A finger rehabilitation training mechanism

Abstract

The application relates to the technical field of finger rehabilitation training, and particularly provides a finger rehabilitation training mechanism which comprises a palm plate, a driving plate and a finger driving assembly; the finger driving assembly comprises force sensors, finger driving members and finger connecting rod members which are respectively installed on the palm plate; the driving plate is connected with the finger driving members and the force sensors through wires; the finger connecting rod member comprises sliding connecting rods, driving connecting rods and finger fixing parts; one end of the finger fixing part is used for being hingedly connected with the palm plate; and one end of the finger driving member is connected with the sliding connecting rod; when the finger is bent or stretched, the force of the finger is transmitted to the finger fixing part, and is transmitted to the force sensor on the finger driving member through the sliding connecting rod and the driving connecting rod; signals are transmitted to the driving plate; the driving plate sends instructions to make the finger driving member move; the mechanism is designed by rigid-flexible coupling, and the practicability of the mechanism is improved.

Description

Technical Field

[0001] This invention relates to the field of finger rehabilitation training technology, and more specifically, to a finger rehabilitation training institution. Background Technology

[0002] Stroke is a major disease threatening human health, with a high disability rate, causing limb impairment. The fingers, which are responsible for many fine motor skills, are particularly difficult to restore after functional impairment, often leading to lifelong disability, loss of self-care ability, and severe impact on daily life. Studies show that through finger rehabilitation therapy, approximately 20%-30% of users can regain hand function to a functional level, and 30%-40% can regain hand function to an assistive level.

[0003] Currently, the best rehabilitation treatment methods for users with finger disabilities or injuries, both domestically and internationally, are repairing and reshaping damaged nerves and continuous passive motor rehabilitation training. Traditional treatment for finger rehabilitation involves one-on-one rehabilitation therapy by rehabilitation technicians, which is labor-intensive and expensive. However, rehabilitation physicians can effectively solve the problems of labor intensity and cost by using finger rehabilitation robots to provide progressive functional rehabilitation therapy for users. Therefore, finger rehabilitation robots have emerged.

[0004] Existing finger rehabilitation training devices typically only perform passive training, with a relatively simple training mode. This results in a limited range of conditions that can be treated, offering customers fewer options and restricting their widespread use. Furthermore, existing finger rehabilitation training devices are often rigid, mechanically performing training operations without providing timely feedback on the force exerted on or on the user's fingers during movement. Summary of the Invention

[0005] The present invention aims to solve the problems of existing finger rehabilitation training devices, which have poor structural design, resulting in a relatively simple training mode and an inability to obtain the force and force application of the user's fingers during the movement process, making them difficult to control.

[0006] To address the above problems, the present invention proposes the following technical solution:

[0007] A finger rehabilitation training device includes a palm plate, a drive plate, and a finger drive assembly;

[0008] The finger driving assembly includes a force sensor, a finger driving component, and a finger linkage component respectively mounted on the palm plate. The driving plate is connected to the finger driving component and the force sensor respectively via wires. The finger linkage component includes a sliding link, a driving link, and a finger fixing part. One end of the finger fixing part is used to hinge with the palm plate, and the finger driving component is used to connect with one end of the sliding link to drive the sliding link to perform reciprocating motion.

[0009] The drive link includes a drive end, a connecting end, and a mounting part. The drive end is used to connect to the end of the sliding link away from the finger drive component.

[0010] The mounting part is disposed on the drive link near the drive end, and the mounting part is used to hinge with the palm plate;

[0011] The connecting end of the drive linkage is used to hinge with the other end of the finger fixing part.

[0012] The finger rehabilitation training device provided by this invention has, but is not limited to, the following beneficial effects compared with the prior art:

[0013] During passive finger training, the finger is fixed to the finger fixing part. The finger drive component works and pushes the sliding link to drive the drive link. Then, the drive link drives the finger fixing part to move the finger. During the movement, the force sensor detects the output force of the finger drive component in real time to adjust the output parameters of the finger drive component to ensure user safety. During active finger training, when the finger bends or extends forcefully, the force is transmitted to the finger fixing part and simultaneously to the force sensor on the finger drive component through the sliding link and drive link. After receiving the force signal and direction, the force sensor transmits the signal to the drive board. The drive board issues a command to make the finger drive component generate force and direction adapted to the user's application, driving the mechanism to move. This device adopts the linkage drive principle and adopts a rigid-flexible coupling design, which improves the practicality of the mechanism. Combined with the force sensor, it is conducive to realizing active and passive training of all five fingers, as well as active and passive training of single finger joints. It also integrates force feedback, which makes it easy to monitor the force of each finger in real time and facilitates control.

[0014] Preferably, the finger driving component is provided in three parts, namely a first finger driving component, a second finger driving component and a third finger driving component, wherein the first finger driving component is used to drive the thumb and the second finger driving component is used to drive the index finger;

[0015] The third finger driving assembly has three finger linkages, and the finger driving component is used to connect the three finger linkages respectively to drive the middle finger, ring finger and little finger.

