A passive rehabilitation assisting device for exoskeleton hands

Abstract

The present invention is applicable to the field of rehabilitation assistance technology, and provides an exoskeleton hand passive rehabilitation assistance device, including a fixed plate and a four-finger flexion and extension device; the four-finger flexion and extension device includes an independently controllable power device, a guide rail seat, a proximal finger connecting component connected to the guide rail seat and rotatable relative to the guide rail seat around a first rotation center, and a middle finger connecting component rotatably connected to the proximal finger connecting component and rotatable relative to the proximal finger connecting component around a second rotation center, the guide rail seat is fixedly connected to the fixed plate and has an arc-shaped slide groove; the proximal finger connecting component is connected to the arc-shaped slide groove, and the four-finger flexion and extension device also includes a multi-link structure component, which is rotatably connected to the power device, the proximal finger connecting component and the middle finger connecting component. The exoskeleton hand passive rehabilitation assistance device provided by the embodiment of the present invention has a more compact component arrangement, will not interfere with finger movement after being worn, and has the advantages of light structure, simple assembly, and short assembly time.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation assistance, and in particular relates to an exoskeleton hand passive rehabilitation assistance device. Background Art

[0002] The human hand is an organ with a very delicate anatomical structure and is very susceptible to trauma. Clinically, after hand trauma surgery, the affected finger needs to be fixed in a certain position for 3 to 4 weeks, which often causes blood congestion around the tendons in the joints to form fibrous degeneration and directly leads to adhesion of the finger joints and tendons, which will greatly affect the patient's hand function. The finger components of the existing exoskeleton hand passive rehabilitation assistive device have the main problems of overly complex structure, difficult assembly, long assembly time, and large space occupied between the fingers. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide an exoskeleton hand passive rehabilitation assist device, the components of which are arranged more compactly, and the limited space on the back of the hand is efficiently utilized. It will not interfere with finger movements after being worn, and has the advantages of light structure, simple assembly, and short assembly time.

[0004] The technical solution of the present invention is: an exoskeleton hand passive rehabilitation assist device, comprising a fixing plate connectable to the back of a user's hand and a four-finger flexion and extension device connected to the fixing plate, each of the four-finger flexion and extension devices comprising an independently controllable power device; the four-finger flexion and extension device comprises a guide rail seat, a proximal finger connecting component connected to the guide rail seat, and a middle finger connecting component rotatably connected to the proximal finger connecting component, the guide rail seat is fixedly connected to the fixing plate and has an arc-shaped slide groove; the proximal finger connecting component is connected to the arc-shaped slide groove, the four-finger flexion and extension device also comprises a multi-link structure component for linking the middle finger connecting component and the proximal finger connecting component, and the multi-link structure component is rotatably connected to the power device, the proximal finger connecting component and the middle finger connecting component.

[0005] Optionally, the power device includes a linear push rod, and the multi-link structure component and the middle finger connecting component have a sliding connection structure.

[0006] Optionally, the multi-link structure component includes a first link, a second link, a third link and a fourth link; the rear end of the first link, the rear end of the proximal finger connecting component and the front end of the linear push rod are rotationally connected via a first pin; the rear end of the second link is connected to the guide rail seat, and the front end of the second link, the front end of the first link and the rear end of the third link are rotationally connected via a second pin; the front end of the third link and the rear upper end of the fourth link are rotationally connected, and the rear lower end of the fourth link is rotationally connected to the front end of the proximal finger connecting component; the front end of the fourth link and the middle finger connecting component have the sliding connection structure.

[0007] Optionally, the sliding connection structure includes a linear slide groove provided on the middle finger connecting component and a linear sliding component connected to the front end of the fourth connecting rod and slidably connected to the linear slide groove.

[0008] Optionally, the linear sliding component includes a first rotating shaft passing through the fourth connecting rod and a first bearing connected to both ends of the first rotating shaft, and the first bearing is arranged in the linear sliding groove.

[0009] Optionally, the middle finger connecting component includes a middle finger connecting piece and a middle finger fixing belt connected to the middle finger connecting piece, the middle finger connecting piece includes a middle finger bottom plate and two middle finger side plates arranged opposite to each other at an interval; the two middle finger side plates are both provided with the linear slide groove, the front end of the fourth connecting rod extends between the two middle finger side plates, the middle finger side plate is provided with two first through holes, two first rotating shafts are provided and respectively pass through the two first through holes, four first bearings are provided and are respectively sleeved on both ends of the two first rotating shafts, and each of the linear slide grooves has two first bearings that can slide along the linear slide groove.

