Hand rehabilitation exoskeleton device

Abstract

The present invention belongs to the field of exoskeleton technology, specifically a hand rehabilitation exoskeleton device, including a palm assembly and a plurality of finger assemblies, wherein the base of the finger assembly is connected to the palm assembly and is distributed according to the structure of the human hand. The finger assembly includes a slide rail assembly and a finger sleeve assembly, the slide rail assembly includes a track portion and a transmission portion, the finger sleeve assembly is installed on the track portion and connected to the transmission portion, and the transmission portion controls the finger sleeve assembly to move along the track portion. In the present invention, the track portion in the slide rail assembly provides a directional movement trajectory for the finger sleeve assembly. After the user wears the device and starts the device, the finger sleeve assembly will drive each finger to move along the preset trajectory, thereby achieving the effect of stretching the fingers. For hemiplegic patients, the device can replace the caregiver to complete the hand rehabilitation training for them, and the finger assembly will provide a balanced force to the fingers during the whole process. Compared with manual care, it can avoid the phenomenon of uneven force before and after and unsatisfactory auxiliary rehabilitation effect.

Description

Technical Field

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

[0002] The symptoms of hemiplegia are mainly unilateral limb dysfunction, often accompanied by finger dysfunction. Regardless of the specific cause of hemiplegia finger dysfunction, recovery is very slow or even ineffective, but active intervention treatment can still make some progress.

[0003] Generally speaking, intervention treatment for patients' symptoms will start with drug therapy, rehabilitation therapy, and the patient's own activities. However, for patients with excessive muscle tension, their fingers can no longer move independently or can only move within a very small range. At this time, caregivers must assist them in finger rehabilitation exercises. In the field of exoskeleton industry, there are already many designs for human rehabilitation, but there is no device that can replace manual rehabilitation training for the hands of hemiplegic patients. This also leads to finger rehabilitation exercises relying on manual labor, and will be affected by factors such as insufficient human resources and the inability to make appointments at any time, which cannot meet the needs of patients. In addition, when rehabilitation exercises are assisted by caregivers themselves, the effect of the exercises is greatly affected by their personal professional qualities. Summary of the Invention

[0004] The purpose of the present invention is to provide an exoskeleton device for performing rehabilitation exercises on the hands of hemiplegic patients. The device can firstly replace the nursing staff to complete the rehabilitation exercises. In addition, it can provide the user with standard rehabilitation movements and strength according to the preset program.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a hand rehabilitation exoskeleton device comprising a palm assembly and several finger assemblies, wherein the bases of the fingers of the finger assemblies are connected to the palm assembly and are arranged in the order of thumb assembly I, finger assembly II, finger assembly III, finger assembly IV, and finger assembly V according to the structure of the human hand. The finger assemblies comprise a slide rail assembly and a finger cuff assembly, wherein the slide rail assembly comprises a track portion and a transmission portion. The finger cuff assembly is mounted on the track portion and connected to the transmission portion, and the transmission portion controls the movement of the finger cuff assembly along the track portion. The finger cuff assembly comprises a finger cuff structure that fits over the finger, and the finger cuff structure pulls the finger to move with the finger cuff assembly.

[0006] In the above technical solution, the track portion of the slide assembly provides a directional movement trajectory for the finger sleeve assembly, and the transmission portion drives the finger sleeve assembly to move back and forth along the movement trajectory. After the user wears the device and activates it, the finger sleeve assembly will drive each finger to move along the preset trajectory, thereby stretching the fingers. For patients with hemiplegia, this device can replace caregivers to complete their hand rehabilitation training. The finger assembly will provide a balanced force to the fingers throughout the entire process. Compared with manual care, this can avoid the phenomenon of uneven force front and back and unsatisfactory assisted rehabilitation effect.

[0007] As a preferred embodiment of a hand rehabilitation exoskeleton device, each finger assembly has a fixed mounting axis at its base. A drive mechanism is provided in the palm assembly, connected to each finger assembly's mounting axis and causing each finger assembly to deflect along the width of the palm assembly around its corresponding mounting axis. As the finger assemblies deflect along the palm assembly's width, the finger sleeve assemblies pull the fingers along, allowing them to close or spread. The transmission components in the slide rail assembly work in tandem with the drive mechanism, allowing the auxiliary fingers to perform more movements. Therefore, the device can help the patient's hand simulate normal hand movements, resulting in better rehabilitation training for the patient's hand.

[0008] For solutions in which a drive mechanism is provided within the palm assembly, the drive mechanism preferably includes a servo assembly corresponding to each finger assembly, each independently controlling the finger assemblies. With the exception of the servo assembly controlling the thumb assembly (I), the remaining servo assemblies are arranged side by side to form an adjustable-distance servo assembly. The adjustable-distance servo assembly is equipped with a spacing adjustment assembly that can synchronously increase or decrease the spacing between two adjacent servo assemblies within the adjustable-distance servo assembly. Furthermore, the finger assemblies corresponding to each servo assembly within the adjustable-distance servo assembly can translate with the movement of the servo assembly. Hand sizes vary from patient to patient. The thumb joint itself has a relatively large range of motion, which can accommodate the position of the thumb assembly (I) within the hand rehabilitation exoskeleton. The positions of the other four fingers are significantly affected by hand shape. To adapt the hand rehabilitation exoskeleton to a variety of hand sizes, this solution utilizes a servo assembly that independently controls each finger assembly, and uses the spacing adjustment assembly to adjust the distance between local servo assemblies. This allows for adjustability of the positions of local finger assemblies, improving the applicability of the hand rehabilitation exoskeleton.