[0016] Preferably, the finger linkage further includes a joint fixing seat and a connecting part, the joint fixing seat is fixed to the palm plate, and the drive linkage is movably hinged to the joint fixing seat through the mounting part;

[0017] The connecting part includes a clutch block, a first bearing, and a second bearing. The first bearing and the second bearing are respectively disposed at both ends of the clutch block. The clutch block is rotatably connected to the joint fixing seat through the first bearing, and the clutch block is rotatably connected to the mounting part through the second bearing.

[0018] Preferably, the finger fixing part includes a proximal finger fixing part and a distal finger fixing part, one end of the proximal finger fixing part is used to be rotatably connected to the joint fixing seat, the other end of the proximal finger fixing part is used to be rotatably connected to the distal finger fixing part, and the connecting end of the drive linkage is used to be rotatably connected to the distal finger fixing part.

[0019] Preferably, the joint fixing seat includes a seat body, a first axle pin, and two mounting arms disposed on the seat body, the two mounting arms being disposed opposite to each other;

[0020] The proximal finger fixing part includes a proximal finger plate and two oppositely arranged plug arms located at one end of the proximal finger plate. The two plug arms are used to be inserted into the two mounting arms. The inner wall of the plug arms is provided with a first proximal finger limiting groove, which is a fan-shaped structure. The clutch block is provided with one end of the first bearing for insertion between the two plug arms. The connecting part also includes a clutch limiting block located on the clutch block around the first bearing. The clutch limiting block is a fan-shaped structure and is used to be movably connected with the first proximal finger limiting groove. The central angle of the clutch limiting block is smaller than the central angle of the first proximal finger limiting groove.

[0021] The first shaft pin is used to pass through the plug arm, the mounting arm and the first bearing. The clutch block rotates so that the clutch limiting block abuts against the inner wall of the first proximal finger limiting groove and drives the proximal finger plate to rotate.

[0022] Preferably, the inner wall of the mounting arm is provided with a joint limiting groove, and the joint limiting groove has a fan-shaped structure;

[0023] The proximal finger fixing part also includes a proximal finger limiting block disposed on the outer wall of the plug arm. The proximal finger limiting block is also a fan-shaped structure. The proximal finger limiting block is used to be movably disposed in the joint limiting groove, and the central angle of the proximal finger limiting block is smaller than the central angle of the joint limiting groove.

[0024] The first pivot pin is used to pass through the plug arm, the mounting arm and the first bearing, so that the proximal finger fixing part and the joint fixing seat are rotatably connected at an angle.

[0025] Preferably, the proximal finger fixing part further includes a second shaft pin and two connecting arms disposed at one end away from the insertion arm. The two connecting arms are disposed opposite to each other, and the inner wall of the connecting arm is provided with a second proximal finger limiting groove, which is a fan-shaped structure.

[0026] The distal finger fixing part includes a distal finger plate and a third bearing disposed at one end of the distal finger plate. The end of the distal finger plate with the third bearing is used to be inserted between the two connecting arms. A distal finger limiting block is disposed on the distal finger plate around the third bearing. The distal finger limiting block has a fan-shaped structure and is used to be movably connected with the second proximal finger limiting groove. The central angle of the distal finger limiting block is smaller than the central angle of the second proximal finger limiting groove.

[0027] The second pivot pin is used to pass through the connecting arm and the second bearing so that the distal finger fixing part and the proximal finger fixing part are rotatably connected at an angle.

[0028] Preferably, the finger linkage further includes a movable slider and a guide rail, the guide rail being fixed to the palm plate, and the joint fixing seat being disposed at one end of the guide rail;

[0029] One end of the movable slider is fixedly connected to the finger drive component, the other end of the movable slider is rotatably connected to the sliding link, and the movable slider is slidably connected to the guide rail.

[0030] Preferably, the finger drive component includes a drive motor and a motor telescopic rod. The drive motor is fixedly mounted on the palm plate via the force sensor. The drive motor is used to drive the motor telescopic rod to make the motor telescopic rod reciprocate. The end of the motor telescopic rod away from the drive motor is used to connect to the movable slider.

