A seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove

Abstract

The present invention belongs to the field of medical rehabilitation machines, and specifically relates to a seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove, including a palm mounting assembly, a thumb assembly, four finger assemblies, and a four-finger linkage transmission assembly, wherein the thumb assembly includes a thumb branch chain and a thumb drive assembly, wherein the thumb drive assembly is used to drive the thumb branch chain to achieve bending and stretching movements, wherein the finger assembly includes a finger branch chain and a finger drive assembly, wherein the finger drive assembly is used to drive the finger branch chain to achieve bending and stretching movements, and wherein the four-finger linkage transmission assembly is used to synchronously drive four finger branches to achieve abduction and adduction movements. The present invention has the characteristics of novel structure, small number of prime movers, light weight, small size, and flexible movement.

Description

Technical Field

[0001] The present invention belongs to the field of medical rehabilitation machines, and more specifically, particularly relates to a seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove. Background Art

[0002] Finger motor dysfunction is mainly caused by various reasons such as various accidents, brain injuries, polio, etc. In finger rehabilitation training, the training mode can be divided into passive training and active training according to the order of training stages. Passive training refers to the initial stage of training, relying on the external world to stimulate the damaged nerves, mainly the finger joints, through a large number of repetitive bending movements, to strengthen the strength of the finger muscles and the flexibility of the joints. This process requires the guidance and care of professional physiotherapists and doctors, which is time-consuming and labor-intensive. After this stage, the patient's fingers have a certain degree of self-activity ability, and in the active training stage, rehabilitation training can be carried out by relying on the patient's conscious finger movements.

[0003] In view of the large number of repetitive finger bending activities required by patients in passive training, a large number of mechanical finger rehabilitation training machines have emerged to replace the repetitive work of physical therapists. Currently, the finger rehabilitation training machines on the market can be roughly divided into the following types according to the design of the mechanical structure:

[0004] 1. Chain-type multi-joint manipulator driven by flexible steel cable:

[0005] The finger driven by this scheme is under-actuated. Generally, one motor is used to control the bending movement of one finger. Because it is a flexible steel cable, in the process of controlling the bending of the finger, the specific joints of the wearer's finger do not need to follow a specific trajectory. The movement sequence and angle of the three joints of the finger can be adjusted within the range allowed by the mechanism to reach the end point of the mechanism's movement position. In the process of movement, the damage caused by rigid impact can be avoided. The disadvantages of this scheme are: first, in this design, the abduction and adduction between the proximal phalanx of the four fingers cannot be achieved, and only the bending and extension between the proximal phalanx and the middle phalanx, and the middle phalanx and the distal phalanx of a single finger can be achieved; second, the flexible steel cable driven by this scheme requires a special servo motor and a steel cable pushing device to realize the movement of the steel cable in the channel of the chain finger and the transmission of force, which is relatively large in size; at the same time, each finger requires a combination of the same above-mentioned mechanisms, which makes the volume even larger. Therefore, this device is suitable for use in a fixed position in a fixed occasion and lacks portability.

[0006] 2. Pneumatic muscle multi-joint manipulator:

[0007] This solution usually includes a retractable pleated airbag structure. After ventilation, the knuckles are rotated by the expansion and contraction of the pneumatic joints to simulate the bending and extension of the fingers. Since the gas is compressible, the advantage of this device is that the impact load generated during sudden movement and sudden stop is small, and it is more comfortable to wear. However, due to the limitation of the volume of pneumatic muscles, it is difficult to install between the four proximal phalanges, so this solution is difficult to complete the abduction and adduction between the four fingers; secondly, pneumatic muscles are relatively expensive, and the use of air source devices will increase noise pollution.

[0008] 3. Joint motor type full degree of freedom manipulator:

[0009] According to the 21 degrees of freedom of a single human palm, this solution is to drive each joint with a separate motor. The advantage is that each degree of freedom of each finger can be controlled separately, and the movement angles of different joints can be customized according to the injuries of different joints of different fingers, so as to carry out refined rehabilitation treatment. The disadvantage is that the number of motors is very large, which greatly increases the complexity of the mechanism and the control system, making the rehabilitation robot more expensive. At the same time, a large number of motors inevitably increases the weight of the equipment, which is not conducive to portable movement when worn.

[0010] 4. Linkage exoskeleton manipulator:

[0011] Due to the use of connecting rods, this solution can centrally arrange the motors compared to joint motor manipulators, making the manipulator portable. At the same time, due to the reduction of weight at the joints of the manipulator, the joints have a smaller moment of inertia when rotating, and the stability during movement is improved. And because the connecting rod is small in size, the freedom of the four fingers to abduct and adduct relative to the palm can be added to the palm. However, in contrast, the connecting rod exoskeleton manipulator controls the bending and extension of a single finger through multiple connecting rods by the same servo or motor. Since the length of the connecting rod is fixed, the movement trajectory of the finger and the curve of the bending angle relative to time are fixed. Sudden start and stop will produce a large impact load on the hand.

[0012] In summary, the present invention designs a seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove, which consists of five major parts: a palm mounting assembly, a connecting rod branch chain, a finger branch chain, a thumb branch chain, and a four-finger linkage transmission assembly. The purpose is to enable the rehabilitation manipulator to complete the abduction and adduction movements between the proximal phalanx of the four fingers with a smaller number of prime movers, a more compact layout, and a longer distance from the finger part. At the same time, it can also overcome the disadvantage of the linkage type exoskeleton manipulator having a large impact when starting and stopping, and has a certain comfort margin for the fingers to adjust the bending angle and movement trajectory during the bending and extension of the fingers. In addition, since the present invention uses fewer prime movers, it is lighter and more suitable for wear on the go. Summary of the invention

[0013] The present invention aims to solve the problems of finger joint rehabilitation machines in the current market being bulky, heavy, and not easy to wear, the abduction and adduction movements between four fingers and the bending and extension movements of a single finger cannot be taken into account at the same time, and there is rigid impact when the motor is started and stopped or in motion. Therefore, a seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove is proposed, which can realize the abduction and adduction movements between four fingers and the bending and extension movements of a single finger, reduce external impacts during motor start-stop and movement, and has the advantages of small number of prime movers, light weight, small size, and flexible movement.

