeal sleeve 3 is worn on the middle phalanx 30 of the phalanx. The drive mechanism includes a first drive unit 4 and a second drive unit 5. The first drive unit 4 is in transmission cooperation with the proximal phalangeal sleeve 2, and the second drive unit 5 is in transmission cooperation with the middle phalangeal sleeve 3. It is understood that according to the anatomy of the human hand joints, the distal interphalangeal joint 70 and the proximal interphalangeal joint 60 have physiological follow-up characteristics. For the same finger, the provision of the proximal phalangeal sleeve 2 and the middle phalangeal sleeve 3 can complete the assisted rehabilitation of the metacarpophalangeal joint 50, the proximal interphalangeal joint 60, and the distal interphalangeal joint 70 of the entire finger, simplifying the structure of the hand exoskeleton used for rehabilitation.

[0031] In some specific embodiments, as shown in FIG2 , the first drive unit 4 includes a first drive source 41, a first drive connecting rod, and a first transmission connecting rod 44. The output shaft of the first drive source 41 is connected to one end of the first drive connecting rod, the other end of the first drive connecting rod is connected to one end of the first transmission connecting rod 44, and the other end of the first transmission connecting rod 44 is rotatably connected to the proximal phalanx sleeve 2. It is understood that in actual operation, a closed-loop four-bar linkage structure is formed, starting from the metacarpal bone 10, the first drive source 41, the first drive connecting rod, the first transmission connecting rod 44, the proximal phalanx sleeve 2, and then to the proximal phalanx 20. In actual operation, the power of the four-bar linkage is transmitted from the first drive source 41 to the first drive connecting rod, the first transmission connecting rod 44, and the proximal phalanx sleeve 2 in sequence, and finally to the proximal phalanx 20, driving the proximal phalanx 20 to rotate about the metacarpophalangeal joint 50 on the plumb line, thereby completing the flexion or extension movement of the metacarpophalangeal joint 50. Furthermore, the initial angle between the first drive link and the first transmission link 44 can be adjusted according to the length of the user's proximal phalanx 20, so that the hand exoskeleton for rehabilitation of this embodiment can be suitable for fingers of different lengths, thereby better meeting the rehabilitation needs of different users.

[0032] In some more specific embodiments, as shown in Figure 2, the first drive connecting rod includes a first rod 42 and a second rod 43, one end of the first rod 42 cooperates with the output shaft of the first drive unit 4, the other end of the first rod 42 is rotatably connected to one end of the second rod 43, and the second rod 43 is arranged perpendicular to the rotation axis of the output shaft of the first drive unit 4 relative to the rotation axis of the first rod 42, and the other end of the second rod 43 is connected to the first transmission connecting rod 44.

[0033] It is understood that when a finger joint flexes and extends, its axis of rotation may shift as the flexion or extension progresses, as the phalanges are not completely regular. If this shift is not accounted for during the rehabilitation process, secondary injury may occur. In this embodiment, the first drive link comprises a first rod 42 and a second rod 43. The second rod 43 is arranged perpendicularly relative to the rotation axis of the first rod 42 and the rotation axis of the output shaft of the first drive unit 4. This allows the first drive link to have a redundant degree of freedom for rotation about the phalange's axis of rotation. This redundant degree of freedom ensures the rehabilitation hand exoskeleton's adaptability to axis changes during flexion or extension of the finger joint. Specifically, when the axis of rotation of the proximal phalanx 20 shifts during flexion or extension, the second rod 43 can rotate relative to the first rod 42, causing the second rod 43, the first drive link, and the proximal phalanx sleeve 2 to rotate accordingly. This prevents the proximal phalanx sleeve 2 from exerting a torsional force on the proximal phalanx 20 during subsequent movements, thereby avoiding the possibility of secondary injury.

[0034] In some more specific embodiments, as shown in FIG2 , the first drive link is connected to the first transmission link 44 via a first rotation pin, and the first rotation pin is provided with a first angle detection device 45, which is used to measure the relative rotation angle information between the first drive link and the first transmission link 44. It will be appreciated that in actual operation, by measuring the relative rotation angle information between the first drive link and the first transmission link 44, the rotation angle of the proximal phalanx 20 relative to the metacarpophalangeal joint 50 can be calculated based on this angle information, thereby achieving precise assisted rehabilitation.