[0031] Preferably, the finger link further includes a strap, which is disposed on the lower end face of the finger fixing part. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the finger rehabilitation training mechanism according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the overall structure of the finger driving component according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the drive linkage structure according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the connection part structure according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the joint fixation seat structure according to an embodiment of the present invention;

[0037] Figure 6 This is an exploded structural diagram of the joint fixing seat, sliding link, driving link and the connection of the connecting part in an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the proximal finger fixing part structure according to an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of the distal finger fixing part structure according to an embodiment of the present invention;

[0040] Figure 9 This is a schematic diagram of the finger-driven component's operation according to an embodiment of the present invention.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1. Palm plate, 2. Drive plate, 3. Finger drive assembly, 31. Force sensor, 32. Finger drive component, 321. Drive motor, 322. Motor telescopic rod, 33. Finger linkage, 330. Strap, 34. Sliding link, 35. Drive link, 351. Drive end, 352. Connecting end, 353. Mounting part, 354. Protrusion, 36. Joint fixing seat, 361. Seat body, 362. Mounting arm, 363. Joint limiting groove, 364. First shaft pin, 37. Finger fixing part, 371. Proximal finger fixing part, 3711. Proximal finger plate Body, 3712 Insertion arm, 3713 First proximal finger limiting groove, 3714 Proximal finger limiting block, 3715 Connecting arm, 3716 Second proximal finger limiting groove, 3717 Second shaft pin, 372 Distal finger fixing part, 3721 Distal finger plate body, 3722 Third bearing, 3723 Distal finger limiting block, 38 Connecting part, 381 Clutch block, 382 First bearing, 383 Second bearing, 384 Clutch limiting block, 39 Moving slider, 390 Guide rail, 4 Third finger drive assembly, 5 First finger drive assembly. Detailed Implementation

[0043] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0044] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] It should be noted that in the XYZ coordinate system provided in this article, the positive direction of the X-axis represents the right, and the negative direction of the X-axis represents the left; the positive direction of the Y-axis represents the front, and the negative direction of the Y-axis represents the back; the positive direction of the Z-axis represents the top, and the negative direction of the Z-axis represents the bottom. The meanings of the Z-axis, X-axis, and Y-axis are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0046] See Figures 1-9 The present invention provides a finger rehabilitation training mechanism, including a palm plate 1, a drive plate 2 and a finger drive component 3;

[0047] See Figure 2 The finger driving assembly 3 includes a force sensor 31, a finger driving component 32, and a finger linkage 33, which are respectively mounted on the palm plate 1. The driving plate 2 is connected to the finger driving component 32 and the force sensor 31 via wires. The finger linkage 33 includes a sliding link 34, a driving link 35, and a finger fixing part 37. One end of the finger fixing part 37 is used to hinge with the palm plate 1. The finger driving component 32 is used to connect with one end of the sliding link 34 to drive the sliding link 34 to reciprocate.

[0048] See Figure 3 The drive link 35 includes a drive end 351, a connecting end 352 and a mounting part 353. The drive end 351 is used to connect to the end of the sliding link 34 away from the finger drive member 32.

[0049] The mounting part 353 is disposed on the drive link 35 near the drive end 351, and the mounting part 353 is used to hinge with the palm plate 1.

[0050] The connecting end 352 of the drive link 35 is used to hinge with the other end of the finger fixing part 37.

[0051] Specifically, a protrusion 354 is provided between the mounting portion 353 and the connecting end 352 on the drive linkage 35. The protrusion 354 protrudes from the side near the palm plate 1 toward the upper direction of the palm plate 1. There is a movable space between the protrusion 354 and the palm plate 1. The finger fixing portion 37 is movably connected to the end of the connecting end 352 of the drive linkage 35. The movable space is provided to allow the finger fixing portion 37 to move with the drive linkage 35, thereby increasing the overall flexibility of the device.

[0052] In this embodiment, during passive finger training, the finger is fixed to the finger fixing part 37. The finger driving member 32 operates and pushes the sliding link 34 to drive the driving link 35 to move. Then, the driving link 35 drives the finger fixing part 37 to move the finger. During the movement, the force sensor 31 will detect the output force of the finger driving member 32 in real time and feed it back to the system to adjust the output parameters of the finger driving member 32 to ensure user safety. During active finger training, when the finger is bent or extended, the force is transmitted to the finger fixing part 37 and simultaneously through the sliding link. The force sensor 31 on the finger drive component 32 is transmitted to the drive linkage 34 and the drive linkage 35. After receiving the force signal and direction, the force sensor 31 transmits the signal to the drive plate 2. The drive plate 2 issues a command to make the finger drive component 32 generate adaptive force and direction to drive the mechanism to move. This device adopts the linkage drive principle and has a rigid-flexible coupling design, which improves the practicality of the mechanism. Combined with the force sensor, it is conducive to realizing active and passive training of the five fingers, as well as active and passive training of single finger joints. It also integrates force feedback, which makes it easy to grasp the force of each finger in real time and facilitates control.

[0053] Preferably, the finger driving component 3 is provided in three parts, namely a first finger driving component 5, a second finger driving component and a third finger driving component 4, wherein the first finger driving component 5 is used to drive the thumb and the second finger driving component is used to drive the index finger.

[0054] The third finger driving assembly 4 has three finger linkages 33, and the finger driving component 32 in the third finger driving assembly 4 is used to connect the three finger linkages 33 respectively to drive the middle finger, ring finger and little finger.

