A rehabilitation hand exoskeleton device based on SEA module

Abstract

This invention provides a rehabilitation hand exoskeleton device based on an SEA module, comprising an exoskeleton drive section, a hand exoskeleton section, and an exoskeleton-fixed hand guard plate. The exoskeleton drive section includes two sets of drive components, a gear support seat, a front support seat, a side connecting plate I, a side connecting plate II, a reversing wheel I, and a reversing wheel II. The hand exoskeleton section includes an exoskeleton MCP section, an exoskeleton joint connecting section, an exoskeleton PIP section, a joint shell, a hand fixation sleeve, an MCP-PIP connecting plate, and a hand guard plate. The motor of the drive section drives the derailleurs of the exoskeleton MCP section and the exoskeleton PIP section to move, which in turn drives the surrounding joint connecting plates and linkage mechanisms to move, simulating the joint movements of the fingers. The device is detachable, lightweight, can efficiently transmit over long distances, and can better conform to the actual movement patterns of the fingers. It is low in cost and can be used as a modular part of a complete rehabilitation robot.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and specifically to a rehabilitation hand exoskeleton device based on an SEA module. Background Technology

[0002] In recent years, stroke has seen explosive growth in my country, with 1.96 million stroke patients annually. Stroke survivors often experience disability after rehabilitation. Furthermore, with industrial development, the number of patients suffering hand function injuries from traffic accidents, industrial accidents, and even sports activities is increasing year by year. Traditional hand rehabilitation therapies mainly rely on manual treatment by medical staff. While this has some rehabilitation effect, it is limited by the experience of the medical staff and has relatively low efficiency.

[0003] In recent years, numerous experiments have shown that rehabilitation robots have good rehabilitation effects and can reduce the workload of medical staff to a certain extent. Therefore, research on rehabilitation robots has been carried out both domestically and internationally. At present, cable-driven exoskeleton robots reflect the tendon movement during actual finger movements, which is beneficial for maintaining low weight, low inertia structure and independent drive control. However, they have problems with complex design and the rotation center at the end of the transmission component may not coincide. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a rehabilitation hand exoskeleton device based on an SEA module, comprising an exoskeleton driving part, a hand exoskeleton part, and an exoskeleton fixation hand guard.

[0005] The exoskeleton drive unit includes: two sets of drive components, a gear support base (5), a front support base (8), a side connecting plate I (7), a side connecting plate II (13), a reversing wheel I (14-1), and a reversing wheel II (14-2); each drive component includes a drive motor (1), a lead screw (2), a driven gear (3), a driving gear (4), a spring I (6), a SEA module (10), a guide rod (12), a spring fixing block I (16), a spring fixing block II (17), a spring fixing block III (18), a spring fixing block IV (19), a spring fixing block V (20), and a spring. Fixed block VI (21), spring fixed block VII (22), spring fixed block VIII (23), spring II (24), spring III (25), spring IV (26); the SEA module (10) includes: SEA module connecting block (10-1), lead screw nut (10-2), threaded wheel IV (9), threaded wheel V (11), bearing I (15); spring fixed block I (16) is a ring solid structure, and the inner ring of spring fixed block I (16) is threaded, and spring fixed block II (17), spring fixed block III (18), and spring fixed block IV (19) are all connected to... Spring fixing block I (16) has the same structure. SEA module connecting block (10-1) has an 8-shaped structure consisting of a middle crossbeam and a square shell. The lead screw (2) is installed on the middle crossbeam of SEA module connecting block (10-1) through the lead screw nut (10-2). The two ends of the lead screw (2) passing through SEA module (10) are fixed on SEA module connecting block (10-1) through bearings. Spring I (6) and spring II (24) are both installed on the lead screw (2). Spring fixing block I (16), spring fixing block II (17), spring fixing block III (18), and spring fixing block IV (18) are also installed on the lead screw (2). The inner rings of 19) are all installed on the lead screw (2) by threaded connection, and the two ends of spring I (6) are respectively fixed on spring fixing block I (16) and spring fixing block II (17), the two ends of spring II (24) are respectively fixed on spring fixing block III (18) and spring fixing block IV (19), the outer rings of spring fixing block II (17) and spring fixing block III (18) are respectively fixed on the middle crossbeam of SEA module connecting block (10-1), and the outer rings of spring fixing block I (16) and spring fixing block IV (19) are respectively fixed on SEA module connecting block (10-1);Spring fixing block V(20) is a ring-shaped solid structure. Spring fixing blocks VI(21), VII(22), and VIII(23) are all of the same structure as spring fixing block V(20). The guide rod (12) passes through the stepped hole on the middle crossbeam and through the SEA module (10). The two ends of the guide rod (12) are fixed on the SEA module connecting block (10-1) respectively. Springs III(25) and IV(26) are both installed on the guide rod (12). Spring fixing blocks V(20) and VIII(23) are also installed on the guide rod (20). The inner rings of I(21), spring fixing block VII(22), and spring fixing block VIII(23) are all installed on the guide rod (12) through an interference fit of the shaft hole, and satisfy the following conditions: the two ends of spring III(25) are fixed on spring fixing block V(20) and spring fixing block VI(21) respectively, the two ends of spring IV(26) are fixed on spring fixing block VII(22) and spring fixing block VIII(23) respectively, and the outer rings of spring fixing block VI(21) and spring fixing block VII(22) are respectively installed on the SEA module connector. On the middle crossbeam of the connecting block (10-1), the outer rings of spring fixing block V (20) and spring fixing block VIII (23) are respectively fixed on the SEA module connecting block (10-1); the spool IV (9) and spool V (11) are respectively mounted on the SEA module connecting block (10-1) through bearing I (15); the two ends of the lead screw (2) and guide rod (12) are respectively fixed on the gear support seat (5) and the front support seat (8), the drive motor (1) is fixed on the gear support seat (5), and the drive gear (4) is mounted on the drive motor. On the output shaft of the machine (1), the driven gear (3) is installed at one end of the lead screw (2) of the extended gear support seat (5), and the driven gear (3) meshes with the driving gear (4); the SEA module (10) in the two sets of drive components is installed in parallel; the two ends of the side connecting plate I (7) and the side connecting plate II (13) are fixed on the front support seat (8) and the gear support seat (5) respectively, and the reversing wheel I (14-1) and the reversing wheel II (14-2) are installed on the side connecting plate I (7) and the side connecting plate II (13) respectively;