[0010] Optionally, the guide rail seat comprises a guide rail bottom plate and two guide rail side plates arranged opposite to each other and spaced apart; both of the two guide rail side plates are provided with the arc-shaped slide groove;

[0011] The near-finger connecting component comprises a near-finger connecting member and a near-finger fixing belt connected to the near-finger connecting member; the near-finger connecting member comprises a near-finger connecting rod located between the two guide rail side plates, the near-finger connecting rod is provided with two second connecting holes, the second connecting holes are provided with near-finger shafts, the near-finger shafts are provided with two and respectively pass through the second connecting holes, four near-finger bearings are provided and respectively connected to the two ends of the two near-finger shafts, and each of the arc-shaped slide grooves has two near-finger bearings that can slide along the arc-shaped slide groove;

[0012] The end of the proximal finger connecting rod close to the power device is provided with a proximal finger connecting fork, the rear end of the first connecting rod is a first fork, and the front end of the first connecting rod is a second fork;

[0013] Two second connecting rods are provided, and each guide rail side plate is provided with a third connecting hole at the lower middle portion of the arc-shaped slide groove; the second connecting rod is provided on the outer side of the guide rail side plate, and the rear end of the second connecting rod is rotatably connected to the third connecting hole through a third pin shaft;

[0014] The first shift fork is arranged inside the proximal finger connecting shift fork, the front end of the linear push rod extends into the inside of the first shift fork, and the first pin passes through the proximal finger connecting shift fork, the first shift fork and the front end of the linear push rod;

[0015] The second shift fork is located between the two second connecting rods, the rear end of the third connecting rod is located inside the second shift fork, and the second pin passes through the front end of the second connecting rod, the second shift fork and the rear end of the third connecting rod;

[0016] A third fork is provided at the rear end of the fourth connecting rod, and the third fork is provided with an upper connecting hole and a lower connecting hole. The front end of the third connecting rod is located between the third forks and is rotatably connected to the upper connecting hole through a fourth pin shaft; the front end of the near-finger connecting rod is located between the third forks and is rotatably connected to the lower connecting hole through a fifth pin shaft.

[0017] Optionally, the middle finger fixing belt is slidably connected to the middle finger connecting piece via a middle finger slider; the proximal finger fixing belt is connected to or directly connected to the proximal finger connecting piece via a proximal finger slider.

[0018] Optionally, the fixed plate is connected to a thumb flexion and extension device for allowing the user's thumb to flex and extend, the thumb flexion and extension device includes a thumb power device, a thumb guide seat and a thumb proximal finger clamp, the thumb guide seat has a thumb arc-shaped slide groove, the thumb proximal finger clamp is slidably connected to the thumb arc-shaped slide groove, the rear end of the thumb power device is rotatably connected to the fixed plate or the thumb guide seat, and the front end of the thumb power device is rotatably connected to the rear end of the thumb proximal finger clamp.

[0019] Optionally, the thumb guide seat includes a thumb guide base plate and two thumb guide side plates arranged opposite to each other at an interval; the two thumb guide side plates are both provided with the thumb arc-shaped slide groove, and the thumb proximal finger clamp includes a thumb connector and a thumb fixing belt connected to the thumb connector; the thumb connector has a thumb connecting rod located between the two thumb guide side plates, the thumb connecting rod is provided with two fifth connecting holes, the two fifth connecting holes are both passed through a fifth pin, and both ends of each fifth pin are provided with a second bearing; each of the thumb arc-shaped slide grooves has two second bearings; the rear end of the thumb connecting rod is provided with a thumb connecting fork, and the front end of the thumb power device extends between the thumb connecting forks and is rotatably connected to the thumb connecting fork through a sixth pin; the thumb fixing belt is connected to or directly connected to the thumb connecting rod through a thumb slider.

[0020] An exoskeleton hand passive rehabilitation assist device provided by an embodiment of the present invention, wherein the four-finger flexion and extension device and the thumb flexion and extension device both adopt a linear drive as power, and are equipped with a transmission mechanism composed of a guide rail seat and a multi-link structure component, thereby achieving the completion of the main finger movements with fewer mechanisms; by installing the four-finger flexion and extension device and the thumb flexion and extension device on a fixed plate covering the metacarpal area, the component arrangement is made more compact, and the limited space on the back of the hand is efficiently utilized. After being worn, it will not interfere with the movement of the fingers, and has the advantages of light structure, simple assembly, and short assembly time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a three-dimensional assembly schematic diagram of an exoskeleton hand passive rehabilitation assisting device (in extended state) provided by an embodiment of the present invention;

[0023] Figure 2 It is a three-dimensional assembly schematic diagram of a four-finger flexion and extension device (in extended state) in an exoskeleton hand passive rehabilitation assist device provided by an embodiment of the present invention;

[0024] Figure 3 It is a three-dimensional assembly schematic diagram of a thumb flexion and extension device (in extended state) in an exoskeleton hand passive rehabilitation assisting device provided by an embodiment of the present invention;