[0055] Specifically, the three finger linkages 33 share a single movable slider 39. The movable slider 39 is elongated and arranged in a straight line to drive the middle, ring, and little fingers. The movable slider 39 in the third finger driving assembly 4 has three rotating rings corresponding to the three sliding links 34 in the three sets of finger linkages 33. The three sets of finger linkages 33 share a single finger driving component 32. That is, the third finger driving assembly 4 includes... It includes one force sensor 31, one motor mounting base, one drive motor 321, one motor telescopic rod 322, one elongated sliding slider 39, one guide rail 390, three sliding links 34, three joint fixing seats 36, three connecting parts 38, three drive links 35, three proximal finger fixing plates, three distal finger fixing plates, and six straps 330. One side of the elongated sliding slider 39 is hinged to one end of each of the three sliding links 34, and the other end is fixedly connected to the telescopic rod of the drive motor 321.

[0056] The first finger driving component 5 has the same structure as the second finger driving component and is installed on the inclined surface of the palm plate 1 to correspond to the thumb and drive the thumb.

[0057] See Figure 4 Preferably, the finger link 33 further includes a joint fixing seat 36 and a connecting part 38. The joint fixing seat 36 is fixed on the palm plate 1, and the drive link 35 is movably hinged to the joint fixing seat 36 through the mounting part 353.

[0058] The connecting part 38 includes a clutch block 381, a first bearing 382 and a second bearing 383. The first bearing 382 and the second bearing 383 are respectively disposed at both ends of the clutch block 381. The clutch block 381 is rotatably connected to the joint fixing seat 36 through the first bearing 382, ​​and the clutch block 381 is rotatably connected to the mounting part 353 through the second bearing 383.

[0059] Specifically, the upper surface of the joint fixing seat 36 is provided with a mounting groove, and the clutch block 381 is movably connected to the joint fixing seat 36 through the first bearing 382, ​​so that the clutch block 381 can be retracted into the mounting groove, and part of the mounting part 353 can be located in the mounting groove. When the device is idle, the clutch block 381 and the mounting part 353 can be retracted into the mounting groove to reduce the overall volume of the device for easy storage.

[0060] In this embodiment, the connection part 38 is provided so that the drive link 35 is indirectly connected to the joint fixation seat 36, and the two ends of the clutch block 381 are respectively connected to the mounting part 353 and the joint fixation seat 36. This structure increases the range of motion and flexibility of the drive link 35 to a certain extent, and avoids the drive link 35 being directly connected to the joint fixation seat 36, which would prevent the drive link 35 from being unable to extend and thus affect the user's rehabilitation training.

[0061] Preferably, the finger fixing part 37 includes a proximal finger fixing part 371 and a distal finger fixing part 372. One end of the proximal finger fixing part 371 is rotatably connected to the joint fixing seat 36, and the other end of the proximal finger fixing part 371 is rotatably connected to the distal finger fixing part 372. The connecting end 352 of the drive link 35 is rotatably connected to the distal finger fixing part 372.

[0062] The finger is divided into three segments: the segment with the longest nail is the distal phalanx, the segment connected to the palm is the proximal phalanx, and the segment between the distal phalanx and the proximal phalanx is the middle phalanx.

[0063] Specifically, the joint fixation seat 36 is used to be disposed at the connection between the proximal phalanx of the finger and the palm plate 1. One end of the proximal finger fixation part 371 is used to be rotatably connected to the joint fixation seat 36. This structure facilitates bending training between the proximal phalanx of the finger and the palm. The proximal finger fixation part 371 is used to fix the proximal phalanx of the finger, and the distal finger fixation part 372 is used to fix the middle phalanx of the finger. The other end of the proximal finger fixation part 371 is used to be rotatably connected to the distal finger fixation part 372. The connecting end 352 of the drive linkage 35 is used to be rotatably connected to the distal finger fixation part 372. This structure is beneficial for bending training of the proximal and middle phalanx of the finger.

[0064] In this embodiment, when the finger drive member 32 drives the sliding link 34 to move the drive link 35, the drive link 35 drives the proximal finger fixing part 371 and the distal finger fixing part 372 to move, so as to facilitate the bending training of the proximal phalanx of the finger and the palm, as well as the bending training of the proximal phalanx and the middle phalanx of the finger.

[0065] See Figure 5 Preferably, the joint fixing seat 36 includes a seat body 361, a first shaft pin 364, and two mounting arms 362 disposed on the seat body 361, the two mounting arms 362 being disposed opposite to each other;

[0066] See Figures 5-6The proximal finger fixing part 371 includes a proximal finger plate 3711 and two oppositely arranged insertion arms 3712 located at one end of the proximal finger plate 3711. The two insertion arms 3712 are used to insert into the two mounting arms 362. The inner wall of the insertion arm 3712 is provided with a first proximal finger limiting groove 3713, which has a fan-shaped structure. The end of the insertion arm 3712 with the first bearing 382 is used to insert into the two insertion arms 3712. The connecting part 38 also includes a clutch limiting block 384 located on the insertion arm 3712 around the first bearing 382. The clutch limiting block 384 has a fan-shaped structure and is used to movably connect with the first proximal finger limiting groove 3713. The central angle of the clutch limiting block 384 is smaller than the central angle of the first proximal finger limiting groove 3713.