[0009] With regard to the technical solution of using a spacing adjustment assembly to adjust the spacing of the servo assemblies, the spacing adjustment assembly preferably includes a screw extending horizontally along the width direction of the palm assembly, the screw being able to rotate only in-situ about its own axis, and coaxial threaded sleeves I, II, and III being sequentially provided on servo III, servo IV, and servo V. The screw is provided with threaded segments I, II, and III that sequentially cooperate with threaded sleeves I, II, and III, and the threaded segments I, II, and III have the same direction of rotation, and when the screw threaded sleeve III moves a distance d, the threaded sleeve II moves d, and the threaded sleeve I moves d. By simultaneously controlling each servo assembly in the adjustable-distance servo group through a screw, the purpose of simultaneously translating the finger assemblies that need to be moved is achieved, so that all finger assemblies can match the patient's hand shape, and the adjustment process is simple; in addition, by setting the pitch of each thread segment, this solution can make the distances between the finger assemblies corresponding to the index finger, middle finger, ring finger and little finger change equidistantly, and in this way, the adjacent finger assemblies have a uniform spacing that conforms to the actual joint width, so that the patient's fingers and the corresponding finger assemblies have a better matching orientation.

[0010] As another preferred embodiment of the hand rehabilitation exoskeleton device, the slide rail assembly is an arc-shaped structure that bends toward the back of the hand and is capable of deformation; the finger assembly also includes a shaping assembly that individually shapes each slide rail assembly, and the shaping assembly can change the curvature of the slide rail assembly and shape it. Adjusting the curvature of the slide rail assembly can change the motion trajectory of the finger cuff assembly. Different trajectories can be suitable for patients with different hand sizes. At the same time, different trajectories have different curvatures. When the slide rail assembly bends further toward the back of the hand, its curvature increases. At this time, the finger cuff assembly can assist the fingers in achieving a larger angle of bending. Therefore, by adjusting the curvature of the slide rail assembly, the hand rehabilitation exoskeleton device will produce different degrees of exercise intensity on the user's hand.

[0011] Regarding the technical solution in which the slide rail assembly can be deformed and has a shaping assembly for shaping it, it is preferred that the slide rail assembly has elastic deformation properties, and in a natural state the slide rail assembly is in a maximum extension state; the shaping assembly includes a hard shaping frame with an arc-shaped portion, and the hard shaping frame is located on the periphery of the slide rail assembly; a plurality of adjustment bolts pointing to the slide rail assembly are provided on the arc-shaped portion, the front ends of the adjustment bolts are pressure plates that touch the slide rail assembly, and the above-mentioned adjustment bolts are distributed at least one each at a position corresponding to the upper portion and a position corresponding to the middle portion of the slide rail assembly. The hard shaping frame serves as a reference structure for adjusting the curvature of the slide rail assembly, and the provided adjustment bolts can control the distance between the slide rail assembly and the arc-shaped portion. Therefore, the purpose of adjusting the curvature of the slide rail assembly can be achieved by comprehensively adjusting the adjustment bolts on the arc-shaped portion, and since the shaping frame is located on the periphery of the slide rail assembly, the nut ends of the adjustment bolts face outwards, which is convenient for manual adjustment.

[0012] As another preferred embodiment of a hand rehabilitation exoskeleton device, the finger cuff assembly comprises a lower slide structure and an upper finger cuff structure. The slide structure slides onto the rail assembly, and the finger cuff structure is connected to the slide structure via a movable structure that disengages upon application of a tensile force of 10-30N. This hand rehabilitation exoskeleton device is used to replace manual rehabilitation training for a patient's hand. In the absence of human supervision, if the patient's fingers cannot be further pulled due to personal preference or muscle characteristics, the finger cuff structure disengages from the slide structure if the counterforce exerted by the fingers on the cuff structure reaches a preset value range, thereby preventing the patient's fingers from being forcibly pulled and protecting them.

[0013] Regarding the technical solution in which the finger sleeve assembly includes a slide structure and a finger sleeve structure, it is preferred that the finger sleeve structure includes an outer finger sleeve and an inner finger sleeve, wherein the outer finger sleeve is connected to the movable structure; the outer finger sleeve has a receiving groove with an upward opening, and the inner finger sleeve is movably sleeved in the receiving groove, and the outer wall of the inner finger sleeve fits the inner wall of the inner finger sleeve; in addition, a penetrating air hole is provided on the lower side wall of the outer finger sleeve, and an elastic plate with elasticity is provided on the outer side wall of the outer finger sleeve, a plug is provided at the free end of the elastic plate, and when in a free state, the plug blocks the air hole. After the inner cuff is put on the finger cuff, it is adsorbed on the finger due to the low internal pressure. After the corresponding outer cuff is inserted, the bottom of the outer cuff is in a closed state. Under the action of atmospheric pressure and friction, the inner and outer cuffs fit tightly together, thereby ensuring the firmness between the finger and the cuff structure. At the same time, after the air hole is opened, the inner cuff can be quickly pulled out. Therefore, this structure of the cuff structure can also meet the needs of patients for quick and convenient wearing, and the purpose of temporarily removing the hand rehabilitation exoskeleton device can be achieved by pulling out the inner cuff.