[0025] Figure 4It is a three-dimensional exploded schematic diagram of a four-finger flexion and extension device in an exoskeleton hand passive rehabilitation assisting device provided by an embodiment of the present invention;

[0026] Figure 5 It is a three-dimensional exploded schematic diagram of a thumb flexion and extension device in an exoskeleton hand passive rehabilitation assisting device provided by an embodiment of the present invention;

[0027] Figure 6 It is a plan view of a four-finger flexion and extension device (in extended state) in an exoskeleton hand passive rehabilitation assisting device provided by an embodiment of the present invention when in use;

[0028] Figure 7 It is a plan view of a four-finger flexion and extension device (flexion and retraction state) in an exoskeleton hand passive rehabilitation assisting device provided by an embodiment of the present invention when in use;

[0029] Figure 8 It is a plan view of a thumb flexion and extension device (in an extended state) in an exoskeleton hand passive rehabilitation assisting device provided by an embodiment of the present invention when in use;

[0030] Fig. 9 It is a plan view of a thumb flexion and extension device (flexed and retracted state) in an exoskeleton hand passive rehabilitation assisting device provided by an embodiment of the present invention when in use;

[0031] Fig.10 It is a three-dimensional assembly diagram of an exoskeleton hand passive rehabilitation assisting device (flexed state) provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0034] It should also be noted that the directional terms such as left, right, up, and down in the embodiments of the present invention are merely relative concepts or are based on the normal use status of the product and should not be considered as restrictive.

[0035] like Figures 1 to 10As shown, an exoskeleton hand passive rehabilitation assisting device provided by an embodiment of the present invention can be connected to a fixing plate 900 at the back of the user's hand and a four-finger flexion and extension device 100 connected to the fixing plate 900. Four four-finger flexion and extension devices 100 can be provided, corresponding to the index finger (second finger), the middle finger (third finger), the ring finger (fourth finger) and the little finger (fifth finger). Each four-finger flexion and extension device 100 can be independently controlled. Looking along the extension direction of the four-finger flexion and extension device 100, the front is the "front end" (close to the user's fingertip direction when in use), and the back is the "back end"; looking from the palm to the back of the palm, the upper is the "upper end" and the lower is the "lower end"; the fingers are divided into three sections, the part close to the palm is called the proximal finger, the middle part is called the middle finger (in this embodiment, the middle knuckle of the finger), and the part away from the palm is called the distal finger. In specific applications, if some of the user's fingers are normal and do not need to be rehabilitated, you can also choose to remove the flexion and extension device of the corresponding finger. Of course, you can also choose not to remove it. Each of the four-finger flexion and extension devices 100 includes an independently controllable power device 110, which is used to drive the four-finger flexion and extension device 100 to perform flexion and extension movements, simulate the holding movement of a human hand and open it, and repeat it cyclically. The power device 110 can be a linear power device (linear driver), such as a linear motor, a screw slider driven by a servo motor, etc. The four-finger flexion and extension device 100 includes a guide rail seat 120, a near finger connection component 130 connected to the guide rail seat 120 and rotatable relative to the guide rail seat 120 around a first rotation center A, and a middle finger connection component 140 rotatably connected to the near finger connection component 130 and rotatable relative to the near finger connection component 130 around a second rotation center B, the near finger connection component 130 can be bound to the user's near finger, and the middle finger connection component 140 can be bound to the user's middle finger (middle knuckle). The guide rail seat 120 is fixedly connected to the fixed plate 900, and the guide rail seat 120 has an arc-shaped slide groove 121. The middle finger connecting component 140 is connected to the arc-shaped slide groove 121, and the four-finger flexion and extension device 100 also includes a multi-link structure component for linking the middle finger connecting component 140 and the proximal finger connecting component 130. The multi-link structure component is rotatably connected to the power device 110, the proximal finger connecting component 130 and the middle finger connecting component 140. When the power device 110 moves linearly, the middle finger connecting component 140 and the proximal finger connecting component 130 are driven by the multi-link structure component to move according to the set trajectory. The exoskeleton hand passive rehabilitation assist device has the advantages of compact layout and high space utilization. It will not interfere with the fingers when used, and it is flexible in movement. Each finger can be driven separately, which is well matched with the movement trajectory of the human hand, and has the advantages of light structure, simple assembly, and short assembly time.

[0036] Specifically, the proximal finger connecting component 130 is connected to a proximal finger shaft, and the proximal finger shaft is connected to a proximal finger bearing that can slide along the arc-shaped slide groove 121, so that the transmission is smooth and reliable. The proximal finger bearing of the proximal finger connecting component 130 can reliably slide smoothly along the arc-shaped slide groove 121 without getting stuck. The power device 110 includes a linear push rod, and the multi-link structure component and the middle finger connecting component 140 have a sliding connection structure, so that the middle finger connecting component 140 can slide relatively when rotating, which matches the movement trajectory of the human hand well.