[0006] The hand exoskeleton includes an exoskeleton MCP portion, an exoskeleton joint connection portion, an exoskeleton PIP portion, a joint shell (27), a hand fixation sleeve, an MCP-PIP connection plate (29), and a hand guard plate (30); the hand fixation sleeve includes a hand fixation chain (28) and a hand guard plate (30); the exoskeleton MCP portion includes a reel connection plate I (31), a reel I (32), an MCP fixing block (33), a bearing II (34), a sleeve I (35), an MCP drive linkage (36), a cable guide block (37), and an MCP drive shaft (38); the end face of the MCP fixing block (33) has a groove, and the MCP fixing block (33) is fixed on the hand guard plate (30). The hand guard (30) is installed on the hand fixing chain (28) and is fitted onto the arm through the hand fixing chain (28). The MCP drive shaft (38) is installed on the MCP fixing block (33) through the bearing II (34). The cable guide block (37) is a solid structure that is thin in the middle and thick on both sides. Two through holes are opened on both sides of the cable guide block (37). The cable guide block (37) is fixed on the MCP fixing block (33). The MCP drive linkage (36), sleeve I (35), and spool I (32) are all installed on the MCP drive shaft (38). The spool connecting plate I (31) is installed on the outer end face of the spool I (32). The MCP part of the exoskeleton is axially symmetrical about the MCP drive linkage (36).

[0007] The exoskeleton joint connection includes: MCP driven link (39), finger plate I (40), MCP pivot (41), joint connecting plate I (42), sleeve II (43), and pin I (44); the joint connecting plate I (42) has a groove, and the other end of the MCP drive link (36) is installed in the groove of the joint connecting plate I (42) by bolts and nuts. The finger plate I (40) is an inverted T-shaped structure composed of a vertical plate and a bottom plate. One end of the vertical plate of the finger plate I (40) has a groove. The MCP driven link (39) and the MCP drive link (36) have the same structure. One end of the MCP driven link (39) is installed in the groove of the MCP fixing block (33) by bolts and nuts. The MCP driven link (39) and the MCP drive link (36) are connected in a groove. 36) Connected by pin I (44), the MCP shaft (41) is a stepped shaft, the finger plate I (40), the joint connecting plate I (42), and the MCP driven connecting rod (39) are installed on the MCP shaft (41) in sequence. Sleeves II (43) are installed at both ends of the MCP shaft (41). The joint connecting plate I (42) installed at one end of the finger plate I (40) is fixed on the upright plate of the finger plate I (40). One end of the MCP-PIP connecting plate (29) is machined with a groove. The groove on the MCP-PIP connecting plate (29) is connected to the groove on the finger plate I (40) by bolts and nuts. The joint shell (27) is an inverted U-shaped structure. One side of the joint shell (27) is installed on the MCP shaft (41), and the other side is fixed on the finger plate I (40).

[0008] The exoskeleton PIP component includes: PIP driven link (45), PIP drive link (46), PIP drive shaft (47), reel connecting plate II (48), reel connecting plate III (50), reel II (51), reel III (52), PIP shaft (53), shaft end retaining ring II (54), joint connecting plate II (56), pin II (57), joint connecting plate III (58), and finger plate II (59). The PIP driven link (45) and PIP drive link (46) have the same structure as the MCP drive link (36). The PIP driven link (45) and PIP drive link (46) are connected by pin II (57). The joint connecting plate II (56), joint connecting plate III (58), and joint connecting plate I (42) have the same structure. The reel II (51), MCP-PIP connecting plate (29), joint connecting plate II (56), and PIP drive shaft are connected by pin II (57). The rod (46), the spool III (52), and the PIP drive shaft (47) are installed in sequence. The spool connecting plate II (48) is fixed on the outer end face of the spool II (51). The spool connecting plate III (50) is fixed on the outer end face of the spool III (52). One end of the PIP driven link (45) is installed in the groove of the joint connecting plate II (56) by bolts and nuts. The finger plate II (59) and the finger plate I (40) have the same structure. The finger plate II (59), the joint connecting plate III (58), and the PIP driven link (45) are installed on the PIP shaft (53). The two ends of the PIP shaft (53) are respectively equipped with shaft end retaining rings II (54). The joint connecting plate III (58) installed at one end of the finger plate II (59) is fixed to the upright plate of the finger plate II (59) by bolts. One end of the PIP drive link (46) is installed in the groove of the joint connecting plate III (58) by bolts and nuts.

[0009] During installation, in order to better fit the arm, the hand exoskeleton device has two arc-shaped protrusions that match the contact position of the arm on the end face of the gear support (5) that is in contact with the arm, two arc-shaped protrusions that match the contact position of the arm on the end face of the front support (8) that is in contact with the arm, and an arc-shaped groove on the end face of the SEA module connecting block (10-1) that is in contact with the arm.