[0014] A seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove, comprising a palm mounting assembly, a thumb assembly, four finger assemblies and a four-finger linkage transmission assembly;

[0015] The thumb assembly includes a thumb branch chain and a thumb drive assembly, the end of the thumb branch chain is rotatably connected to the palm mounting assembly, and the thumb drive assembly is used to drive the thumb branch chain to achieve bending and stretching movements;

[0016] The finger assembly includes a finger branch chain and a finger driving assembly, the end of the finger branch chain is rotatably connected to the palm mounting assembly, and the finger driving assembly is used to drive the finger branch chain to achieve bending and stretching movements;

[0017] The four-finger linkage transmission assembly is used to synchronously drive four finger branches to achieve abduction and adduction movements.

[0018] Furthermore, the thumb branch chain includes a first thumb knuckle, a second thumb knuckle and a third thumb knuckle which are rotatably connected in sequence, and the first thumb knuckle is rotatably connected to the palm mounting assembly; the thumb drive assembly includes a thumb lifting servo, a thumb servo, a first thumb connecting rod branch chain and a second thumb connecting rod branch chain, the thumb lifting servo is arranged on the palm mounting assembly, and is transmission-connected to the first thumb knuckle through the first thumb connecting rod branch chain, the thumb servo is arranged on the first thumb knuckle, and is transmission-connected to the third thumb knuckle through the second thumb connecting rod branch chain.

[0019] Furthermore, the first thumb-link branch chain comprises a thumb servo arm and a thumb link, one end of the thumb servo arm is transmission-connected to the output end of the thumb lifting servo, and the other end is rotationally connected to one end of the thumb link, and the other end of the thumb link is rotationally connected to the first thumb knuckle; the second thumb-link branch chain comprises a "U"-shaped servo arm and a thumb arc-shaped link, one end of the "U"-shaped servo arm is transmission-connected to the output end of the thumb servo, and the other end is rotationally connected to one end of the thumb arc-shaped link, and the other end of the thumb arc-shaped link is rotationally connected to the third thumb knuckle.

[0020] Furthermore, the rotatable angle of the first thumb knuckle relative to the palm mounting assembly is limited to 0-90°, the rotatable angle of the second thumb knuckle relative to the first thumb knuckle is limited to 0-120°, and the rotatable angle of the third thumb knuckle relative to the second thumb knuckle is limited to 0-120°; a torsion spring is arranged between the second thumb knuckle and the third thumb knuckle.

[0021] Furthermore, the finger branch chain includes a first finger joint, a second finger joint and a third finger joint which are rotatably connected in sequence, and the finger drive assembly includes a finger servo and a finger connecting rod branch chain. The finger servo is arranged on the palm mounting assembly, and is transmission-connected to the third finger joint through the finger connecting rod branch chain.

[0022] Furthermore, the finger connecting rod branch chain includes a finger servo arm, a finger connecting rod, an arc-shaped long connecting rod and an arc-shaped short pull rod, one end of the finger servo arm is transmission-connected to the finger servo output end, and the other end is rotationally connected to one end of the finger connecting rod, the other end of the finger connecting rod is rotationally connected to the arc-shaped long connecting rod, one end of the arc-shaped long connecting rod is rotationally connected to the palm mounting assembly, and the other end is rotationally connected to one end of the arc-shaped short pull rod, and the other end of the arc-shaped short pull rod is rotationally connected to the third finger knuckle.

[0023] Furthermore, the rotatable angle of the first finger knuckle relative to the palm mounting assembly is limited to 0-120°, the rotatable angle of the second finger knuckle relative to the first finger knuckle is limited to 0-120°, the rotatable angle of the third finger knuckle relative to the second finger knuckle is limited to 0-120°, a torsion spring is arranged between the first finger knuckle and the second finger knuckle, and a torsion spring is arranged between the second finger knuckle and the third finger knuckle.

[0024] Furthermore, the four-finger linkage transmission assembly includes a transmission servo, a transmission component and four cross shafts. The ends of the four finger branches are respectively rotatably connected to the palm mounting assembly through the cross shafts, and the transmission servo is transmission-connected to the four cross shafts through the transmission component.

[0025] Furthermore, the transmission assembly includes an idler gear, two small gears, two large gears and a gear-synchronous wheel mechanism, the two small gears are respectively arranged on the cross shafts of the finger branch chains on both sides, the two large gears are respectively arranged on the cross shafts of the two middle finger branch chains, the two large gears are meshed, and a pair of adjacent large gears and small gears are respectively meshed with the gears on the gear-synchronous wheel mechanism, and the gear-synchronous wheel mechanism is transmission-connected to the output end of the transmission servo.

[0026] Furthermore, the bottoms of the palm mounting assembly, thumb branch chain and finger branch chain are all provided with a sleeve-like structure for people to wear.

[0027] The beneficial effects of the present invention are: novel structure, small number of prime movers, light weight, small size, flexible movement and the like. The palm mounting assembly concentrates the prime movers required to drive the fingers together and arranges them compactly, away from the fingers, so that the moment of inertia is smaller during movement, making the movement more flexible. The thumb drive assembly and the finger drive assembly transmit the power to drive the thumb and fingers to bend and stretch. The finger branch chain and the thumb branch chain imitate the design of the four fingers and thumb of a person. The torsion spring installed thereon not only allows the finger rehabilitation function to have a fixed movement trajectory in the case of lack of freedom, but also buffers the impact and protects the user's fingers. The four-finger linkage transmission assembly realizes the abduction and adduction movement between the four fingers without affecting the bending and extension movement of a single finger. Therefore, the present invention has a reasonable structural design, can realize a variety of rehabilitation treatment actions, is compact in size, and has high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove of the present invention;

[0029] Figure 2 It is a schematic diagram of the structure of the installation substrate in the present invention;

[0030] Figure 3 It is a schematic diagram of the palm mounting assembly and the finger assembly structure of the present invention;

[0031] Figure 4 Schematic diagram of the finger branched chain structure in the present invention;

[0032] Figure 5 It is a schematic diagram of the thumb assembly structure of the present invention;

[0033] Figure 6 It is a schematic diagram of the structure of the bottom plate and the four-finger linkage transmission assembly in the present invention;

[0034] Figure 7 is a schematic structural diagram of the first finger knuckle in the present invention;

[0035] Figure 8 is a schematic structural diagram of the second finger knuckle of the present invention;

[0036] Fig. 9 It is a schematic structural diagram of the third finger knuckle of the present invention. DETAILED DESCRIPTION

[0037] In the description of the present invention, it is necessary to understand that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "center", "end", "length", "outer end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] The present invention will be further described below in conjunction with the accompanying drawings.