[0035] It should be noted that, in the embodiments of the present invention, the first angle detection device 45 may be an angle sensor or other detection device as needed, and the specific structure of the first angle detection device 45 is not limited herein. Furthermore, the first angle detection device 45 may also be connected to other rotating shafts for detection as needed, and is not limited to the first rotating pin connecting the first drive link and the first transmission link 44.

[0036] In some specific embodiments, as shown in Figure 2, the second drive unit 5 includes a second drive source 51, a winding pulley 52, a tendon rope, a second drive link 55 and a second transmission link 56. The output shaft of the second drive source 51 is connected to the winding pulley 52, one end of the second transmission link 56 is rotatably connected to the middle phalanx sleeve 3, and the other end of the second transmission link 56 is connected to one end of the second drive link 55. The tendon rope cooperates with the winding pulley 52 and the other end of the second drive link 55, and the other end of the second drive link 55 is rotatably connected to the proximal phalanx sleeve 2; wherein: when the second drive source 51 drives the winding pulley 52 to rotate, the tendon rope can drive the second drive link 55 to rotate. It can be understood that in the actual working process, starting from the proximal phalanx sleeve 2, passing through the second drive link 55, then passing through the second transmission link 56, and finally connected to the middle phalanx 30 through the middle phalanx sleeve 3, a closed-loop four-bar linkage structure is formed. The power starts from the second drive source 51, and the tendon rope is retracted and extended by the second drive source 51 in forward and reverse rotation, and the power is transmitted to the second drive link 55, and finally transmitted to the middle phalanx sleeve 3 and the middle phalanx 30 through the second transmission link 56, driving the middle phalanx 30 to rotate around the proximal interphalangeal joint 60, completing the flexion or extension movement of the proximal interphalangeal joint 60.

[0037] Optionally, one end of the second drive link 55 has an integrally formed rotating wheel, which is rotatably connected to the proximal phalanx sleeve 2. In some embodiments, there is only one tendon rope, and the winding pulley 52, the tendon rope, and the rotating wheel form a rotating belt system, so that when the second drive source 51 drives the winding pulley 52 to move, the tendon rope drives the rotating wheel to rotate, thereby driving the second drive link 55 to rotate. In some embodiments, the tendon rope includes a first tendon rope 53 and a second tendon rope 54. The ends of the first tendon rope 53 and the second tendon rope 54 are respectively connected to the winding pulley 52 and the rotating wheel. The second drive source 51 drives the first tendon rope 53 and the second tendon rope 54 to retract and extend in a forward and reverse manner, thereby transmitting power to the second drive link 55.

[0038] Optionally, in other embodiments of the present invention, the driving method of the tendon rope driven by the second driving source 51 can be replaced with a driving method of directly pushing the push rod with air or hydraulic pressure, or a driving method of pushing the push rod with a linear motor, and is not limited to the driving method of the tendon rope driven by the second driving source 51 in this embodiment.

[0039] In some more specific embodiments, as shown in FIG2 , the second drive link 55 and the second transmission link 56 are connected via a second rotation pin, and a second angle detection device 57 is provided on the second rotation pin to measure the relative rotation angle between the second drive link 55 and the second transmission link 56. It will be appreciated that, in actual operation, by measuring the relative rotation angle between the second drive link 55 and the second transmission link 56, the rotation angle of the middle phalanx 30 relative to the proximal interphalangeal joint 60 can be calculated based on this angle information, thereby achieving precise assisted rehabilitation.

[0040] It should be noted that, in the embodiment of the present invention, the second angle detection device 57 may be an angle sensor or other detection device as needed, and the specific structure of the second angle detection device 57 is not limited herein. Furthermore, the second angle detection device 57 may also be connected to other rotating shafts for detection as needed, and is not limited to the second rotating pin connecting the second drive link 55 and the second transmission link 56.