[0010] Furthermore, the cable used to drive the movement of the exoskeleton MCP is installed as follows: one end of the cable is fixed to the gear support (5), and the other end of the cable is wound from the upper end of the cable reel IV (9), out from the lower end of the cable reel IV (9), wound from the upper end of the reversing wheel I (14-1), out from the lower end of the reversing wheel I (14-1), and passes through a through hole on the front support (8) to exit the exoskeleton drive part, and exits through a through hole on the cable guide block (37). The cable passes through the hole into the hand exoskeleton part, enters from the upper end of the cable reel I (32), exits from the lower end of the cable reel I (32), and after the cable exits from the cable reel I (32), it passes through another through hole on the same side of the cable guide block (37), exits the hand exoskeleton part, passes through another through hole on the front support base (8) and returns to the exoskeleton drive part, enters from the upper end of the cable reel V (11), exits from the lower end of the cable reel V (11), and is finally fixed on the front support base (8).

[0011] Furthermore, the cable used to drive the movement of the PIP part of the exoskeleton is installed as follows: one end of the cable is fixed to the gear support (5), and the other end of the cable passes around the spool on another set of drive components, enters from the upper end of the reversing wheel II (14-2), exits from the lower end of the reversing wheel II (14-2), passes through a through hole on the front support (8) to exit the exoskeleton drive part, enters the hand exoskeleton part through a through hole on another cable guide block, enters from the upper end of the spool III (52), exits from the lower end of the spool III (52), after the cable exits the spool III (52), it passes through another through hole on the same side of the cable guide block, exits the hand exoskeleton part, passes through another through hole on the front support (8) to return to the exoskeleton drive part, passes around another spool on another set of drive components, and is finally fixed to the front support (8).

[0012] Furthermore, in order to maintain the force balance of the hand exoskeleton, the two cables are wound around the reels on different sides.

[0013] The beneficial effects of this invention are:

[0014] This invention proposes a rehabilitation hand exoskeleton device based on an SEA module. The device uses cables to transmit driving force, and the mechanism has good flexibility. Furthermore, the MCP and PIP joints of the device employ linkage mechanisms, enabling the rotation center to coincide with the actual finger, and the rotation range is larger than that of traditional linkage structures. Simultaneously, the device requires minimal space, effectively avoiding the large space occupation problem of traditional linkage structures and solving the problems of misaligned rotation centers and redundant structures in existing exoskeleton robots. Moreover, by driving the cable wheel through the drive structure, it can drive finger flexion and extension movements, assisting patients in daily rehabilitation and reducing the burden on medical staff. The device is detachable, lightweight, allows for efficient long-distance transmission, closely conforms to the actual movement patterns of the fingers, and is low-cost, making it a modular component of a complete rehabilitation robot. Attached Figure Description

[0015] Figure 1 This is an overall assembly diagram of the rehabilitation hand exoskeleton device based on the SEA module in this invention.

[0016] Figure 2 Figure (a) shows the assembly drawing and exploded view of the SEA module in this invention, and Figure (b) shows the exploded view of the SEA module.

[0017] Figure 3 Figure (a) shows a schematic diagram of the hand exoskeleton of the present invention, and Figure (b) shows a schematic diagram of the hand exoskeleton equipped with joint shells and a schematic diagram of the hand exoskeleton without joint shells.

[0018] Figure 4 Figure (a) shows the assembly drawing and exploded view of the exoskeleton MCP part in this invention, and Figure (b) shows the exploded view of the exoskeleton MCP part.

[0019] Figure 5 Figure (a) shows the assembly drawing and exploded view of the exoskeleton joint connection part in this invention, and Figure (b) shows the exploded view of the exoskeleton joint connection part.

[0020] Figure 6 Figure (a) shows the assembly drawing and exploded view of the exoskeleton PIP part in this invention, and Figure (b) shows the exploded view of the exoskeleton PIP part.

[0021] Figure 7 Figure (a) shows the structure of the SEA module connection block in this invention, and Figure (b) shows the structure of one end face of the SEA module connection block.

[0022] Figure 8 Figure (a) shows the structure of the hand fixing sleeve and the hand guard plate in this invention, and Figure (b) shows the structure of the hand fixing sleeve and the hand guard plate.

[0023] Figure 9 Figure (a) shows the structural diagram of the MCP fixing block and its front view, and Figure (b) shows the front view of the MCP fixing block.

[0024] Figure 10 Figure 1 shows the structure of some parts in this invention. Figure 2 shows the structure of the MCP-PIP connecting plate, Figure 3 shows the structure of the joint connecting plate I, Figure 4 shows the structure of the finger plate, Figure 5 shows the structure of the spool, Figure 6 shows the structure of the MCP drive shaft, Figure 7 shows the structure of the gear support seat, and Figure 8 shows the structure of the front support seat.

[0025] Figure 11 This is a schematic diagram of the cable winding method in this invention;

[0026] In the diagram, 1. Drive motor, 2. Lead screw, 3. Driven gear, 4. Drive gear, 5. Gear support, 6. Spring I, 7. Side connecting plate I, 8. Front support, 9. Spool IV, 10. SEA module, 11. Spool V, 12. Guide rod, 13. Side connecting plate II, 14-1. Reversing wheel I, 14-2. Reversing wheel II, 15. Bearing I, 16. Spring fixing block I, 17. Spring fixing block II, 18. Spring fixing block III, 19. Spring fixing block IV, 20. Spring fixing block V, 21. Spring fixing block VI, 22. Spring fixing block VII, 23. Spring fixing block VIII, 24. Spring II, 25. Spring III, 26. Spring IV, 27. Joint housing, 28. Hand fixing chain, 29. MCP-P 30. IP Connector Plate, 31. Hand Guard Plate, 32. Thread Reel Connector Plate I, 33. Thread Reel I, 34. MCP Fixing Block, 35. Bearing II, 36. Sleeve I, 37. MCP Drive Link, 38. Cable Guide Block, 39. MCP Drive Shaft, 40. Finger Plate I, 41. MCP Rotary Shaft, 42. Joint Connector Plate I, 43. Sleeve II, 44. Pin Shaft I, 45. PIP Drive Link, 46. PIP Drive Link, 47. PIP Drive Shaft, 48. Thread Reel Connector Plate II, 50. Thread Reel Connector Plate III, 51. Thread Reel II, 52. Thread Reel III, 53. PIP Rotary Shaft, 54. Shaft End Retaining Ring II, 56. Joint Connector Plate II, 57. Pin Shaft II, 58. Joint Connector Plate III, 59. Finger Plate II. Detailed Implementation

[0027] The invention will be further explained below with reference to the accompanying drawings and specific implementation examples.