[0039] See also Figure 1-9 A seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove comprises a palm mounting assembly 1, a thumb assembly, four finger assemblies and a four-finger linkage transmission assembly 5; the thumb assembly comprises a thumb branch chain 4 and a thumb driving assembly, the end of the thumb branch chain 4 is rotatably connected to the palm mounting assembly 1, and the thumb driving assembly is used to drive the thumb branch chain 4 to achieve bending and extension movements; the finger assembly comprises a finger branch chain 3 and a finger driving assembly, the end of the finger branch chain 3 is rotatably connected to the palm mounting assembly 1, and the finger driving assembly is used to drive the finger branch chain 3 to achieve bending and extension movements; the four-finger linkage transmission assembly 5 is used to synchronously drive the four finger branches 3 to achieve abduction and adduction movements.

[0040] Continue reading Figure 5 The thumb branch chain 4 includes a first thumb knuckle 401, a second thumb knuckle 405 and a third thumb knuckle 406 which are rotatably connected in sequence, and the first thumb knuckle 401 is rotatably connected to the palm mounting assembly 1; the thumb drive assembly includes a thumb lifting servo 104, a thumb servo 402, a first thumb connecting rod branch chain and a second thumb connecting rod branch chain, the thumb lifting servo 104 is arranged on the palm mounting assembly 1, and is connected to the first thumb knuckle 401 through the first thumb connecting rod branch chain, the thumb servo 402 is arranged on the first thumb knuckle 401, and is connected to the third thumb knuckle 406 through the second thumb connecting rod branch chain, the The first thumb link branch chain includes a thumb servo arm 201 and a thumb link 202, one end of the thumb servo arm 201 is transmission connected to the output end of the thumb lifting servo 104, and the other end is rotationally connected to one end of the thumb link 202, and the other end of the thumb link 202 is rotationally connected to the first thumb knuckle 401; the second thumb link branch chain includes a "U"-shaped servo arm 403 and a thumb arc link 404, one end of the "U"-shaped servo arm 403 is transmission connected to the output end of the thumb servo 402, and the other end is rotationally connected to one end of the thumb arc link 404, and the other end of the thumb arc link 404 is rotationally connected to the third thumb knuckle 406.

[0041] Among them, the first thumb connecting rod branch chain also includes a ball joint 203, the thumb servo arm 201 is a gourd-shaped rod-like part with large ends and a small middle. One end is designed with a circular through hole to form a fixed connection with the output shaft of the thumb lifting servo 104, and the other end is designed with a threaded hole to form a fastening connection with the thread on the ball joint 203. The thumb connecting rod 202 is a slender rod-shaped part made of plastic, and both ends are designed with completely identical spherical sockets. Due to the elasticity of plastic, the ball joint 203 can be embedded in it to prefabricate a spherical pair. One end forms a spherical pair with the ball joint 203 on the thumb servo arm 201, and the other end forms a spherical pair with the first thumb knuckle 401.

[0042] The thumb support chain 4 also includes a torsion spring 304, a second finger knuckle sleeve 3062, and a third finger knuckle sleeve 3063. The first thumb knuckle 401 is a plate-shaped metal part that is approximately a right-angled trapezoid. A second hinge sleeve 4011 is designed on its right-angled side, which can form a rotating pair connection with the four-finger linkage transmission assembly 5 through an axle pin. A cubic protrusion 4012 with a threaded hole is designed at the tail end, which can form a threaded fastening connection with the threaded end of the ball joint 203, and the spherical end of the ball joint 203 can be nested with the spherical socket of the thumb pull rod 202 to form a spherical pair connection. The upper surface of the first thumb knuckle 401 is designed with a cubic protrusion 4013 with a servo mounting hole for fixing the thumb servo 402. The bottom surface of the thumb servo 402 is fixedly mounted on the cubic protrusion 4013 with a servo mounting hole, and the axis of the output shaft of the servo is parallel to the first thumb knuckle 401. The output shaft is tightly connected to the "U"-shaped servo arm 403. The "U"-shaped servo arm 403 is designed with through holes at both ends to be tightly connected with the output shaft of the thumb servo 402 through interference. The bottom end is designed with an outer lug 4031 with a through hole, which can form a revolute connection with the thumb arc connecting rod. The thumb arc connecting rod 404 is a plastic arc-shaped slender rod-like part, and both ends are designed with through holes. The through hole at the end with a smaller arc and the outer lug 4031 with a through hole form a revolute connection, and the through hole at the end with a larger arc and the lug 3034 with a threaded hole on the third finger knuckle 303 form a revolute connection. When the "U"-shaped servo arm 403 drives the thumb arc connecting rod 404 to move, the rotation angle between the first thumb knuckle 401 and the second finger knuckle 302 and between the second finger knuckle 302 and the third finger knuckle 303 is limited to between 0° and 45°.

[0043] Continue reading Figure 3 and Figure 4The finger branch chain 3 includes a first finger joint 301, a second finger joint 302 and a third finger joint 303 which are rotatably connected in sequence. The finger driving assembly includes a finger servo 102 and a finger connecting rod branch chain. The finger servo 102 is arranged on the palm mounting assembly 1, and is connected to the third finger joint 303 through the finger connecting rod branch chain. The finger connecting rod branch chain includes a finger servo arm 204, a finger connecting rod 205, an arc-shaped long connecting rod 206 and an arc-shaped short pull rod 208. One end of the finger servo arm 204 is connected to the output end of the finger servo 102 by transmission, and the other end is rotatably connected to one end of the finger connecting rod 205. The other end of the finger connecting rod 205 is rotatably connected to the arc-shaped long connecting rod 206. One end of the arc-shaped long connecting rod 206 is rotatably connected to the palm mounting assembly 1, and the other end is rotatably connected to one end of the arc-shaped short pull rod 208. The other end of the arc-shaped short pull rod 208 is rotatably connected to the third finger joint 303.