[0041] In some specific embodiments, as shown in FIG2 , fixing slots are provided on both the proximal phalanx sleeve 2 and the middle phalanx sleeve 3. The proximal phalanx sleeve 2 and the middle phalanx sleeve 3 are connected to the proximal phalanx 20 and the middle phalanx 30, respectively, via binding straps passing through the fixing slots. Thus, the proximal phalanx sleeve 2 and the middle phalanx sleeve 3 can be conveniently connected to the proximal phalanx 20 and the middle phalanx 30, facilitating removal of the proximal phalanx sleeve 2 and the middle phalanx sleeve 3. Furthermore, the hand exoskeleton for rehabilitation of this embodiment can be adapted to phalanges of varying thicknesses.

[0042] In some embodiments, the hand exoskeleton for rehabilitation further includes a fixing sleeve, which is sleeved on the metacarpal bone 10. It is understandable that the additional fixing sleeve can facilitate the patient to wear it and ensure the relative stability of the base 1 and the metacarpal bone 10.

[0043] In some specific embodiments, the fixing sleeve is provided with multiple bases 1 so that the hand exoskeleton for rehabilitation can cooperate with multiple fingers. Therefore, during actual use, the patient can simply fix the multiple bases 1 on the fixing sleeve and then put on the fixing sleeve directly, without having to connect the multiple bases 1 to the metacarpal bones 10 one by one, which is convenient for the patient to use.

[0044] Example:

[0045] As shown in Figures 1-2, the hand exoskeleton for rehabilitation of this embodiment comprises a base 1, a drive mechanism, and phalangeal sleeves. The base 1 is designed to be worn on the extended side of the metacarpal bone 10. The phalangeal sleeves include a proximal phalangeal sleeve 2 and a middle phalangeal sleeve 3. Both the proximal phalangeal sleeve 2 and the middle phalangeal sleeve 3 are provided with fixing slots. The proximal phalangeal sleeve 2 and the middle phalangeal sleeve 3 are connected to the proximal phalanges 20 and the middle phalanges 3, respectively, via straps passing through the fixing slots. The drive mechanism comprises a first drive unit 4 and a second drive unit 5. The first drive unit 4 includes a first drive source 41, a first drive connecting rod, and a first transmission connecting rod 44. The first drive connecting rod includes a first rod 42 and a second rod 43. One end of the first rod 42 engages with the output shaft of the first drive unit 4, and the other end of the first rod 42 is rotatably connected to one end of the second rod 43. The second rod 43 is arranged perpendicular to the rotation axis of the first rod 42 and the rotation axis of the output shaft of the first drive unit 4. The other end of the second rod 43 is connected to the first transmission connecting rod 44. The other end of the first transmission link 44 is rotatably connected to the proximal phalanx sleeve 2. The first drive link and the first transmission link 44 are connected via a first rotating pin, and the first rotating pin is provided with a first angle detection device 45 to measure the relative rotation angle between the first drive link and the first transmission link 44. The second drive unit 5 includes a second drive source 51, a winding pulley 52, a tendon, a second drive link 55, and a second transmission link 56. The output shaft of the second drive source 51 is connected to the winding pulley 52. ​​One end of the second transmission link 56 is rotatably connected to the middle phalanx sleeve 3, and the other end of the second transmission link 56 is connected to one end of the second drive link 55. The tendon includes a first tendon 53 and a second tendon 54 arranged in parallel. The ends of the first tendon 53 and the second tendon 54 respectively engage with the winding pulley 52 and the other end of the second drive link 55. When the second drive source 51 drives the winding pulley 52 to rotate, the tendon can drive the second drive link 55 to rotate. The second driving link 55 and the second transmission link 56 are connected via a second rotating pin, and a second angle detection device 57 is provided on the second rotating pin to measure the relative rotation angle information between the second driving link 55 and the second transmission link 56 .

[0046] The assembly and operation of the hand exoskeleton for rehabilitation of this embodiment are as follows:

[0047] Taking the index finger as an example, the hand exoskeleton is placed on the extended side of the index finger. The base 1 is glued to the glove, and the exoskeleton system is fixed to the metacarpal bone 10 through the glove. A magic tape (binding strap) is passed through the fixing slots of the middle phalanx sleeve 3 and the proximal phalanx sleeve 2, respectively, to bind the middle phalanx 30 and proximal phalanx 20 for wearing.