[0067] The first axle pin 364 is used to pass through the plug arm 3712, the mounting arm 362 and the first bearing 382. The plug arm 3712 rotates so that the clutch limiting block 384 abuts against the inner wall of the first proximal finger limiting groove 3713 and drives the proximal finger plate 3711 to rotate.

[0068] Specifically, when the first shaft pin 364 passes through the plug arm 3712, the mounting arm 362 and the first bearing 382, ​​the clutch limiting block 384 is located in the first proximal finger limiting groove 3713, and the proximal clutch limiting block 384 and the first proximal finger limiting groove 3713 are coaxially arranged; at this time, when the clutch block 381 rotates about the first shaft pin 364 as the center, the clutch limiting block 384 rotates in the first proximal finger limiting groove 3713. When the sliding link 34 drives the drive link 35 to move, the clutch block 381 is rotatably connected to the mounting part 353, and the clutch block 381 is also rotatably connected to the power off fixing seat, so that the clutch block 381 works with the drive link 35. When the clutch limit block 384 rotates to the limit position of the first proximal finger limit groove 3713, the clutch limit block 384 continues to push the side wall of the first proximal finger limit groove 3713 to push the proximal finger plate 3711 to move.

[0069] In this embodiment, the finger drive 32 operates, driving the sliding link 34 to move the drive link 35. Through the cooperation of the clutch limiting block 384 on the clutch block 381 and the first proximal finger limiting groove 3713, the proximal finger plate 3711 is driven to rotate around the first shaft pin 364.

[0070] See Figures 5-6Preferably, the inner wall of the mounting arm 362 is provided with a joint limiting groove 363, and the joint limiting groove 363 is a fan-shaped structure;

[0071] The proximal finger fixing part 371 also includes a proximal finger limiting block 3714 disposed on the outer wall of the insertion arm 3712. The proximal finger limiting block 3714 is also a fan-shaped structure. The proximal finger limiting block 3714 is used to be movably disposed in the joint limiting groove 363, and the central angle of the proximal finger limiting block 3714 is smaller than the central angle of the joint limiting groove 363.

[0072] The first pivot pin 364 is used to pass through the plug arm 3712, the mounting arm 362 and the first bearing 382, ​​so that the proximal finger fixing part 371 and the joint fixing seat 36 are rotatably connected at an angle.

[0073] Specifically, the central angle range of the joint limiting groove 363 is 90°-120°, and the central angle range of the proximal finger limiting block 3714 is 10°-50°. When the first shaft pin 364 passes through the plug arm 3712 and the mounting arm 362, the proximal finger limiting block 3714 is located in the joint limiting groove 363, and the proximal finger limiting block 3714 is coaxially arranged with the joint limiting groove 363. At this time, when the plug arm 3712 rotates around the first shaft pin 364, the proximal finger limiting block 3714 rotates in the joint limiting groove 363. When the proximal finger limiting block 3714 rotates to contact the side wall where the generatrix is ​​located in the joint limiting groove 363, the plug arm 3712 and the proximal finger fixing part 371 are blocked and stop rotating.

[0074] The center range of the joint limiting groove 363 is not limited to 90°-120°, and the center angle range of the proximal finger limiting block 3714 is not limited to 10°-50°. Multiple angle ranges can be designed to limit the different rotation angles of the plug arm 3712 and the proximal finger fixing part 371, so as to produce a variety of training devices and make the device adapt to the specific requirements of customers with different degrees of finger injury.

[0075] In this embodiment, the proximal finger limiting block 3714 and the joint limiting groove 363 limit the rotation angle of the proximal finger fixing part 371, preventing the user from being injured due to excessive range of motion of the proximal finger fixing part 371 during training, and ensuring the user's safety during training to a certain extent.

[0076] See Figures 7-8Preferably, the proximal finger fixing part 371 further includes a second shaft pin 3717 and two connecting arms 3715 disposed at one end away from the insertion arm 3712. The two connecting arms 3715 are disposed opposite to each other. The inner wall of the connecting arm 3715 is provided with a second proximal finger limiting groove 3716, which is a fan-shaped structure.

[0077] The distal finger fixing part 372 includes a distal finger plate 3721 and a third bearing 3722 disposed at one end of the distal finger plate 3721. The end of the distal finger plate 3721 with the third bearing 3722 is used to be inserted between the two connecting arms 3715. A distal finger limiting block 3723 is disposed on the distal finger plate 3721 around the third bearing 3722. The distal finger limiting block 3723 has a fan-shaped structure and is used to be movably connected with the second proximal finger limiting groove 3716. The central angle of the distal finger limiting block 3723 is smaller than the central angle of the second proximal finger limiting groove 3716.