[0044] Among them, the finger connecting rod branch chain also includes a ball joint 203 and a hinge shaft 207. There are three identical ball joints 203 on a finger connecting rod branch chain, one end of which is a connecting thread to form a fixed connection with other parts, and the other end is a smooth spherical surface to form a spherical pair with other parts; the finger servo arm 204 is a gourd-shaped rod-like part with large ends and a small middle, and its length is slightly longer than the thumb servo arm 201. A circular through hole is designed at one end to form a fixed connection with the output shaft of the finger servo 102, and a threaded hole designed at the other end can form a fastening connection with the thread on the ball joint 203. The spherical surface on the ball joint 203 is nested in the spherical socket of the finger connecting rod 205, and the two form a spherical pair; the finger connecting rod 205 is a slender rod-shaped part made of plastic, one end of which is designed as a spherical socket, in which the ball joint 203 can be embedded to prefabricate a spherical pair, and one end is a through hole that can be inserted The hinge shaft 207 is connected to the arc-shaped long connecting rod 206 to form a revolving pair; the arc-shaped long connecting rod 206 is a plastic arc-shaped slender rod-like part, one end of which is designed as a spherical socket, into which the ball joint 203 can be embedded to form a spherical pair, and a through hole is designed near the middle position, into which the hinge shaft 207 can be inserted to be connected to the finger connecting rod 205 to form a revolving pair, and the other end is also designed with a through hole, into which the hinge shaft 207 can be inserted to be connected to the arc-shaped short connecting rod 208 to form a revolving pair; the arc-shaped short connecting rod 208 is a plastic arc-shaped rod-like part, one end of which is designed with a through hole, into which the hinge shaft 207 can be inserted to be connected to one end of the arc-shaped long connecting rod 206 to form a revolving pair, and the other end is designed as a spherical socket, into which the spherical end of the ball joint 203 can be embedded, and at the same time, the other threaded end of the ball joint 203 is fastened to the third finger knuckle of the finger branch chain 3, so that a spherical pair is formed between the connecting rod branch chain 2 and the finger branch chain 3.

[0045] The finger branch chain 3 further includes two identical torsion springs 304, a connecting shaft 305 and a knuckle sleeve 306; the main body of the first finger knuckle 301 is in the shape of a flat quadrangular prism, and one end thereof is symmetrically designed with two cylindrical protrusions 3011 with through holes for forming a rotating pair with the long axis of the cross shaft 506 in the horizontal direction, and can be connected with the rolling bearing 106 in the palm mounting assembly 1 to form a rotating pair with the axis in the vertical direction, and an arc-shaped notch 3012 is designed at the bottom, the purpose of which is to prevent interference with the four-finger linkage transmission assembly 5 when rotating along the horizontal axis of the cross shaft 506 The other end is symmetrically designed with two outer lugs 3015 with through holes, which can form a rotating pair connection with the second finger joint 302 through the connecting shaft 305. A rectangular groove 3013 is designed on the upper surface of the part for pressing and contacting with the end of the torsion spring 304, so that the torsion force of the torsion spring 304 can be transmitted to the part, and two rectangular outer protrusions 3014 are symmetrically designed on both sides above the rectangular groove 3013, which cooperate with the surface shape of one end of the second finger joint 302 to limit the rotation angle between the first finger joint 301 and the second finger joint 302 to between 0° and 45°. The main body of the second finger joint 302 is in the shape of a flat quadrangular prism, and one end of the second finger joint is symmetrically designed with two inner lugs 3021 with through holes. It can form a rotating pair connection with the first finger joint 301 through the connecting shaft 305. During the rotation process, its side surface will contact the side surface of the rectangular outer protrusion 3014, so that the minimum limit angle between the first finger joint 301 and the second finger joint 302 is 0°. The triangular protrusion 3022 is designed on a corner of the inner lug 3021 with a through hole. During the rotation process, its side surface will contact the bottom surface of the rectangular outer protrusion 3014, so that the first finger joint 301 and the second finger joint The maximum limit angle between 302 is 45°, and the other end is symmetrically designed with two outer lugs 3025 with through holes, which can form a rotating pair connection with the third finger knuckle 303 through the connecting shaft 305; the upper surface of the part is designed with two rectangular grooves 3023 for pressing and contacting with the end of the torsion spring 304, so that the torsion force of the torsion spring can be transmitted to the part, and two rectangular outer protrusions 3024 are symmetrically designed on both sides above the rectangular grooves 3023, which cooperate with the surface shape of one end of the third finger knuckle 303 to limit the rotation angle between the second finger knuckle 302 and the third finger knuckle 303 to between 0° and 45°.The main body of the third finger joint 303 is in the shape of a flat quadrangular prism, and one end of the third finger joint is symmetrically designed with two inner lugs 3031 with through holes, which can be connected to the second finger joint 302 through the connecting shaft 305 to form a rotating pair. During the rotation process, its side surface will contact the side surface of the rectangular outer protrusion 3024, so that the minimum limit angle between the second finger joint 302 and the third finger joint 303 is 0°. The triangular protrusion 3032 is designed on a corner of the inner lug 3031 with a through hole, and its side surface will contact the side surface of the rectangular outer protrusion 3024 during the rotation process. The bottom surface of the starter 3024 is in contact so that the maximum limit angle between the second finger joint 302 and the third finger joint 303 is 45°. The upper surface of the part is designed with a lug 3033 with a thread, which can be screwed into the thread of the ball joint 203 and fastened to the ball joint. At the same time, the whole can form a spherical pair connection with the connecting rod branch chain 2. The middle of the connecting shaft 305 passes through the circular through hole formed by the inner diameter of the torsion spring 304, and the outer end passes through the through hole on the symmetrically arranged outer lug 3015 with a through hole on the first finger joint 301 and is connected with it by interference. At the same time, it passes through the through hole on the symmetrically arranged inner lug 3021 with a through hole on the second finger joint 302 and is connected with it by a gap, so a revolute pair can be formed between the first finger joint 301 and the second finger joint 302, and the revolute pair is formed between the second finger joint 302 and the third finger joint 303 in the same way. There are two torsion springs 304 in a finger branch chain 3 with the same model and arrangement. The arrangement between the first finger joint 301 and the second finger joint 302 is used as an example. The spiral wire is sleeved on the connecting shaft 305, and one end thereof is pressed tightly on the rectangular groove 3013 of the first finger joint, and the other end thereof is pressed tightly on the rectangular groove 3023 of the second finger joint. Due to the torsion of the torsion spring 304, the first finger joint 301 and the second finger joint 302 will be stably at the maximum limit angle of 45° when not affected by other external forces. The knuckle sleeve 306 is made of soft elastic fabric and is divided into the first finger knuckle sleeve 3061, the second finger knuckle sleeve 3062, and the third finger knuckle sleeve 3063 according to the size of different knuckles, and the user can sleeve his fingers into them.