[0028] like Figures 1-10 As shown, a rehabilitation hand exoskeleton device based on SEA module includes an exoskeleton driving part, a hand exoskeleton part, and an exoskeleton fixation hand guard.

[0029] The exoskeleton drive unit includes: two sets of drive components, gear support base 5, front support base 8, side connecting plate I7, side connecting plate II13, reversing wheel I14-1, and reversing wheel II14-2; each drive component includes a drive motor 1, lead screw 2, driven gear 3, driving gear 4, spring I6, SEA module 10, guide rod 12, spring fixing block I16, spring fixing block II17, spring fixing block III18, spring fixing block IV19, spring fixing block V20, spring fixing block VI21, spring fixing block VII22, spring fixing block VIII23, spring II24, spring III25, and spring IV26; the SEA module 10 (series elastic module abbreviated as SE) Module A includes: SEA module connecting block 10-1, lead screw nut 10-2, spool IV9, spool V11, and bearing I15. SEA module connecting block 10-1 has an 8-shaped structure consisting of a central crossbeam and a square shell. Stepped holes and hexagonal holes are machined on the central crossbeam of SEA module connecting block 10-1, ensuring that the centers of the stepped holes and hexagonal holes are on the same horizontal line. Lead screw nut 10-2 is installed inside the hexagonal hole. The lead screw 2 is mounted on the central crossbeam of SEA module connecting block 10-1 via lead screw nut 10-2. Two stepped holes are machined on each of the two sides opposite the central crossbeam, ensuring that the centers of the two stepped holes on the same side are on the same horizontal line. The corresponding stepped holes are of equal size and their centers are on the same horizontal line. Threaded holes are machined at the midpoint of the other two opposite sides of the SEA module connecting block 10-1, with the centers of the two threaded holes on the same horizontal line. The spring fixing block I16 is a ring-shaped solid structure with threads machined on its inner ring. Spring fixing blocks II17, III18, and IV19 have the same structure as spring fixing block I16. The lead screw 2 passes through the two corresponding stepped holes on the opposite sides of the SEA module connecting block 10-1, the hexagonal hole on the middle crossbeam, and through the SEA module 10. Both ends of the lead screw 2 are fixed to the stepped holes on the sides of the SEA module connecting block 10-1 by bearings. Spring I6 and spring II24 are both mounted on lead screw 2. The inner rings of spring fixing blocks I16, II17, III18, and IV19 are all mounted on lead screw 2 via threaded connections. The two ends of spring I6 are respectively fixed to spring fixing blocks I16 and II17, and the two ends of spring II24 are respectively fixed to spring fixing blocks III18 and IV19. The outer rings of spring fixing blocks II17 and III18 are respectively fixed to the opposite sides of the middle crossbeam of SEA module connecting block 10-1, and the outer rings of spring fixing blocks I16 and IV19 are respectively fixed to the inner side of SEA module connecting block 10-1.Spring fixing block V20 is a ring-shaped solid structure. Spring fixing blocks VI21, VII22, and VIII23 are all of the same structure as spring fixing block V20. Guide rod 12 passes through two opposite stepped holes on the opposite side of SEA module connecting block 10-1 and a stepped hole on the middle crossbeam, penetrating SEA module 10. Both ends of guide rod 12 are respectively installed in the stepped holes on the side of SEA module connecting block 10-1 through shaft hole interference fit. Springs III25 and IV26 are both installed on guide rod 12. The inner rings of spring fixing blocks V20, VI21, VII22, and VIII23 are all installed on guide rod 12 through shaft hole interference fit, and satisfy spring II The two ends of I25 are fixed to spring fixing blocks V20 and VI21 ​​respectively. The two ends of spring IV26 are fixed to spring fixing blocks VII22 and VIII23 respectively. The outer rings of spring fixing blocks VI21 ​​and VII22 are respectively installed on the opposite sides of the middle crossbeam of SEA module connecting block 10-1. The outer rings of spring fixing blocks V20 and VIII23 are respectively fixed on the inner side of SEA module connecting block 10-1. The spools IV9 and V11 are respectively equipped with bearings I15. The bearings I15 are fixed to the side of SEA module connecting block 10-1 by bolts. During installation, the axes of the spools IV9 and V11 on both sides are on the same horizontal line.