[0037] Specifically, the multi-link structure component includes a first link 150, a second link 160, a third link 170 and a fourth link 180; the rear end of the first link 150, the rear end of the near-finger connecting component 130, the front end of the linear push rod and the near-finger connecting component 130 are rotatably connected through a first pin shaft 191; the rear end of the second link 160 is connected to the guide rail seat 120, and the front end of the second link 160, the front end of the first link 150 and the rear end of the third link 170 are rotatably connected through a second pin shaft 191. The shaft 192 is rotatably connected; the front end of the third connecting rod 170 and the rear upper end of the fourth connecting rod 180 are rotatably connected, and the rear lower end of the fourth connecting rod 180 is rotatably connected to the front end of the near finger connecting component 130; the front end of the fourth connecting rod 180 and the middle finger connecting component 140 have the sliding connection structure, so that the middle finger connecting component 140 can slide an appropriate distance relative to the fourth connecting rod 180 during the process of rotation caused by the fourth connecting rod 180, which can be well matched with the movement trajectory of the human hand, and can provide a better user experience.

[0038] Specifically, the sliding connection structure includes a linear slide groove 143 provided on the middle finger connecting component 140 and a linear sliding component connected to the front end of the fourth connecting rod 180 and slidably connected to the linear slide groove 143, and its structure is simple and reliable.

[0039] Specifically, the linear sliding component includes a first rotating shaft 181 passing through the fourth connecting rod 180 and a first bearing 182 connected to both ends of the first rotating shaft 181, and the first bearing 182 is arranged in the linear slide groove 143, and slides smoothly. Of course, the present embodiment adopts the cooperation between the bearing and the slide groove. In specific applications, a dovetail or T-type self-lubricating guide rail structure can also be used to achieve linear sliding, which also belongs to the protection scope of the present invention.

[0040] Specifically, the middle finger connecting component 140 includes a middle finger connecting member 141 and a middle finger fixing belt 142 connected to the middle finger connecting member 141. The middle finger connecting member 141 includes a middle finger bottom plate and two middle finger side plates spaced apart from each other. The two ends of the middle finger fixing belt 142 can be connected to the two connecting holes of the middle finger bottom plate. The middle finger fixing belt 142 can be an elastic strap or a Velcro strap, etc. The two middle finger side plates are both provided with the linear slide groove 143. The front end of the fourth connecting rod 180 extends between the two middle finger side plates. The fourth connecting rod 180 is between the two middle finger side plates. The fourth connecting rod 180 is not easy to swing to both sides, and the structure is reliable. The middle finger side plate is provided with two first through holes, two first rotating shafts 181 are provided and respectively pass through the two first through holes, four first bearings 182 are provided and are respectively sleeved on both ends of the two first rotating shafts 181, and each of the linear slide grooves 143 has two first bearings 182 that can slide along the linear slide groove 143, which can smoothly realize the rotation and sliding action without getting stuck.

[0041] Specifically, the guide rail seat 120 includes a guide rail bottom plate and two guide rail side plates that are spaced apart from each other and connected to the guide rail bottom plate; both of the two guide rail side plates are provided with the arc-shaped slide groove 121; the guide rail seat 120 can be integrally formed of aluminum alloy.

[0042] Specifically, the near-finger connecting component 130 includes a near-finger connecting member 131 and a near-finger fixing belt 132 connected to the near-finger connecting member 131. The two ends of the near-finger fixing belt 132 can be connected to the two connecting holes of the near-finger connecting member 131. The near-finger fixing belt 132 can be an elastic bandage or a magic bandage, etc.; the near-finger connecting member 131 has a near-finger connecting rod, and the near-finger connecting rod is located between the two guide rail side plates. The near-finger connecting rod is provided with two second connecting holes, and the near-finger shaft 133 is provided with two and passes through the second connecting holes. There are four near-finger bearings 134 and they are respectively connected to the two ends of the two near-finger shafts 133. Each of the arc-shaped slide grooves 121 has two near-finger bearings 134 that can slide along the arc-shaped slide groove 121, and the sliding effect is good.

[0043] Specifically, the end of the proximal finger connecting rod 135 close to the power device 110 has a proximal finger connecting fork 136, and the proximal finger connecting fork 136 can be U-shaped. The rear end of the first connecting rod 150 is a first fork 151, and the front end of the first connecting rod 150 is a second fork 152; the first fork 151 and the second fork 152 can be U-shaped.