[0046] Continue reading Figure 6The four-finger linkage transmission assembly 5 includes a transmission servo 105, a transmission assembly and four cross shafts 406. The ends of the four finger branches 3 are respectively connected to the palm mounting assembly 1 through the cross shafts 406. The transmission servo 105 is connected to the four cross shafts through the transmission assembly. The transmission assembly includes an idler 503, two pinions 504, two large gears 505 and a gear-synchronous wheel mechanism 507. The two pinions 504 are respectively arranged on the cross shafts 506 of the finger branches 3 on both sides. The two large gears 505 are respectively arranged on the cross shafts 506 of the two middle finger branches 3. The two large gears 505 are meshed, and a pair of adjacent large gears 505 and pinions 504 are respectively meshed with the gears on the gear-synchronous wheel mechanism 507. The gear-synchronous wheel mechanism 507 is connected to the synchronous pulley 509 on the output end of the transmission servo 105 through a synchronous belt 508.

[0047] The palm mounting assembly 1 includes a bottom plate 501, a hinge seat 502, a mounting base plate 101, a top plate 103, a palm cover 510, a wrist cover 511 and six identical rolling bearings 106. The mounting base plate 101 is a metal plate-like part in the shape of a palm, and its front end is processed with six through holes of identical sizes, so that the outer ring of the rolling bearing 106 can be interference fit in the holes; a lug 1011 with a threaded hole is designed near the front end, and the threaded hole can form a threaded connection with the thread on the ball head seat; four fixed mounting through holes 1012 of the same size are arranged in a row near the middle part, which can be fixedly connected with the four-finger linkage transmission assembly 5; a C-shaped seat 1013 with a servo mounting hole is designed near the tail, which can fix the servo and keep it in a vertical posture; four base tail mounting holes 101 are designed at the end. 4, for fixed connection with the four-finger linkage transmission assembly 5, and has four identical cubic protrusions 1015 with ribs and steering gear mounting holes in the middle for fixed installation of two steering gears and can be fixedly connected with the top plate 103 through the threaded holes designed in its vertical direction; the top plate 103 is a rectangular metal plate-like part, and has four identical circular through holes designed at its four vertices, which can be threadedly fastened with screws to the cubic protrusions 1015 with ribs and steering gear mounting holes; it is designed with four identical lugs 1031 with mounting holes, which can be fixedly connected with the finger steering gear 102. There are four identical finger servos 102; two of them are mounted on a cubic protrusion 1015 with a rib plate and a servo mounting hole by means of screws, with the output shafts facing each other; the remaining two are mounted on a lug 1031 with a mounting hole by means of screws, with the output shafts facing each other; the thumb lift servo 104 is mounted on a C-shaped seat 1013 with a servo mounting hole by means of screws in a vertical posture; its output shaft passes through a teardrop-shaped through hole on the C-shaped seat 1013 with a servo mounting hole; the output shaft of the transmission servo 105 passes vertically through the mounting base plate 101 and is securely mounted on a through hole designed on the surface of the mounting base plate 101, and its output shaft can be interference-connected with the synchronous pulley 509 and transmit power, torque and angle; there are six identical rolling bearings 106; the outer ring is interference-fitted in the six through holes at the front end of the mounting base plate, and the inner ring is interference-fitted with the shaft end to form a revolute pair.