[0048] The second rod 43, the first transmission link 44, and the first angle detection device 45 are connected by a first rotating pin (D-shaped locating pin). This allows the second rod 43 and the first transmission link 44 to rotate relative to each other, while the first angle detection device 45 is fixed to the first transmission link 44 to measure the relative rotation angle between the second rod 43 and the first transmission link 44. The first transmission link 44 is securely connected to the proximal phalanx sleeve 2 via the locating pin, completing a closed-loop four-bar linkage structure that proceeds from the metacarpal bone 10, through the first drive source 41, the first rod 42, the second rod 43, the first transmission link 44, the proximal phalanx sleeve 2, and finally to the proximal phalanx 20. Power in this four-bar linkage is transmitted from the first drive source 41 to the first rod 42, then through the second rod 43, the first transmission link 44, and the proximal phalanx sleeve 2, ultimately to the proximal phalanx 20, pushing the proximal phalanx 20 to rotate about the metacarpophalangeal joint 50 on the plumb line, completing flexion or extension of the metacarpophalangeal joint 50.

[0049] The D-shaped output shaft of the second drive source 51 is inserted into the winding pulley 52, transmitting power to the second drive link 55 via the first and second tendon cords 53 and 54. The second drive link 55 is securely connected to the second angle detection device 57 and the second transmission link 56 via a second rotating pin (D-shaped locating pin). This allows relative rotation between the second drive link 55 and the second transmission link 56, while the second angle detection device 57 is fixed to the second transmission link 56 to measure the relative rotation angle between the second drive link 55 and the second transmission link 56. The second transmission link 56 is securely connected to the middle phalanx sleeve 3 via a locating pin, which is secured to the middle phalanx 30 via a Velcro strap. The system runs from the second drive source 51 to the second drive link 55, passes through the second transmission link 56, and finally connects to the middle phalanx 30 via the middle phalanx sleeve 3, forming a closed-loop four-bar linkage. The power starts from the second driving source 51, and the first tendon rope 53 and the second tendon rope 54 are driven to retract and extend through the forward and reverse rotation of the second driving source 51, and the power is transmitted to the second driving link 55, and finally the power is transmitted to the middle phalanx sleeve 3 and the middle phalanx 30 through the second transmission link 56, driving the middle phalanx 30 to rotate around the proximal interphalangeal joint 60, completing the flexion or extension movement of the proximal interphalangeal joint 60.

[0050] It should be noted that in this embodiment, the distal interphalangeal joint 70 and the proximal interphalangeal joint 60 formed by the middle phalanx 30 and distal phalanx 40 have physiological follow-up characteristics, so no assistance is provided for the distal interphalangeal joint 70. Furthermore, the hand exoskeleton used for rehabilitation can also achieve more complex movements by increasing the number of motors, such as assisting thumb internal and external rotation, and adduction and abduction of the four fingers.

[0051] Advantages of the hand exoskeleton for rehabilitation of this embodiment:

[0052] First, the hand exoskeleton can be worn on one to three fingers as needed, and is suitable for fingers of any length and thickness.

[0053] Second: The hand exoskeleton is worn on the extended side of the fingers, preserving the physiological tactile sensation of the human hand to the greatest extent, which is conducive to rehabilitation recovery;

[0054] Third: The hand exoskeleton can independently provide motion assistance to each finger joint to achieve precise rehabilitation;

[0055] Fourth: The hand exoskeleton is small and easy to carry. Compared with large rehabilitation equipment in hospitals, patients can conduct rehabilitation treatment on demand during the golden recovery period, and the degree of recovery can be controlled by the patients themselves.

[0056] Fifth: There are only two binding points, which enables quick donning and high practicality;

[0057] Sixth: It has redundant movable joints to best fit the axis changes during hand movement, effectively protecting the patient's fingers during rehabilitation;

[0058] Seventh: The hybrid drive structure of motor direct drive and tendon rope indirect drive has simple control, compact structure, light weight and easy to carry;

[0059] Eighth: The real grasping motion trajectory and speed of human fingers are realized by using the first angle detection device 45 and the second angle detection device 57 to realize angle feedback, thereby realizing easy-to-control closed-loop control, high control accuracy and low system energy consumption.