[0030] The gear support 5 is a square shell structure with a shell thickness of 2mm. Two threaded holes are machined vertically on each of the two opposite sides of the gear support 5 for bolting the side connecting plate I7 ​​and side connecting plate II13. The thickness of the side with the threaded holes is set to 12mm. Two through holes for mounting the lead screw 2, two through holes for mounting the guide rod 12, two through holes for mounting the drive motor 1, and a threaded hole for fixing the motor are machined on one end face of the gear support 5. The front support 8 is a square block structure. Two threaded holes are machined vertically on each of the two opposite sides of the front support 8. Two threaded through holes are machined on one end face of the front support 8. Two through holes are used to install the lead screw 2, two through holes are used to install the guide rod 12, and eight guide holes are used for connecting cables. The eight guide holes are arranged in four rows on both sides of the four through holes, with two holes in each row arranged vertically. In actual installation, the movement of the drive exoskeleton part only uses two cables, which use four guide holes. In principle, the cables can selectively pass through four of the guide holes, but to ensure force balance, four guide holes are generally selected symmetrically. The two ends of the lead screw 2 are fixed to the gear support 5 and the front support 8 respectively by bearings. 8. The two ends of the guide rod 12 are respectively installed on the gear support seat 5 and the front support seat 8 through shaft hole interference fit. The drive motor 1 is fixed on the gear support seat 5. The driving gear 4 is installed on the output shaft of the drive motor 1. The driven gear 3 is installed on one end of the lead screw 2 extending out of the gear support seat 5, and the driven gear 3 is meshed with the driving gear 4. The SEA module 10 in the two sets of drive assemblies is installed in parallel. The side connecting plate I7 ​​is a cuboid structure. The two ends of the side connecting plate I7 ​​are respectively fixed to one end of the front support seat 8 and the gear support seat 5 by two bolts. The side connecting plate II13 is connected to the side connecting plate I7. The connecting plate I7 ​​has the same structure. The two ends of the side connecting plate II13 are fixed to the other end of the front support 8 and the gear support 5 by two bolts. The reversing wheels I14-1 and II14-2 are installed on the side connecting plate I7 ​​and the side connecting plate II13 respectively. The installation position of the reversing wheel I14-1 is close to the gear support 5, and the installation position of the reversing wheel II14-2 is close to the front support 8. They play a guiding and reversing role for the movement of the cable. When installing, pay attention to the fact that the reversing wheel II14-1 and the wire wheel IV9 on the same side are in the same horizontal plane to ensure that the cable is wound in the horizontal direction.

[0031] The hand exoskeleton includes an exoskeleton MCP portion, an exoskeleton joint connection portion, an exoskeleton PIP portion, a joint shell 27, a hand fixation sleeve, an MCP-PIP connection plate 29, and a hand guard plate 30. The hand fixation sleeve includes a hand fixation chain 28 and a hand guard plate 30. The exoskeleton MCP portion includes a spool connection plate I31, a spool I32, an MCP fixing block 33, a bearing II34, a sleeve I35, an MCP drive linkage 36, a cable guide block 37, and an MCP drive shaft 38. The end face of the MCP fixing block 33 has a groove with an angle of 10° to the horizontal plane. The lower side of the groove has a through hole and a threaded hole. The MCP fixing block 33 is fixed to the hand guard plate 30, and the hand guard plate 30 is mounted on the hand fixation chain 28 and fitted onto the arm via the hand fixation chain 28. The MCP drive shaft 38 is mounted on the MCP fixing block 30 via the bearing II34. Inside the through hole of the fixed block 33, the cable guide block 37 is a solid structure that is thin in the middle and thick on both sides. Two through holes are opened on both sides of the cable guide block 37. The cable guide block 37 is fixed to the MCP fixed block 33 by bolts. The MCP drive link 36 is an arc-shaped structure composed of vertical rods on both sides and a horizontal beam. A through hole for installing a pin is opened in the middle of the horizontal beam of the MCP drive link 36. Through holes or threaded holes are opened on the vertical rods on both sides of the MCP drive link 36. The MCP drive link 36, sleeve I35, and reel I32 are all mounted on the MCP drive shaft 38. One end of the MCP drive link 36 is mounted on the middle position of the MCP drive shaft 38 through an interference fit of the shaft hole. The reel I32 is keyed to the MCP drive shaft 38. The reel connecting plate I31 is mounted on the outer end face of the reel I32. The exoskeleton MCP part is axially symmetrical about the MCP drive link 36.

[0032] The exoskeleton joint connection includes: MCP driven link 39, finger plate I40, MCP pivot 41, joint connecting plate I42, sleeve II43, and pin I44. The joint connecting plate I42 has a horizontally oriented groove, with a through hole and threaded hole at the bottom. The other end of the MCP drive link 36 is connected and installed in the groove of the joint connecting plate I42 via bolts and nuts. The finger plate I40 is an inverted T-shaped structure composed of a vertical plate and a bottom plate. One end of the vertical plate of the finger plate I40 has a horizontally oriented groove, and the other end has a through hole. The MCP driven link 39 has the same structure as the MCP drive link 36. One end of the MCP driven link 39 is installed in the groove of the MCP fixing block 33 via bolts and nuts. The MCP driven link 39 and the MCP drive link 36 are connected via pin I44. The MCP pivot 41... 1 is a stepped shaft. The finger plate I40, the joint connecting plate I42, and the MCP driven connecting rod 39 are sequentially installed on the MCP rotating shaft 41 through a clearance fit in the shaft hole. The two ends of the MCP rotating shaft 41 are equipped with sleeves II43, which are interference fits with the MCP rotating shaft 41. The joint connecting plate I42, which is installed on one end of the finger plate I40, is fixed to the upright plate of the finger plate I40 by bolts. One end of the MCP-PIP connecting plate 29 has a sliding groove in the horizontal direction, and the other end of the MCP-PIP connecting plate 29 has a through hole. The sliding groove on the MCP-PIP connecting plate 29 is connected to the sliding groove on the finger plate I40 by bolts and nuts. The joint housing 27 has an inverted U-shaped structure. One side of the joint housing 27 has a threaded hole, and the other side has a through hole. One side of the joint housing 27 is installed on the MCP rotating shaft 41, and the other side is fixed to the finger plate I40 by bolts.