[0044] Specifically, two second connecting rods 160 are provided, and the second connecting rods 160 are arranged in parallel and spaced apart, and can move synchronously. Each guide rail side plate is provided with a third connecting hole at the lower middle of the arc-shaped slide groove 121; the second connecting rod 160 is provided on the outer side of the guide rail side plate, and the rear end of the second connecting rod 160 is rotatably connected to the third connecting hole through a third pin shaft; the second connecting rod 160 and the near-finger connecting rod 135 are separated by the guide rail side plate, and will not interfere with each other, and the motion structure is compact and reliable.

[0045] Specifically, the first fork 151 is arranged on the inner side of the proximal finger connecting fork 136, the front end of the linear push rod extends into the inner side of the first fork 151, and the first pin shaft 191 passes through the proximal finger connecting fork 136, the first fork 151 and the front end of the linear push rod, and the structure is compact.

[0046] Specifically, the second fork 152 is located between the two second connecting rods 160, the rear end of the third connecting rod 170 is located inside the second fork 152, and the second pin shaft 192 passes through the front end of the second connecting rod 160, the second fork 152 and the rear end of the third connecting rod 170, with a compact structure.

[0047] Specifically, the rear end of the fourth connecting rod 180 is provided with a third fork 183, and the third fork 183 may be U-shaped. The third fork 183 is provided with an upper connecting hole and a lower connecting hole, and the front end of the third connecting rod 170 is located between the third forks 183 and is rotatably connected to the upper connecting hole through a fourth pin shaft; the front end of the near-finger connecting rod 135 is located between the third forks 183 and is rotatably connected to the lower connecting hole through a fifth pin shaft.

[0048] Specifically, the fixing plate 900 is connected to a fixing seat 910, and the rear end of the power device 110 is hinged to the fixing seat 910; the middle finger fixing belt 142 can be slidably connected to the middle finger connecting member 141 through a middle finger slider, and the positions of the middle finger slider and the middle finger fixing belt 142 can be adjusted; the proximal finger fixing belt 132 is connected to or directly connected to the proximal finger connecting member 131 through a proximal finger slider, and the positions of the proximal finger slider and the proximal finger fixing belt 132 can be adjusted to meet the specific needs of different users, so that the exoskeleton hand passive rehabilitation assist device has better adaptability.

[0049] Specifically, the fixing plate 900 is connected with a thumb flexion and extension device 200 for flexing and extending the thumb of the user, and the thumb flexion and extension device 200 includes a thumb power device 210, a thumb rail seat 220, and a thumb proximal finger clip 230. The thumb rail seat 220 has a thumb arc-shaped slide groove 221, and the thumb power device 210 can be the same as the power device 110 (same model and specification). The thumb proximal finger clip 230 is slidably connected to the thumb arc-shaped slide groove 221, and the rear end of the thumb power device 210 (connected to the connection seat 920 or directly) is rotationally connected to the fixing plate 900 or the thumb rail seat 220, and the front end of the thumb power device 210 is rotationally connected to the rear end of the thumb proximal finger clip 230.

[0050] Specifically, the thumb rail seat 220 includes a thumb rail bottom plate and two thumb rail side plates that are spaced apart from each other; the two thumb rail side plates are both provided with the thumb arc-shaped slide groove 221; the thumb proximal finger clamp 230 includes a thumb connector 231 and a thumb fixing belt 232 connected to the thumb connector 231; the thumb connector 231 has a thumb connecting rod located between the two thumb rail side plates, the thumb connecting rod is provided with two fifth connecting holes, the two fifth connecting holes are both penetrated by a fifth pin 241, and both ends of each fifth pin 241 are provided with a second bearing 242; each of the thumb arc-shaped slide grooves 221 has two second bearings 242; the rear end of the thumb connecting rod is provided with a thumb connecting fork 233, and the front end of the thumb power device 210 extends between the thumb connecting forks 233 and is rotatably connected to the thumb connecting fork 233 through a sixth pin 261.

[0051] Specifically, the thumb fixing strap 232 can be connected to the thumb connecting rod through a thumb slider or directly connected to the thumb connecting rod.