[0048] Furthermore, the bottom plate 501 is symmetrically designed with a tail protrusion 5011 with a mounting hole at the tail, which can be fastened to the mounting base plate 101 by screws; a rectangular parallelepiped 5012 with a mounting hole is designed in the middle front part, and its upper surface has 4 threaded holes with equal spacing, which is fastened to the mounting base plate 101 by screws; the front end is designed with 6 through holes of exactly the same size, so that the outer ring of the rolling bearing 106 can be interference fit in the holes. After the bottom plate 501 is fastened to the mounting base plate 101, the axis and contour of the 6 through holes completely coincide with the 6 through holes at the front of the mounting base plate 101; two through holes are designed on its side to form a fixed connection with the hinge seat 502; the hinge seat 502 is A metal rectangular plate-shaped part, wherein two through holes are symmetrically designed in the center thereof to form a fixed connection with two through holes designed on the side of the bottom plate 501; a cylindrical first hinge sleeve 5022 is symmetrically designed on one side thereof, which can form a rotating pair connection with the second hinge sleeve 4011 on the first thumb joint 401 of the thumb branch chain 4, so as to realize the relative rotation of the thumb branch chain 4 with respect to the four-finger linkage transmission assembly 5; a flat limiting protrusion is designed in the middle of the side surface, and its lower surface can contact with the upper surface of the first thumb joint 401, so that the minimum rotation angle of the thumb branch chain 4 and the four-finger linkage transmission assembly 5 when the thumb branch chain 4 rotates relative to each other is not less than 0°; the idler wheel 503 is a standard gear with a certain number of teeth, It meshes with the pinion 504 and the large gear 505 at the same time, and the center of its index circle is designed with a through hole, which can be installed with an interference fit with the shaft. After installation, the shaft end that exceeds the upper and lower surfaces of the gear can be connected with the inner ring of the rolling bearing 106 on the bottom plate 501 and the mounting substrate 101 by interference fit, so that it can rotate around its own axis relative to the bottom plate 501; the pinion 504 is a standard gear with a certain number of teeth, which meshes with the idler gear 503, and the center of its index circle is designed with a through hole, which can be installed with an interference fit with one end of the cross shaft 506. After installation, the shaft end that exceeds the upper surface of the gear can be connected with the inner ring of the rolling bearing 106 on the mounting substrate 101 by interference fit, so that it can rotate around its own axis relative to the bottom plate 501; The large gear 505 is a standard gear with a fixed number of teeth and slightly larger than the small gear 504. It meshes with the idler gear 503 and another large gear 505. The center of its dividing circle is designed with a through hole that can be installed with an interference fit on one end of the cross shaft 506. After installation, the shaft end protruding from the upper surface of the gear can be connected with the inner ring of the rolling bearing 106 on the mounting base plate 101 by interference fit, so that it can rotate around its own axis relative to the base plate 501; the cross shaft 506 is a fork-like part shaped like a "cross", and the four shaft ends are all cylindrical. The two longer shaft ends are of equal length and the axis is horizontal relative to the base plate 501. It can cooperate with the through hole clearance on the cylindrical outer protrusion 3011 with a through hole on the knuckle 301 of the first finger to form a rotating pair.The axis is vertical to the base plate 501, one end of which passes through the small gear 504 or the large gear 505 and is connected to the inner ring of the rolling bearing 106 on the mounting base plate 101 by interference fit at the end, and the other end of which is connected to the inner ring of the rolling bearing 106 on the base plate 501 by interference fit. The gear-synchronous wheel mechanism 507 is made of one piece, with a gear at the upper end and a synchronous pulley at the lower end. The design size and installation size of the gear at the upper end are the same as those of the idler wheel 503, and this part can mesh with the small gear 504 and the large gear 505; the synchronous pulley at the lower end can be wound and meshed with the synchronous belt 508 to transmit power input, and the power output is transmitted by the upper gear at the same time, driving the adjacent large gear 505 and small gear 504 to rotate, and the adjacent large gear 505 in turn drives the meshing large gear 505 on the far side to rotate, and then drives the meshing idler wheel 503 and small gear 504 on the far side to rotate; in addition, the center of the circle of the gear-synchronous wheel mechanism 507 is designed with a through hole, which can be interference fit with the shaft The axial ends that extend beyond the upper and lower surfaces of the parts after installation can be connected with the inner ring of the rolling bearing 106 on the bottom plate 501 and the mounting base plate 101 by interference fit, so that it can rotate relative to the bottom plate 501 around its own axis; the synchronous belt 508 is a flexible transmission belt made of rubber, one end of which is wound and meshed with the gear-synchronous wheel mechanism 507, and the other end is wound and meshed with the synchronous pulley 509, and its purpose is to transmit power between the two while transmitting more precise angles and torques; the synchronous pulley 509 has a through hole designed at its center, which can be installed with the output shaft of the transmission steering gear 105 by interference fit and can rotate with the output shaft of the steering gear, and it transmits the power, torque and angle of the steering gear to the synchronous belt 508 that is wound and meshed with it. By the transmission of this motion, the gear-synchronous wheel mechanism 507, the large gear 505, the idler wheel 503, and the small gear 504 that have a meshing relationship with each other can be realized relative rotation, and then the four cross shafts 506 fixedly connected thereto can be realized relative rotation, and then the abduction and adduction motion of the four fingers can be realized. The palm cover 510 and the wrist cover 511 are made of soft elastic fabric. When putting them on, the user first puts the entire hand through the wrist cover 511 and then puts the palm cover 510 on the base of the palm, adjusts the posture to a comfortable position, and finally puts the fingers into the first finger knuckle cover 3061, the second finger knuckle cover 3062, and the third finger knuckle cover 3063 in sequence. After all five fingers are put on, the wearing is complete.

[0049] The specific working process of the present invention is as follows:

[0050] Before wearing: the output shafts of the four finger servos 103 are powered on and rotated, so that the four finger servo arms 204 swing backwards, thereby driving the four finger connecting rods 205 to pull the four arc-shaped long connecting rods 206 backwards, thereby driving the four arc-shaped short connecting rods 208 to move backwards. In the finger branch chain 3, since there is a torsion spring 304 between the first finger joint 301 and the second finger joint 302, and between the second finger joint 302 and the third finger joint 303, and the first finger joint 301 and the four-finger linkage transmission assembly 5 are only connected by the cross shaft 506 to form a revolute pair, the energy required to overcome the first finger joint 301 around the cross shaft 506 is relatively small, and the energy to overcome the torsion of the torsion spring 304 between the first finger joint 301 and the second finger joint 302, and between the second finger joint 302 and the third finger joint 303 is relatively large, so the first finger joint 301 will first rotate around the cross shaft 506 until its upper surface contacts the lower surface of the small gear 504 or the large gear 505 and stops moving. However, since the finger servo 103 is still moving with the finger connecting rod branch chain at this time, the first finger joint 301 and the second finger joint 302, and between the second finger joint 302 and the third finger joint 303 can overcome the torsion of the torsion spring and make relative rotation. And due to the rectangular outer protrusion 3014 designed on the first finger knuckle 301, the inner lug 3021 with through hole and the rectangular outer protrusion 3024 designed on the second finger knuckle 302, and the inner lug 3031 with through hole designed on the third finger knuckle 303, the limit angle of relative rotation between the two knuckles is 0° to 45°.

[0051] The thumb lifting servo 104 works simultaneously with the four finger servos 103. Its output shaft is powered on and rotated, causing the thumb servo arm 201 to swing upward, thereby driving the first thumb knuckle 401 to swing upward until its upper surface contacts the lower surface of the limit protrusion 5021 designed on the hinge seat 502 and stops moving. At the same time, the thumb servo 402 on the thumb branch chain 4 is powered on and rotated, driving the "U"-shaped servo arm 403 to swing backward, thereby driving the thumb arc connecting rod 404 to pull backward. The second thumb knuckle 405, which works on the same principle as the finger branch chain 3, will first reach the minimum limit position, that is, flush with the first thumb knuckle 401, and then the third thumb knuckle 406 can rotate relative to the second thumb knuckle 405, while overcoming the work of the torsion spring 304.

[0052] Wearing: All the finger branches 3 and thumb branches 4 are flush with the four-finger linkage transmission assembly 5, and the user puts his hand through the wrist cover 512, the palm cover 511, the first finger knuckle cover 3061, the second finger knuckle cover 3062, and the third finger knuckle cover 3063. The palm cover 511 should be put on the base of the thumb.