[0033] The exoskeleton PIP section includes: PIP driven link 45, PIP drive link 46, PIP drive shaft 47, reel connecting plate II 48, reel connecting plate III 50, reel II 51, reel III 52, PIP shaft 53, shaft end retaining ring II 54, joint connecting plate II 56, pin II 57, joint connecting plate III 58, and finger plate II (59); PIP driven link 45 and PIP drive link 46 have the same structure as MCP drive link 36. PIP driven link 45 and PIP drive link 46 are connected by pin II 57. Joint connecting plate II 56, joint connecting plate III 58, and joint connecting plate I 42 have the same structure. Reel II 51, MCP-PIP connecting plate 29, joint connecting plate II 56, PIP drive link 46, and reel III 52 are sequentially mounted on PIP drive shaft 47. The ends are mounted on the PIP drive shaft 47 via an interference fit through the shaft hole. The spools II51 and III52 are keyed to the PIP drive shaft 47. The spool connecting plate II48 is fixed to the outer end face of the spool II51, and the spool connecting plate III50 is fixed to the outer end face of the spool III52. One end of the PIP driven link 45 is mounted in the groove of the joint connecting plate II56 via bolts and nuts. The finger plate II59 and the finger plate I40 have the same structure. The finger plate II59, the joint connecting plate III58, and the PIP driven link 45 are sequentially mounted on the PIP rotating shaft 53 via an interference fit through the shaft hole. The two ends of the PIP rotating shaft 53 are respectively equipped with shaft end retaining rings II54. The joint connecting plate III58, which is mounted on one end of the finger plate II59, is fixed to the upright plate of the finger plate II59 by bolts. One end of the PIP drive link 46 is mounted in the groove of the joint connecting plate III58 via bolts and nuts.

[0034] The exoskeleton MCP part replaces the function of the metacarpophalangeal joints (MCP joints) in the actual human hand, while the exoskeleton PIP part replaces the function of the proximal interphalangeal joints (PIP joints) in the actual human hand.

[0035] During installation, to better fit the arm, the hand exoskeleton device has two arc-shaped protrusions along the arm length direction on the end face of the gear support 5 that contacts the arm, and two arc-shaped protrusions along the arm length direction on the end face of the front support 8 that contacts the arm, and an arc-shaped groove along the arm length direction on the end face of the SEA module connecting block (10-1) that contacts the arm.

[0036] The gear support seat 5, the front support seat 8, and the SEA module connecting block 10-1 are manufactured using 3D printing technology.

[0037] The cable used to drive the movement of the exoskeleton MCP is installed as follows: one end of the cable is fixed to the gear support 5, and the other end of the cable is wound from the upper end of the reel IV9 and out the lower end of the reel IV9, then wound from the upper end of the reversing wheel I14-1 and out the lower end of the reversing wheel I14-1, passing through a through hole on the front support 8 to exit the exoskeleton drive section, passing through a through hole on the cable guide block 37 to enter the hand exoskeleton section, then wound from the upper end of the reel I32 and out the lower end of the reel I32. After exiting the reel I32, the cable passes through another through hole on the same side of the cable guide block 37, exits the hand exoskeleton section, passes through another through hole on the front support 8 to return to the exoskeleton drive section, then wound from the upper end of the reel V11 and out the lower end of the reel V11, and finally fixed to the front support 8. A schematic diagram of the cable winding method is shown below. Figure 11 As shown in the diagram, when representing the cable used to drive the movement of the exoskeleton MCP part, spool A and spool B represent two spools located on both sides of the SEA module 10, the reversing wheel represents the reversing wheel I14-1, and spool C represents the spool I32 of the exoskeleton MCP part.

[0038] The working principle of the exoskeleton drive unit driving the rotation of the exoskeleton MCP unit is as follows: When the drive motor 1 rotates forward / reverse, it drives the drive gear 4 to rotate. The drive gear and the driven gear 3 mesh to drive the driven gear 3 to rotate, realizing the deceleration of the driven gear 3. The driven gear 3 drives the lead screw 2 to rotate. The lead screw 2 drives the SEA module 10 to move through the lead screw nut 10-2. The spools IV9 and V11 installed on the SEA module 10 move together with the SEA module 10. The cable wound on the spool IV9 contracts / stretches, driving the spool I32 to rotate. The spool I32 drives the MCP unit to rotate. The P drive shaft 38 rotates, which drives the MCP drive link 36. The MCP drive link 36 causes the bolt and nut at one end to slide up / down in the groove of the joint connecting plate I42. At the same time, the MCP drive link 36 drives the MCP driven link 39 to rotate. The rotation of the MCP driven link 39 causes the bolt and nut at one end to move down / up in the groove of the MCP fixing block 33. At the same time, the MCP driven link 39 drives the MCP rotating shaft 41 to rotate. The rotation of the MCP rotating shaft 41 causes the finger plate I40 to move down / up, thus realizing the downward / upward movement of the MCP joint.

[0039] The cable used to drive the movement of the PIP part of the exoskeleton is installed as follows: one end of the cable is fixed to the gear support 5, and the other end of the cable passes around the reel on another drive assembly, enters from the upper end of the reversing wheel II14-2, exits from the lower end of the reversing wheel II14-2, passes through a through hole on the front support 8 to exit the exoskeleton drive part, enters the hand exoskeleton part through a through hole on another cable guide block, enters from the upper end of the reel III52, exits from the lower end of the reel III52, after exiting the reel III52, passes through another through hole on the same side of the cable guide block, exits the hand exoskeleton part, passes through another through hole on the front support 8 to return to the exoskeleton drive part, passes around another reel on another drive assembly, and is finally fixed to the front support 8; a schematic diagram of the cable winding method is shown below. Figure 11 As shown in the diagram, when representing the cable used to drive the movement of the PIP part of the exoskeleton, spool A and spool B represent two spools located on both sides of another SEA module 10, the reversing wheel represents reversing wheel II14-2, and spool C represents spool II51 or spool III52 of the PIP part of the exoskeleton.