[0078] The second pin 3717 is used to pass through the connecting arm 3715 and the second bearing 383 so that the distal finger fixing part 372 and the proximal finger fixing part 371 are rotatably connected at an angle.

[0079] A connecting plate is also provided on the distal finger plate 3721. The connecting plate is used to be set on the side of the third bearing 3722 away from the distal finger plate 3721. The connecting plate and the upper end face of the distal finger plate 3721 are set at an obtuse angle. The connecting end 352 of the driving connecting rod 35 is rotatably connected to the connecting plate. When the connecting plate rotates, the distal finger plate 3721 rotates accordingly with the second shaft pin 3717 as the center.

[0080] Specifically, the central angle range of the second proximal finger limiting groove 3716 is 100°-160°, and the central angle range of the distal finger limiting block 3723 is 10°-50°. When the second shaft pin 3717 passes through the connecting arm 3715 and the second bearing 383, the distal finger limiting block 3723 is located within the second proximal finger limiting groove 3716, and the proximal and distal finger limiting blocks 3723 are coaxially arranged with the second proximal finger limiting groove 3716. At this time, when the distal finger fixing part 372 rotates around the second shaft pin 3717, the distal finger limiting block 3723 rotates within the second proximal finger limiting groove 3716. When the distal finger limiting block 3723 rotates to contact the side wall where the generatrix of the second proximal finger limiting groove 3716 is located, the distal finger fixing part 372 is blocked and stops rotating.

[0081] The center range of the second proximal finger limiting groove 3716 is not limited to 100°-160°, and the center angle range of the distal finger limiting block 3723 is not limited to 10°-50°. Multiple angle ranges can be designed to limit different rotation angles of the distal finger fixing part 372, and to produce various models of training devices so that the device can meet the specific requirements of customers with different degrees of finger injury.

[0082] In this embodiment, when the sliding link 34 drives the driving link 35 to move, since the connecting end 352 of the driving link 35 is rotatably connected to the distal phalanx plate 3721 through the connecting plate, the driving link 35, when moving, can push the connecting plate to rotate around the second shaft pin 3717, thereby pushing the distal phalanx plate 3721 to rotate. This structure is beneficial for flexion training of the proximal and middle phalanges of the fingers. Furthermore, the setting of the distal phalanx limiting block 3723 and the second proximal phalanx limiting groove 3716 limits the range of rotation of the distal phalanx plate 3721, avoiding injury to the user due to excessive rotation range of the distal phalanx plate 3721 during training, and to a certain extent ensuring the safety of the user during training.

[0083] See Figure 1 Preferably, the finger linkage 33 further includes a movable slider 39 and a guide rail 390, the guide rail 390 is fixed on the palm plate 1, and the joint fixing seat 36 is disposed at one end of the guide rail 390;

[0084] One end of the movable slider 39 is fixedly connected to the finger drive member 32, the other end of the movable slider 39 is rotatably connected to the sliding link 34, and the movable slider 39 is slidably connected to the guide rail 390.

[0085] Specifically, the lower end of the movable slider 39 is provided with a sliding groove, which matches the guide rail 390, and the movable slider 39 achieves a sliding connection with the guide rail 390 through the sliding groove.

[0086] In this embodiment, the movable slider 39 serves two purposes: firstly, it connects the finger drive member 32 and the sliding link 34; secondly, the movable slider 39 cooperates with the guide rail 390 to provide guidance, ensuring that the movable slider 39 maintains stable movement when driven by the finger drive member 32. This prevents positional shifts in the movable slider 39 and the sliding link 34 during movement, which could affect the overall working accuracy of the device. Furthermore, it improves the comfort and stability of the device, thereby enhancing the user experience.

[0087] See Figure 1Preferably, the finger driving component 32 includes a drive motor 321 and a motor telescopic rod 322. The drive motor 321 is fixedly mounted on the palm plate 1 via a force sensor 31. The drive motor 321 is used to drive the motor telescopic rod 322 to make the motor telescopic rod 322 reciprocate. The end of the motor telescopic rod 322 away from the drive motor 321 is used to connect to the movable slider 39.

[0088] Specifically, the force sensor 31 is connected to the end of the drive motor 321 and is fixedly mounted on the palm plate 1 via the force sensor 31. In order to facilitate the real-time detection of force by the force sensor 31, the drive motor 321 is selected to be cantilevered. The motor telescopic rod 322 is installed inside the drive motor 321 and can perform telescopic movement. The end of the motor telescopic rod 322 is fixedly connected to the movable slider 39.

[0089] In this embodiment, the drive motor 321 provides drive for the device. The operation of the drive motor 321 drives the motor telescopic rod 322 to move. The motor telescopic rod 322 pushes the movable slider 39 to move on the guide rail 390, thereby pushing the sliding connecting rod 34 to move.

[0090] Preferably, the finger link 33 further includes a strap 330, which is disposed on the lower end face of the finger fixing part 37.