[0060] Throughout this specification, references to "some embodiments," "other embodiments," and the like indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0061] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A hand exoskeleton for rehabilitation, characterized in that: include: A base (1), the base (1) being used to be worn on the extended side of the metacarpal bone (10); A driving mechanism, the driving mechanism being arranged on the base (1) and comprising at least one driving unit; A phalange sleeve, wherein the phalange sleeve is worn on the extension side of the phalange, the phalange sleeve is at least one, and the phalange sleeve is transmission-connected to the driving unit; wherein the driving unit can drive the phalange sleeve to rotate to assist the flexion or extension of the phalange.

2. The hand exoskeleton for rehabilitation according to claim 1, characterized in that: The phalanx sleeve comprises a proximal phalanx sleeve (2) and a middle phalanx sleeve (3), wherein the proximal phalanx sleeve (2) is worn on the proximal phalanx (20) of the phalanx, and the middle phalanx sleeve (3) is worn on the middle phalanx (30) of the phalanx; The driving mechanism comprises a first driving unit (4) and a second driving unit (5), wherein the first driving unit (4) is in transmission cooperation with the proximal phalanx sleeve (2), and the second driving unit (5) is in transmission cooperation with the middle phalanx sleeve (3).

3. The hand exoskeleton for rehabilitation according to claim 2, characterized in that: The first driving unit (4) comprises a first driving source (41), a first driving connecting rod and a first transmission connecting rod (44); wherein: The output shaft of the first driving source (41) is connected to one end of the first driving connecting rod, the other end of the first driving connecting rod is connected to one end of the first transmission connecting rod (44), and the other end of the first transmission connecting rod (44) is rotatably connected to the proximal phalanx sleeve (2).

4. The hand exoskeleton for rehabilitation according to claim 3, characterized in that: The first driving connecting rod comprises a first rod (42) and a second rod (43), one end of the first rod (42) cooperates with the output shaft of the first driving unit (4), the other end of the first rod (42) is rotatably connected to one end of the second rod (43), and the second rod (43) is arranged perpendicularly to the rotation axis of the output shaft of the first driving unit (4) relative to the rotation axis of the first rod (42), and the other end of the second rod (43) is connected to the first transmission connecting rod (44).

5. The hand exoskeleton for rehabilitation according to claim 3, characterized in that: The first driving link and the first transmission link (44) are connected via a first rotating pin, and the first rotating pin is provided with a first angle detection device (45) to measure the relative rotation angle information between the first driving link and the first transmission link (44).

6. The hand exoskeleton for rehabilitation according to claim 2, characterized in that: The second driving unit (5) comprises a second driving source (51), a winding pulley (52), a tendon rope, a second driving link (55) and a second transmission link (56), wherein the output shaft of the second driving source (51) is connected to the winding pulley (52), one end of the second transmission link (56) is rotatably connected to the middle phalanx sleeve (3), the other end of the second transmission link (56) is connected to one end of the second driving link (55), the tendon rope cooperates with the winding pulley (52) and the other end of the second driving link (55), and the other end of the second driving link (55) is rotatably connected to the proximal phalanx sleeve (2); Wherein: when the second driving source (51) drives the winding pulley (52) to rotate, the tendon rope can drive the second driving connecting rod (55) to rotate.

7. The hand exoskeleton for rehabilitation according to claim 6, characterized in that: The second driving link (55) and the second transmission link (56) are connected via a second rotating pin, and a second angle detection device (57) is provided on the second rotating pin to measure the relative rotation angle information between the second driving link (55) and the second transmission link (56).

8. The hand exoskeleton for rehabilitation according to claim 2, characterized in that: The proximal phalanx sleeve (2) and the middle phalanx sleeve (3) are both provided with fixing grooves, and the proximal phalanx sleeve (2) and the middle phalanx sleeve (3) are respectively connected to the proximal phalanx (20) and the middle phalanx (30) via binding belts passing through the fixing grooves.

9. The hand exoskeleton for rehabilitation according to claim 1, characterized in that: It also comprises a fixing sleeve, which is sleeved on the metacarpal bone (10).

10. The hand exoskeleton for rehabilitation according to claim 9, characterized in that: The fixing sleeve is provided with a plurality of bases (1) so as to enable the hand exoskeleton for rehabilitation to cooperate with a plurality of fingers.

Images