[0040] The working principle of the exoskeleton drive unit driving the rotation of the exoskeleton PIP unit is the same as the working principle of the exoskeleton MCP unit rotation.

[0041] To maintain the force balance of the hand exoskeleton, the two cables are wound around spools on different sides.

Claims

1. A rehabilitation hand exoskeleton device based on SEA modules, characterized in that, It includes the exoskeleton drive unit, the hand exoskeleton unit, and the exoskeleton fixation hand guard; The exoskeleton drive unit includes: two sets of drive components, a gear support base (5), a front support base (8), a side connecting plate I (7), a side connecting plate II (13), a reversing wheel I (14-1), and a reversing wheel II (14-2); each drive component includes a drive motor (1), a lead screw (2), a driven gear (3), a driving gear (4), a spring I (6), a SEA module (10), a guide rod (12), a spring fixing block I (16), a spring fixing block II (17), a spring fixing block III (18), a spring fixing block IV (19), a spring fixing block V (20), and a spring. Fixed block VI (21), spring fixed block VII (22), spring fixed block VIII (23), spring II (24), spring III (25), spring IV (26); the SEA module (10) includes: SEA module connecting block (10-1), lead screw nut (10-2), threaded wheel IV (9), threaded wheel V (11), bearing I (15); spring fixed block I (16) is a ring solid structure, and the inner ring of spring fixed block I (16) is threaded, and spring fixed block II (17), spring fixed block III (18), and spring fixed block IV (19) are all connected to... Spring fixing block I (16) has the same structure. SEA module connecting block (10-1) has an 8-shaped structure consisting of a middle crossbeam and a square shell. The lead screw (2) is installed on the middle crossbeam of SEA module connecting block (10-1) through the lead screw nut (10-2). The two ends of the lead screw (2) passing through SEA module (10) are fixed on SEA module connecting block (10-1) through bearings. Spring I (6) and spring II (24) are both installed on the lead screw (2). Spring fixing block I (16), spring fixing block II (17), spring fixing block III (18), and spring fixing block IV (18) are also installed on the lead screw (2). The inner rings of 19) are all installed on the lead screw (2) by threaded connection, and the two ends of spring I (6) are respectively fixed on spring fixing block I (16) and spring fixing block II (17), the two ends of spring II (24) are respectively fixed on spring fixing block III (18) and spring fixing block IV (19), the outer rings of spring fixing block II (17) and spring fixing block III (18) are respectively fixed on the middle crossbeam of SEA module connecting block (10-1), and the outer rings of spring fixing block I (16) and spring fixing block IV (19) are respectively fixed on SEA module connecting block (10-1);Spring fixing block V(20) is a ring-shaped solid structure. Spring fixing blocks VI(21), VII(22), and VIII(23) are all of the same structure as spring fixing block V(20). The guide rod (12) passes through the stepped hole on the middle crossbeam and through the SEA module (10). The two ends of the guide rod (12) are fixed on the SEA module connecting block (10-1) respectively. Springs III(25) and IV(26) are both installed on the guide rod (12). Spring fixing blocks V(20) and VIII(23) are also installed on the guide rod (20). The inner rings of I(21), spring fixing block VII(22), and spring fixing block VIII(23) are all installed on the guide rod (12) through an interference fit of the shaft hole, and satisfy the following conditions: the two ends of spring III(25) are fixed on spring fixing block V(20) and spring fixing block VI(21) respectively, the two ends of spring IV(26) are fixed on spring fixing block VII(22) and spring fixing block VIII(23) respectively, and the outer rings of spring fixing block VI(21) and spring fixing block VII(22) are respectively installed on the SEA module connector. On the middle crossbeam of the connecting block (10-1), the outer rings of spring fixing block V (20) and spring fixing block VIII (23) are respectively fixed on the SEA module connecting block (10-1); the spool IV (9) and spool V (11) are respectively mounted on the SEA module connecting block (10-1) through bearing I (15); the two ends of the lead screw (2) and guide rod (12) are respectively fixed on the gear support seat (5) and the front support seat (8), the drive motor (1) is fixed on the gear support seat (5), and the drive gear (4) is mounted on the drive motor. On the output shaft of the machine (1), the driven gear (3) is installed at one end of the lead screw (2) of the extended gear support seat (5), and the driven gear (3) meshes with the driving gear (4); the SEA module (10) in the two sets of drive components is installed in parallel; the two ends of the side connecting plate I (7) and the side connecting plate II (13) are fixed on the front support seat (8) and the gear support seat (5) respectively, and the reversing wheel I (14-1) and the reversing wheel II (14-2) are installed on the side connecting plate I (7) and the side connecting plate II (13) respectively; The hand exoskeleton includes an exoskeleton MCP portion, an exoskeleton joint connection portion, an exoskeleton PIP portion, a joint shell (27), a hand fixation sleeve, an MCP-PIP connection plate (29), and a hand guard plate (30); the hand fixation sleeve includes a hand fixation chain (28) and a hand guard plate (30); the exoskeleton MCP portion includes a reel connection plate I (31), a reel I (32), an MCP fixing block (33), a bearing II (34), a sleeve I (35), an MCP drive linkage (36), a cable guide block (37), and an MCP drive shaft (38); the end face of the MCP fixing block (33) has a groove, and the MCP fixing block (33) is fixed on the hand guard plate (30). The hand guard (30) is installed on the hand fixing chain (28) and is fitted onto the arm through the hand fixing chain (28). The MCP drive shaft (38) is installed on the MCP fixing block (33) through the bearing II (34). The cable guide block (37) is a solid structure that is thin in the middle and thick on both sides. Two through holes are opened on both sides of the cable guide block (37). The cable guide block (37) is fixed on the MCP fixing block (33). The MCP drive linkage (36), sleeve I (35), and spool I (32) are all installed on the MCP drive shaft (38). The spool connecting plate I (31) is installed on the outer end face of the spool I (32). The MCP part of the exoskeleton is axially symmetrical about the MCP drive linkage (36). The exoskeleton joint connection includes: MCP driven link (39), finger plate I (40), MCP pivot (41), joint connecting plate I (42), sleeve II (43), and pin I (44); the joint connecting plate I (42) has a groove, and the other end of the MCP drive link (36) is installed in the groove of the joint connecting plate I (42) by bolts and nuts. The finger plate I (40) is an inverted T-shaped structure composed of a vertical plate and a bottom plate. One end of the vertical plate of the finger plate I (40) has a groove. The MCP driven link (39) and the MCP drive link (36) have the same structure. One end of the MCP driven link (39) is installed in the groove of the MCP fixing block (33) by bolts and nuts. The MCP driven link (39) and the MCP drive link (36) are connected in a groove. 36) Connected by pin I (44), the MCP shaft (41) is a stepped shaft, the finger plate I (40), the joint connecting plate I (42), and the MCP driven connecting rod (39) are installed on the MCP shaft (41) in sequence. Sleeves II (43) are installed at both ends of the MCP shaft (41). The joint connecting plate I (42) installed at one end of the finger plate I (40) is fixed on the upright plate of the finger plate I (40). One end of the MCP-PIP connecting plate (29) is machined with a groove. The groove on the MCP-PIP connecting plate (29) is connected to the groove on the finger plate I (40) by bolts and nuts. The joint shell (27) is an inverted U-shaped structure. One side of the joint shell (27) is installed on the MCP shaft (41), and the other side is fixed on the finger plate I (40). The exoskeleton PIP component includes: PIP driven link (45), PIP drive link (46), PIP drive shaft (47), reel connecting plate II (48), reel connecting plate III (50), reel II (51), reel III (52), PIP shaft (53), shaft end retaining ring II (54), joint connecting plate II (56), pin II (57), joint connecting plate III (58), and finger plate II (59). The PIP driven link (45) and PIP drive link (46) have the same structure as the MCP drive link (36). The PIP driven link (45) and PIP drive link (46) are connected by pin II (57). The joint connecting plate II (56), joint connecting plate III (58), and joint connecting plate I (42) have the same structure. The reel II (51), MCP-PIP connecting plate (29), joint connecting plate II (56), and PIP drive shaft are connected by pin II (57). Rod (46), spool III (52) are sequentially mounted on PIP drive shaft (47). Spool connecting plate II (48) is fixed on the outer end face of spool II (51). Spool connecting plate III (50) is fixed on the outer end face of spool III (52). One end of PIP driven link (45) is mounted in the groove of joint connecting plate II (56) by bolts and nuts. Finger plate II (59) and finger plate I (40) have the same structure. Finger plate II (59), joint connecting plate III (58) and PIP driven link (45) are mounted on PIP shaft (53). Shaft end retaining rings II (54) are installed at both ends of PIP shaft (53). Joint connecting plate III (58) mounted on one end of finger plate II (59) is fixed to the upright plate of finger plate II (59) by bolts. One end of PIP drive link (46) is mounted in the groove of joint connecting plate III (58) by bolts and nuts. When the hand exoskeleton device is installed, in order to better fit the arm, two arc-shaped protrusions that match the contact position of the arm are processed on the end face of the gear support (5) that contacts the arm, two arc-shaped protrusions that match the contact position of the arm are processed on the end face of the front support (8) that contacts the arm, and an arc-shaped groove is processed on the end face of the SEA module connecting block (10-1) that contacts the arm. The gear support (5), front support (8), and SEA module connecting block (10-1) are manufactured using 3D printing technology. The cable used to drive the movement of the exoskeleton MCP is installed as follows: one end of the cable is fixed to the gear support (5), and the other end of the cable is wound from the upper end of the cable reel IV (9), out from the lower end of the cable reel IV (9), wound from the upper end of the reversing wheel I (14-1), out from the lower end of the reversing wheel I (14-1), passes through a through hole on the front support (8) to exit the exoskeleton drive part, and passes through a through hole on the cable guide block (37). The cable enters the exoskeleton part from the upper end of the cable reel I (32) and exits from the lower end of the cable reel I (32). After the cable exits the cable reel I (32), it passes through another through hole on the same side of the cable guide block (37), exits the exoskeleton part, and passes through another through hole on the front support base (8) back to the exoskeleton drive part. It enters from the upper end of the cable reel V (11) and exits from the lower end of the cable reel V (11), and is finally fixed on the front support base (8). The cable used to drive the movement of the PIP part of the exoskeleton is installed as follows: one end of the cable is fixed on the gear support (5), and the other end of the cable passes around the spool on another set of drive components, enters from the upper end of the reversing wheel II (14-2), exits from the lower end of the reversing wheel II (14-2), passes through a through hole on the front support (8) to exit the exoskeleton drive part, enters the hand exoskeleton part through a through hole on another cable guide block, enters from the upper end of the spool III (52), exits from the lower end of the spool III (52), after the cable exits from the spool III (52), it passes through another through hole on the same side of the cable guide block, exits the hand exoskeleton part, passes through another through hole on the front support (8) to return to the exoskeleton drive part, passes around another spool on another set of drive components, and is finally fixed on the front support (8).

2. The rehabilitation hand exoskeleton device based on the SEA module according to claim 1, characterized in that, To maintain the force balance of the hand exoskeleton, the two cables are wound around spools on different sides.

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