[0091] Specifically, at least two straps 330 are provided. At least one strap 330 is provided on the lower end face of the proximal finger plate 3711 for fixing the proximal phalanx of the finger to the proximal finger plate 3711, and at least one strap 330 is provided on the lower end face of the distal finger plate 3721 for fixing the middle phalanx of the finger to the distal finger plate 3721.

[0092] In this embodiment, the strap 330 is designed to fix the finger in a relative position on the device, making it easy to disassemble and fix.

[0093] In actual operation, the palm is placed under the palm plate 1 of the finger rehabilitation training mechanism, and the five fingers are fixed with the straps 330 respectively.

[0094] During passive finger flexion training, the drive motor 321 operates, causing the motor telescopic rod 322 to extend and push the movable slider 39 forward on the guide rail 390. Since the sliding link 34 is hinged to the movable slider 39 and the drive link 35, the forward movement of the movable slider 39 causes the sliding link 34 to drive the drive link 35. At this time, the clutch block 381 follows the drive link 35, and the drive link 35 drives the distal finger plate 3721 downward. When the clutch limit block 384 of the clutch block 381 reaches the limit position of the first proximal finger limiting groove 3713 of the proximal finger plate 3711, it will continue to drive the proximal finger plate 3711 to rotate downward. Controlling the extension distance of the motor telescopic rod 322 controls the finger flexion angle. To ensure user safety, the mechanism will automatically stop moving when the proximal finger limiting block 3714 reaches the limit position of the joint limiting groove 363. During the movement, the force sensor 31 will detect the output force of the drive motor 321 in real time and feed it back to the system to adjust the output parameters of the motor and ensure the safety of the user.

[0095] See Figure 1 and Figure 9 During passive finger extension training, the drive motor 321 operates, the motor extension rod 322 retracts, and pulls the movable slider 39 backward on the guide rail 390. Since the sliding link 34 is hinged to the movable slider 39 and the drive link 35, the backward movement of the movable slider 39 causes the sliding link 34 to drive the drive link 35. At this time, the clutch block 381 follows the drive link 35, and the drive link 35 drives the distal finger plate 3721 to move upward. When the clutch limit block 384 of the clutch block 381 reaches the limit position of the first proximal finger limit groove 3713 of the proximal finger plate 3711, it will continue to drive the proximal finger plate 3711 to rotate upward.

[0096] During active finger training, when a finger is bent or extended, the force is transmitted to the proximal finger plate 3711 and the distal finger plate 3721, and simultaneously to the force sensor 31 at the end of the drive motor 321 via the sliding link 34 and the drive link 35. After receiving the force signal and direction, the force sensor 31 transmits the signal to the drive plate 2. The drive plate 2 then issues a command to the drive motor 321 to adapt to the user's force and direction, thus driving the mechanism to move.

[0097] While the disclosure is as stated above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A finger rehabilitation training institution, characterized in that, It includes a palm plate (1), a drive plate (2), and a finger drive assembly (3); The finger driving assembly (3) includes a force sensor (31), a finger driving component (32), and a finger linkage (33) respectively mounted on the palm plate (1). The driving plate (2) is connected to the finger driving component (32) and the force sensor (31) respectively via wires. The finger linkage (33) includes a sliding link (34), a driving link (35), and a finger fixing part (37). One end of the finger fixing part (37) is used to hinge with the palm plate (1). The finger driving component (32) is used to... The finger linkage (33) is connected to one end of the sliding link (34) to drive the sliding link (34) to reciprocate; the finger linkage (33) also includes a movable slider (39) and a guide rail (390). The guide rail (390) is fixed on the palm plate (1). One end of the movable slider (39) is fixedly connected to the finger drive (32). The other end of the movable slider (39) is used to rotatably connect with the sliding link (34), and the movable slider (39) is slidably connected with the guide rail (390). The drive link (35) includes a drive end (351), a connecting end (352) and a mounting part (353). The drive end (351) is used to connect to the end of the sliding link (34) away from the finger drive member (32). The mounting part (353) is disposed on the drive link (35) near the drive end (351), and the mounting part (353) is used to hinge with the palm plate (1); The connecting end (352) of the drive link (35) is used to hinge with the other end of the finger fixing part (37); The finger linkage (33) also includes a joint fixing seat (36) and a connecting part (38). The joint fixing seat (36) is fixed on the palm plate (1), and the drive linkage (35) is movably hinged to the joint fixing seat (36) through the mounting part (353). The connecting part (38) includes a clutch block (381), a first bearing (382) and a second bearing (383). The first bearing (382) and the second bearing (383) are respectively disposed at both ends of the clutch block (381). The clutch block (381) is rotatably connected to the joint fixing seat (36) through the first bearing (382), and the clutch block (381) is rotatably connected to the mounting part (353) through the second bearing (383).