[0052] In the embodiment of the present invention, the fixing plate 900 includes a four-finger area 931 and a thumb area 932, and covers the metacarpal area of ​​a single hand when in use. Four sets of four-finger flexion and extension devices 100 are installed in the four-finger area 931 of the fixing plate 900, and the thumb flexion and extension device 200 is installed in the thumb area 932. In order to achieve wearing, the fixing plate 900 is provided with through holes for wearing straps at the position close to the index finger side and the position close to the little finger side on the four-finger area 931. Figure 1 The four-finger flexion and extension device 100 and the thumb flexion and extension device 200 are shown in the state before being bent. Fig.10The four-finger flexion and extension device 100 is shown in a bent state. The four-finger flexion and extension device 100 includes a linear actuator arranged along the finger extension direction and a first movable bow composed of a guide rail seat 120 and a multi-link structure component. When the linear actuator is extended, it drives the proximal finger connection component 130 to rotate along the track of the slotted guide rail (arc-shaped slide groove 121) of the guide rail seat 120. The center corresponding to the arc-shaped slide groove 121 fits (or nearly fits) with the first virtual center. The first virtual center is the rotation center of the proximal finger rotating around the palm, so that the proximal finger connection component 130 drives the proximal finger to rotate around the palm by a certain angle, such as 55 degrees. At the same time, the linear actuator extends. When the time is long, the multi-link structure components composed of the first link 150, the second link 160, the third link 170, and the fourth link 180 can be driven to work, so that the fourth link 180 can rotate around the third rotation center C, and the third rotation center is the hinge center where the proximal finger connection component 130 and the fourth link 180 are coaxially hinged, so that the fourth link 180 drives the middle finger connection component 140 to rotate around the third rotation center, and the middle finger connection component 140 drives the middle finger to rotate around the second virtual center, and the second virtual center is the rotation center of the middle finger rotating around the proximal finger, such as Figure 7 As shown, since the second virtual center and the third rotation center cannot be fitted (or nearly fitted), the middle finger connecting component 140 will slide relative to the middle finger when driving the middle finger joint to rotate. In order to solve this problem, linear grooves 143 are provided on both sides of the middle finger connecting component 140, so that the fourth connecting rod 180 can slide along the trajectory of the linear groove 143 on the middle finger connecting component 140 while rotating around the third rotation center, thereby transferring the sliding of the relative position of the middle finger with the middle finger when the middle finger connecting component 140 drives the middle finger to rotate to the sliding of the fourth connecting rod 180 and the slotted guide of the middle finger connecting component 140.

[0053] Figure 8 The thumb flexion and extension device 200 corresponding to the thumb is shown in a state before being bent. Fig. 9 The thumb flexion and extension device 200 corresponding to the thumb is shown in a bent state. The thumb flexion and extension device 200 includes a thumb power device 210 arranged along the thumb extension direction and a second movable bow composed of a thumb guide rail seat 220 and a multi-link structure component. When the linear drive (power device 210) is extended, it drives the thumb proximal finger clamp 230 to rotate along the track of the thumb arc slide groove 221 of the thumb guide rail seat 220. The center of the thumb arc slide groove 221 track fits the virtual center of the thumb, and the virtual center is the rotation center D of the thumb proximal finger rotating around the palm; thereby realizing that the thumb proximal finger clamp 230 drives the thumb proximal finger to rotate around the palm by a certain angle, such as 55 degrees. .

[0054] The assembly of the exoskeleton hand passive rehabilitation assist device can refer to the following:

[0055] First, a fixing plate 900 that can cover the metacarpal area of ​​a single hand is prepared, the fixing plate 900 includes a four-finger area 931 and a thumb area 932, and the fixing plate 900 is provided with through holes for wearing a strap at a position close to the index finger side and a position close to the little finger side on the four-finger area 931; four sets of four-finger flexion and extension devices 100 are installed on the four-finger area 931 of the fixing plate 900, and the four sets of the four-finger flexion and extension devices 100 correspond to the four fingers one by one, respectively, and each set of the four-finger flexion and extension devices 100 includes a power device 110 arranged along the finger extension direction and a first movable bow composed of a guide rail seat 120 and a multi-link structure component, and the power The rear end of the device 110 is hinged on the fixing seat 910 through a pin shaft, and the front end (push rod end) of the power device 110 is coaxially hinged with the rear end of the near finger connecting component 130 and the rear end of the first connecting rod 150 through the first pin shaft 191. The fixing seat 910 and the fixing plate 900 can be fastened by screws. The front end of the first movable bow is the middle finger connecting component 140, and the middle finger connecting component 140 can be clamped on the corresponding middle finger by Velcro. The guide seat 120 at the rear end of the first movable bow and the fixing plate 900 can be fastened by screws. The near finger connecting component 130 is provided with two cylindrical through holes, and the cylindrical through holes are provided with a near finger shaft 13 3. Both sides of the proximal finger shaft 133 are provided with proximal finger bearings 134 (rolling bearings), which are installed in the arc-shaped slide grooves 121 of the guide rail side plates on both sides of the guide rail seat 120, so that the proximal finger connecting component 130 can rotate along the arc-shaped slide grooves 121 of the guide rail seat 120. A cylindrical through hole is respectively opened below the arc-shaped slide grooves 121 on both sides of the guide rail seat 120. The second connecting rod 160 is distributed on the left and right sides of the guide rail seat 120. The rear end of the second connecting rod 160 is coaxially hinged with the cylindrical through holes below the arc-shaped slide grooves 121 on both sides of the guide rail seat 120 through the third pin shaft. The second connecting rods 160 on both sides of the guide rail seat 120 The front end of 0 is coaxially hinged with the front end of the first connecting rod 150 and the rear end of the third connecting rod 170, the front end of the third connecting rod 170 is hinged with the upper end of the fourth connecting rod 180, the lower end of the fourth connecting rod 180 is hinged with the front end of the proximal finger connecting component 130, and the front end of the fourth connecting rod 180 is provided with two cylindrical through holes, and the through holes are provided with a first rotating shaft 181, and the first rotating shaft 181 is provided with first bearings 182 (rolling bearings) on both sides, and the first bearings 182 are installed in the linear grooves 143 on both sides of the middle finger connecting component 140, so that the fourth connecting rod 180 can slide in the linear grooves 143 of the middle finger connecting component 140.