[0053] The four fingers move outward and inward relative to the palm: the transmission servo 105 drives the synchronous pulley 510 fixed to it to rotate clockwise or counterclockwise at a small angle, and then transmits the power to the gear-synchronous belt assembly 508 which is wound with the synchronous belt 509 at the other end, and then drives all the small gears 504, the idler gear 503, and the large gear 506 which are in meshing relationship to rotate clockwise or counterclockwise at a small angle. The two large gears 506 are directly meshed, and the small gear 504 and the large gear 506 are not directly meshed but meshed through the idler gear 504, so the small gear 504 and the large gear 506 on the same side rotate in the same direction. At the same time, because the number of teeth of the small gear 504 is smaller than that of the large gear 506, the rotation angle of the small gear 504 is larger than that of the large gear 506, which means that the abduction and adduction range of the user's little finger and index finger is larger than that of the middle finger and ring finger, which is in line with the finger structure of the human body.

[0054] Bending and stretching movement of the thumb: First, the transmission servo 105 controls the four fingers to bend outward to the midpoint position and stop rotating. When the thumb is bent, the output shaft of the thumb lifting servo 104 is powered on and rotated in the reverse direction, causing the thumb servo arm 201 to swing downward, thereby driving the first thumb knuckle 401 to swing downward. At the same time, the thumb servo 402 on the thumb branch chain 4 is powered on and rotated in the reverse direction, driving the "U"-shaped servo arm 403 to swing forward, thereby driving the thumb arc connecting rod 404 to push forward. Since the second thumb knuckle 405 and the third thumb knuckle 406 have the torsion force of the torsion spring 304, the two knuckles are easier to bend. When the bending angle between the two knuckles reaches the maximum limit angle, the thumb servo 402 is still in rotation, and at this time drives the second thumb knuckle 405 to rotate relative to the first thumb knuckle 401 until the limit position. When the thumb is extended, the output shaft of the thumb lifting servo 104 is energized and rotates, causing the thumb servo arm 201 to swing upward, thereby driving the first thumb knuckle 401 to swing upward. At the same time, the thumb servo 402 on the thumb branch chain 4 is energized and rotates forward, driving the "U"-shaped servo arm 403 to swing backward, thereby driving the thumb arc connecting rod 404 to pull backward. Since the third thumb knuckle 406 and the second thumb knuckle 405 need to overcome the torsion of the torsion spring 304 to do work, it is more difficult for the two knuckles to extend. Therefore, after the second thumb knuckle 405 rotates relative to the first thumb knuckle 401 to the minimum limit angle, the thumb servo 402 that continues to rotate can drive the third thumb knuckle 406 and the second thumb knuckle 405 to rotate relative to each other until the minimum limit angle is reached.

[0055] Bending and stretching of four fingers: When the four fingers are bent, the output shafts of the four finger servos 103 are powered on and rotated in the opposite direction, so that the four finger servo arms 204 swing forward, thereby driving the four finger connecting rods 205 to push the four arc-shaped long connecting rods 206 forward, thereby driving the four arc-shaped short connecting rods 208 to move forward. In the finger branch chain 3, there are torsion springs 304 between the first finger knuckle 301 and the second finger knuckle 302, and between the second finger knuckle 302 and the third finger knuckle 303, making these two joints easier to bend. When the bending angle of the joint reaches the maximum limit angle, the four-finger thumb servo 102 is still in rotation, and at this time, it drives the first finger knuckle 301 to rotate relative to the four-finger linkage transmission assembly 5 until the limit position. When the four fingers are stretched: the output shafts of the four finger servos 103 are powered on and rotate forward, causing the four finger servo arms 204 to swing backward, thereby driving the four finger connecting rods 205 to pull the four arc-shaped long connecting rods 206 backward, thereby driving the four arc-shaped short connecting rods 208 to move backward. The first finger knuckle 301 and the second finger knuckle 302, and the second finger knuckle 302 and the third finger knuckle 303 need to overcome the torsion of the torsion spring 304 to do work, so it is more difficult to stretch between the knuckles. Therefore, after the first finger knuckle 301 rotates to the minimum limit angle relative to the four-finger linkage transmission assembly 5, the finger servo 102 that continues to rotate can drive the third finger knuckle 303 and the second finger knuckle 302, and the first finger knuckle 301 and the second finger knuckle 302 to rotate relative to each other until the minimum limit angle is reached.