2. The finger rehabilitation training institution according to claim 1, characterized in that, The finger driving component (3) is provided in three parts, namely the first finger driving component (5), the second finger driving component and the third finger driving component (4). The first finger driving component (5) is used to drive the thumb, and the second finger driving component is used to drive the index finger. The third finger drive assembly (4) has three finger linkages (33), and the finger drive member (32) in the third finger drive assembly (4) is used to connect the three finger linkages (33) respectively to drive the middle finger, ring finger and little finger.

3. The finger rehabilitation training institution according to claim 1, characterized in that, The finger fixing part (37) includes a proximal finger fixing part (371) and a distal finger fixing part (372). One end of the proximal finger fixing part (371) is rotatably connected to the joint fixing seat (36), and the other end of the proximal finger fixing part (371) is rotatably connected to the distal finger fixing part (372). The connecting end (352) of the drive link (35) is rotatably connected to the distal finger fixing part (372).

4. The finger rehabilitation training institution according to claim 3, characterized in that, The joint fixing seat (36) includes a seat body (361), a first shaft pin (364), and two mounting arms (362) disposed on the seat body (361), the two mounting arms (362) being disposed opposite to each other; The proximal finger fixing part (371) includes a proximal finger plate (3711) and two oppositely arranged insertion arms (3712) located at one end of the proximal finger plate (3711). Both insertion arms (3712) are used to insert into the two mounting arms (362). The inner wall of each insertion arm (3712) is provided with a first proximal finger limiting groove (3713), which has a fan-shaped structure. The clutch block (381) is provided with the first bearing (382). One end is used to be inserted between the two plug arms (3712). The connecting part (38) also includes a clutch limiting block (384) disposed on the plug arm (3712) and located on the periphery of the first bearing (382). The clutch limiting block (384) has a fan-shaped structure. The clutch limiting block (384) is used to be movably connected with the first proximal finger limiting groove (3713). The central angle of the clutch limiting block (384) is smaller than the central angle of the first proximal finger limiting groove (3713). When the first axle pin (364) passes through the plug arm (3712), the mounting arm (362) and the first bearing (382), the plug arm (3712) rotates so that the clutch limiting block (384) abuts against the inner wall of the first proximal finger limiting groove (3713) and drives the proximal finger plate (3711) to rotate.

5. The finger rehabilitation training institution according to claim 4, characterized in that, The inner wall of the mounting arm (362) is provided with a joint limiting groove (363), which is a fan-shaped structure; The proximal finger fixing part (371) also includes a proximal finger limiting block (3714) disposed on the outer wall of the plug arm (3712). The proximal finger limiting block (3714) is also a fan-shaped structure. The proximal finger limiting block (3714) is used to be movably disposed in the joint limiting groove (363), and the central angle of the proximal finger limiting block (3714) is smaller than the central angle of the joint limiting groove (363). The first pivot pin (364) is used to pass through the plug arm (3712), the mounting arm (362) and the first bearing (382) so that the proximal finger fixing part (371) and the joint fixing seat (36) are rotatably connected.

6. The finger rehabilitation training institution according to claim 4, characterized in that, The proximal finger fixing part (371) also includes a second shaft pin (3717) and two connecting arms (3715) disposed at one end away from the insertion arm (3712). The two connecting arms (3715) are disposed opposite to each other. The inner wall of the connecting arm (3715) is provided with a second proximal finger limiting groove (3716). The second proximal finger limiting groove (3716) has a fan-shaped structure. The distal finger fixing part (372) includes a distal finger plate (3721) and a third bearing (3722) disposed at one end of the distal finger plate (3721). The end of the distal finger plate (3721) with the third bearing (3722) is used to be inserted between the two connecting arms (3715). A distal finger limiting block (3723) is disposed on the distal finger plate (3721) around the third bearing (3722). The distal finger limiting block (3723) has a fan-shaped structure. The distal finger limiting block (3723) is used to be movably connected with the second proximal finger limiting groove (3716). The central angle of the distal finger limiting block (3723) is smaller than the central angle of the second proximal finger limiting groove (3716). The second pivot pin (3717) is used to pass through the connecting arm (3715) and the second bearing (383) so that the distal finger fixing part (372) and the proximal finger fixing part (371) are rotatably connected at an angle.

7. The finger rehabilitation training institution according to claim 1, characterized in that, The joint fixing seat (36) is disposed at one end of the guide rail (390).

8. The finger rehabilitation training institution according to claim 7, characterized in that, The finger drive component (32) includes a drive motor (321) and a motor telescopic rod (322). The drive motor (321) is fixedly mounted on the palm plate (1) via the force sensor (31). The drive motor (321) is used to drive the motor telescopic rod (322) so that the motor telescopic rod (322) can reciprocate. The end of the motor telescopic rod (322) away from the drive motor (321) is used to connect to the movable slider (39).

9. The finger rehabilitation training institution according to claim 1, characterized in that, The finger link (33) also includes a strap (330), which is disposed on the lower end face of the finger fixing part (37).

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