[0056] The thumb flexion and extension device 200 corresponding to the thumb includes a thumb power device 210 and a thumb guide seat 220 arranged along the forward extension direction of the thumb, and a second movable bow composed of a multi-link structural component. The rear end of the thumb power device 210 is hinged to the thumb fixing seat 920 through a pin shaft, and the thumb fixing seat 920 is fixed to the thumb guide seat 220. The front end (push rod end) of the thumb power device 210 is coaxially hinged with the rear end of the thumb proximal finger clamp 230 through the sixth pin shaft 261. The thumb proximal finger clamp 230 is provided with two cylindrical through holes (fifth connecting holes), and the cylindrical through holes are provided with a fifth pin shaft 241. The fifth pin shaft 241 is provided with second bearings 242 (rolling bearings) on both sides. The second bearing 242 is installed in the thumb arc-shaped slide groove 221, so that the thumb proximal finger clamp 230 can rotate along the guide track of the thumb arc-shaped slide groove 221, and the thumb guide rail seat 220 and the fixing plate 900 can be fastened by screws.

[0057] An exoskeleton hand passive rehabilitation assisting device provided in an embodiment of the present invention can be used as a wearable device to help patients perform passive rehabilitation training of the hand. It is provided with a four-finger flexion and extension device 100 corresponding to the four fingers respectively and a thumb flexion and extension device 200 corresponding to the thumb; the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 both use a linear drive as power, and are equipped with a transmission mechanism composed of a guide rail seat 120 and a multi-link structure component, so that the main movements of the fingers can be completed with fewer mechanisms; by installing the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 on a fixing plate 900 covering the metacarpal area, the component arrangement is made more compact, and the limited space on the back of the hand is efficiently utilized, and there will be no interference with the finger movement after wearing; a through hole 901 for wearing a strap is opened on the fixing plate 900, and the strap is used for wearing and installation, making the fixing method simpler.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An exoskeleton hand passive rehabilitation assisting device, characterized in that: It comprises a fixing plate connectable to the back of a user's hand and a four-finger flexion and extension device connected to the fixing plate, each of the four-finger flexion and extension devices comprises an independently controllable power device; the four-finger flexion and extension device comprises a guide rail seat, a proximal finger connecting component connected to the guide rail seat, and a middle finger connecting component rotatably connected to the proximal finger connecting component, the guide rail seat is fixedly connected to the fixing plate and has an arc-shaped slide groove; the proximal finger connecting component is slidably connected to the arc-shaped slide groove through a proximal finger bearing, the four-finger flexion and extension device also comprises a multi-link structure component for linking the middle finger connecting component and the proximal finger connecting component, the multi-link structure component is rotatably connected to the power device, the proximal finger connecting component and the middle finger connecting component; The power device includes a linear push rod, and the multi-link structure component and the middle finger connection component have a sliding connection structure; The multi-link structure component includes a first link, a second link, a third link and a fourth link; the rear end of the first link, the rear end of the near-finger connecting component and the front end of the linear push rod are rotatably connected through a first pin shaft; the rear end of the second link is connected to the guide rail seat, and the front end of the second link, the front end of the first link and the rear end of the third link are rotatably connected through a second pin shaft; the front end of the third link is rotatably connected to the rear upper end of the fourth link, and the rear lower end of the fourth link is rotatably connected to the front end of the near-finger connecting component; the front end of the fourth link and the middle finger connecting component have the sliding connection structure; The sliding connection structure includes a linear slide groove provided on the middle finger connection component and a linear sliding component connected to the front end of the fourth connecting rod and slidably connected to the linear slide groove.

2. The exoskeleton hand passive rehabilitation assisting device according to claim 1, characterized in that: The linear sliding component includes a first rotating shaft passing through the fourth connecting rod and a first bearing connected to both ends of the first rotating shaft, and the first bearing is arranged in the linear sliding groove.