[0056] It should be noted that, since the number of degrees of freedom in the thumb branch chain 4 and the finger branch chain 3 is greater than the number of prime movers, the two branches are under-driven mechanisms, the mechanisms have definite limit positions, and relying on the torsion force of the torsion spring, the mechanisms also have definite movements when they are unloaded. However, when the user wears the mechanism and performs bending and stretching movements, and when there is a load, if an impact occurs, whether it is the impact of starting and stopping the servo or the impact of the outside on the mechanism, the instantaneous impact can be converted into overcoming the work done by the torsion spring. Therefore, when the user wears the mechanism and performs finger bending and stretching movements, the fingers can have free space to move to a certain extent. Based on this, the invention is more comfortable to use and can also protect the fingers to a certain extent.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove, characterized in that: It comprises a palm mounting assembly (1), a thumb assembly, four finger assemblies and a four-finger linkage transmission assembly (5); The thumb assembly comprises a thumb branch chain (4) and a thumb drive assembly, wherein the end of the thumb branch chain (4) is rotatably connected to the palm mounting assembly (1), and the thumb drive assembly is used to drive the thumb branch chain (4) to achieve bending and stretching movements; the thumb branch chain (4) comprises a first thumb knuckle (401), a second thumb knuckle (405) and a third thumb knuckle (406) which are rotatably connected in sequence, and the first thumb knuckle (401) is rotatably connected to the palm mounting assembly (1); the thumb drive assembly comprises a thumb lifting servo (1 04), a thumb servo (402), a first thumb connecting rod branch chain and a second thumb connecting rod branch chain, the thumb lifting servo (104) is arranged on the palm mounting assembly (1), and is transmission-connected to the first thumb knuckle (401) through the first thumb connecting rod branch chain, the thumb servo (402) is arranged on the first thumb knuckle (401), and is transmission-connected to the third thumb knuckle (406) through the second thumb connecting rod branch chain; a torsion spring (304) is arranged between the second thumb knuckle (405) and the third thumb knuckle (406); The finger assembly comprises a finger branch chain (3) and a finger driving assembly, wherein the end of the finger branch chain (3) is rotatably connected to the palm mounting assembly (1), and the finger driving assembly is used to drive the finger branch chain (3) to achieve bending and stretching movements; the finger branch chain (3) comprises a first finger joint (301), a second finger joint (302), and a third finger joint (303) which are rotatably connected in sequence, and the finger driving assembly comprises a finger servo (102) and a finger connecting rod branch chain, wherein the finger servo (102) is arranged on the palm mounting assembly (1), and is transmission-connected to the third finger joint (303) via the finger connecting rod branch chain; a torsion spring (304) is arranged between the first finger joint (301) and the second finger joint (302), and a torsion spring (304) is arranged between the second finger joint (302) and the third finger joint (303); The four-finger linkage transmission assembly (5) is used to synchronously drive four finger branches (3) to achieve abduction and adduction movements. The four-finger linkage transmission assembly (5) comprises a transmission steering gear (105), a transmission assembly and four cross shafts (506). The ends of the four finger branches (3) are respectively rotatably connected to the palm mounting assembly (1) via the cross shafts (506). The transmission steering gear (105) is connected to the four cross shafts via the transmission assembly. The transmission assembly comprises an idler wheel (503), two small gears (504) and two large gears (505). and a gear-synchronous wheel mechanism (507), wherein the two small gears (504) are respectively arranged on the cross shafts (506) of the finger branches (3) on both sides, and the two large gears (505) are respectively arranged on the cross shafts (506) of the two middle finger branches (3), the two large gears (505) are meshed, wherein a pair of adjacent large gears (505) and small gears (504) are respectively meshed with gears on the gear-synchronous wheel mechanism (507), and the gear-synchronous wheel mechanism (507) is transmission-connected to the output end of the transmission steering gear (105); The palm mounting assembly (1) comprises a bottom plate (501); the main body of the first finger joint (301) is in the shape of a flat quadrangular prism, one end of which is symmetrically provided with two cylindrical protrusions (3011) with through holes, and the bottom of the first finger joint (301) is provided with an arc-shaped notch (3012), the purpose of which is to prevent the first finger joint (301) from interfering with the four-finger linkage transmission assembly (5) when rotating along the horizontal axis of the cross shaft (506); The cross shaft (506) is a cross-shaped fork frame part, and the four shaft ends are all cylindrical. The two longer shaft ends are of equal length and the axis is horizontal relative to the base plate (501). It can be matched with the through hole clearance on the cylindrical outer protrusion (3011) with a through hole on the first finger joint (301) to form a rotating pair with the axis in the horizontal direction. The shaft end with the axis vertical to the base plate (501) has one end passing through the small gear (504) or the large gear (505) and is connected to the inner ring of the rolling bearing (106) on the mounting base plate (101) by interference fit at the end, and the other end is connected to the inner ring of the rolling bearing (106) on the base plate (501) by interference fit. The gear-synchronous wheel mechanism (507) is an integrally-made part, with a gear at the upper end and a synchronous pulley at the lower end. The design size and installation size of the gear at the upper end are the same as those of the idler wheel (503), and the part is meshed with the pinion gear (504) and the large gear (505). The synchronous pulley at the lower end is wound and meshed with the synchronous belt (508) to transmit power input, and the power output is transmitted by the gear at the upper end, driving the adjacent large gear (505) and the small gear (504) to rotate. The adjacent large gear (505) in turn drives the meshed large gear (505) at the far side to rotate, and then drives the meshed idler wheel (503) and the small gear (504) at the far side to rotate.

2. The seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove according to claim 1, characterized in that: The first thumb connecting rod branch chain comprises a thumb servo arm (201) and a thumb connecting rod (202); one end of the thumb servo arm (201) is transmission-connected to the output end of the thumb lifting servo (104), and the other end is rotationally connected to one end of the thumb connecting rod (202); the other end of the thumb connecting rod (202) is rotationally connected to the first thumb knuckle (401); the second thumb connecting rod branch chain comprises a "U"-shaped servo arm (403) and a thumb arc connecting rod (404); one end of the "U"-shaped servo arm (403) is transmission-connected to the output end of the thumb servo (402), and the other end is rotationally connected to one end of the thumb arc connecting rod (404); the other end of the thumb arc connecting rod (404) is rotationally connected to the third thumb knuckle (406).

3. The seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove according to claim 1, characterized in that: The rotatable angle of the first thumb knuckle (401) relative to the palm mounting assembly (1) is limited to 0-90°, the rotatable angle of the second thumb knuckle (405) relative to the first thumb knuckle (401) is limited to 0-120°, and the rotatable angle of the third thumb knuckle (406) relative to the second thumb knuckle (405) is limited to 0-120°.

4. The seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove according to claim 1, characterized in that: The finger connecting rod branch chain comprises a finger servo arm (204), a finger connecting rod (205), an arc-shaped long connecting rod (206) and an arc-shaped short pull rod (208); one end of the finger servo arm (204) is transmission-connected to the output end of the finger servo (102), and the other end is rotationally connected to one end of the finger connecting rod (205); the other end of the finger connecting rod (205) is rotationally connected to the arc-shaped long connecting rod (206); one end of the arc-shaped long connecting rod (206) is rotationally connected to the palm mounting assembly (1), and the other end is rotationally connected to one end of the arc-shaped short pull rod (208); the other end of the arc-shaped short pull rod (208) is rotationally connected to the third finger joint (303).

5. The seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove according to claim 1, characterized in that: The rotatable angle of the first finger joint (301) relative to the palm mounting assembly (1) is limited to 0-120°, the rotatable angle of the second finger joint (302) relative to the first finger joint (301) is limited to 0-120°, and the rotatable angle of the third finger joint (303) relative to the second finger joint (302) is limited to 0-120°.

6. A seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove according to any one of claims 1 to 3, characterized in that: The bottoms of the palm mounting assembly (1), the thumb branch chain (4) and the finger branch chain (3) are all provided with a sleeve-like structure for a person to wear.

Images