3. The exoskeleton hand passive rehabilitation assisting device according to claim 2, characterized in that: The middle finger connecting component includes a middle finger connecting piece and a middle finger fixing belt connected to the middle finger connecting piece, the middle finger connecting piece includes a middle finger bottom plate and two middle finger side plates arranged opposite to each other at an interval; the two middle finger side plates are both provided with the linear slide groove, the front end of the fourth connecting rod extends between the two middle finger side plates, the middle finger side plate is provided with two first through holes, the first rotating shafts are provided with two and respectively pass through the two first through holes, the first bearings are provided with four and respectively sleeved on the two ends of the two first rotating shafts, and each of the linear slide grooves has two first bearings that can slide along the linear slide groove.

4. The exoskeleton hand passive rehabilitation assisting device as claimed in claim 3, characterized in that: The guide rail seat comprises a guide rail bottom plate and two guide rail side plates arranged opposite to each other and spaced apart; both guide rail side plates are provided with the arc-shaped slide groove; The near-finger connecting component comprises a near-finger connecting member and a near-finger fixing belt connected to the near-finger connecting member; the near-finger connecting member comprises a near-finger connecting rod located between the two guide rail side plates, the near-finger connecting rod is provided with two second connecting holes, the second connecting holes are provided with near-finger shafts, the near-finger shafts are provided with two and respectively pass through the second connecting holes, four near-finger bearings are provided and respectively connected to the two ends of the two near-finger shafts, and each of the arc-shaped slide grooves has two near-finger bearings that can slide along the arc-shaped slide groove; The end of the proximal finger connecting rod close to the power device is provided with a proximal finger connecting fork, the rear end of the first connecting rod is a first fork, and the front end of the first connecting rod is a second fork; Two second connecting rods are provided, and each guide rail side plate is provided with a third connecting hole at the lower middle portion of the arc-shaped slide groove; the second connecting rod is provided on the outer side of the guide rail side plate, and the rear end of the second connecting rod is rotatably connected to the third connecting hole through a third pin shaft; The first shift fork is arranged inside the proximal finger connecting shift fork, the front end of the linear push rod extends into the inside of the first shift fork, and the first pin passes through the proximal finger connecting shift fork, the first shift fork and the front end of the linear push rod; The second shift fork is located between the two second connecting rods, the rear end of the third connecting rod is located inside the second shift fork, and the second pin passes through the front end of the second connecting rod, the second shift fork and the rear end of the third connecting rod; A third fork is provided at the rear end of the fourth connecting rod, and the third fork is provided with an upper connecting hole and a lower connecting hole. The front end of the third connecting rod is located between the third forks and is rotatably connected to the upper connecting hole through a fourth pin shaft; the front end of the near-finger connecting rod is located between the third forks and is rotatably connected to the lower connecting hole through a fifth pin shaft.

5. The exoskeleton hand passive rehabilitation assisting device according to claim 4, characterized in that: The middle finger fixing belt is slidably connected to the middle finger connecting piece via a middle finger slider; the proximal finger fixing belt is connected to or directly connected to the proximal finger connecting piece via a proximal finger slider.

6. An exoskeleton hand passive rehabilitation assisting device as claimed in any one of claims 1 to 5, characterized in that: The fixing plate is connected to a thumb flexion and extension device for allowing the user's thumb to flex and extend, and the thumb flexion and extension device includes a thumb power device, a thumb guide seat and a thumb proximal finger clamp, the thumb guide seat has a thumb arc-shaped slide groove, the thumb proximal finger clamp is slidably connected to the thumb arc-shaped slide groove, the rear end of the thumb power device is rotatably connected to the fixing plate or the thumb guide seat, and the front end of the thumb power device is rotatably connected to the rear end of the thumb proximal finger clamp.

7. The exoskeleton hand passive rehabilitation assisting device according to claim 6, characterized in that: The thumb guide seat includes a thumb guide bottom plate and two thumb guide side plates arranged opposite to each other at intervals; the two thumb guide side plates are both provided with the thumb arc-shaped slide groove, and the thumb proximal finger clamp includes a thumb connector and a thumb fixing belt connected to the thumb connector; the thumb connector has a thumb connecting rod located between the two thumb guide side plates, the thumb connecting rod is provided with two fifth connecting holes, the two fifth connecting holes are both penetrated by a fifth pin, and both ends of each fifth pin are provided with a second bearing; each of the thumb arc-shaped slide grooves has two second bearings; the rear end of the thumb connecting rod is provided with a thumb connecting fork, and the front end of the thumb power device extends between the thumb connecting forks and is rotatably connected to the thumb connecting fork through a sixth pin; the thumb fixing belt is connected to or directly connected to the thumb connecting rod through a thumb slider.

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