[0014] As another preferred embodiment of the hand rehabilitation exoskeleton device, the palm assembly further includes a palm fixing device, which fixes the user's palm to the palm assembly. By fixing the user's palm, the fingers can change posture only under the traction of the finger assembly, avoiding interference of palm movement with rehabilitation training movements, thereby ensuring the effective implementation of the rehabilitation training process and improving the rehabilitation effect.

[0015] As another preferred embodiment of a hand rehabilitation exoskeleton device, the hand rehabilitation exoskeleton device has two thumb assemblies I, and the two thumb assemblies I are symmetrically distributed relative to the finger assembly II, finger assembly III, finger assembly IV and finger assembly V, so that one device is suitable for both the left hand and the right hand.

[0016] As another preferred embodiment of a hand rehabilitation exoskeleton device, the hand rehabilitation exoskeleton device also includes a wrist joint assembly. An assembly structure is provided at the rear of the wrist joint assembly, and the assembly structure can be connected to an upper limb exoskeleton structure. Thus, the hand rehabilitation exoskeleton device can be used in combination with other rehabilitation exoskeletons to expand its scope of application and cooperate with other exoskeleton structures to provide users with more comprehensive rehabilitation training.

[0017] Another preferred embodiment of a hand rehabilitation exoskeleton device includes a wrist assembly with two independently movable deflection units, which respectively control the palm assembly to swing up and down and left and right. The palm assembly's deflection orientation relative to the wrist assembly varies, allowing for different finger flexibility and movement characteristics. This flexible wrist assembly not only strengthens the user's wrist muscles but also works in conjunction with the finger assembly to provide comprehensive rehabilitation training for the user's fingers. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 A schematic plan view of the structure of a hand rehabilitation exoskeleton device according to a first embodiment of the present invention;

[0020] Figure 2 for Figure 1 A schematic side view of the structure of the hand rehabilitation exoskeleton device shown;

[0021] Figure 3 for Figure 2 The schematic diagram of the structure of the hand rehabilitation exoskeleton device after removing the palm component;

[0022] Figure 4 for Figure 1-3 A schematic side view of the structure of one of the finger components in the hand rehabilitation exoskeleton device shown;

[0023] Figure 5 for Figure 4 A schematic structural diagram of the shaping component in the index finger assembly shown;

[0024] Figure 6 for Figure 4 A schematic diagram of the inner skeleton structure of the slide rail assembly in the index finger assembly shown;

[0025] Figure 7 for Figure 6 A schematic structural diagram of the upper guide portion of the inner skeleton shown;

[0026] Figure 8 for Figure 6 A schematic structural diagram of the lower guide portion of the inner frame shown;

[0027] Figure 9 for Figure 4 A schematic cross-sectional structural diagram of the slide rail assembly in the index finger assembly shown;

[0028] Figure 10 for Figure 4 A schematic diagram of the structure of the middle finger sleeve assembly;

[0029] Figure 11 for Figure 10 A schematic diagram of a partial cross-section structure of a finger sleeve in the finger sleeve assembly shown;

[0030] Figure 12 for Figure 2 The schematic diagram of the structure of the palm-dorsum component in the palm component of the hand rehabilitation exoskeleton device shown;

[0031] Figure 13 for Figure 12 A schematic diagram of the internal structure of the palm back assembly is shown;

[0032] Figure 14 for Figure 13 A schematic diagram of the structure of the screw end in the structure shown;

[0033] Figure 15 for Figure 1-3 A schematic structural diagram of the wrist joint assembly in the hand rehabilitation exoskeleton device shown;

[0034] Figure 16 This is a schematic diagram of the planar structure of embodiment 2 provided by the present invention.

[0035] In the figure, palm assembly 1, thumb assembly I2, finger assembly II3, finger assembly III4, finger assembly IV5, finger assembly V6, wrist joint assembly 7, palm back assembly 8, palm assembly 9, palm pad 10, Velcro 11, wrist joint structure 12, wrist fixing part 13, shaping assembly 14, slide rail assembly 15, finger sleeve assembly 16, horizontal part 17, connecting rib plate 18, mounting shaft 19, arc-shaped part 20, adjusting bolt 21, pressure plate 22, inner skeleton 23, upper guide part 24, lower guide part 25, synchronous belt 30, side plate 31, pressure block 32, limit edge 33, deformation hole 34, slide seat structure 35, waist plate 37, limit groove 38, magnet block 39, outer finger sleeve 40, inner finger sleeve 41, steel ball 42, Air hole 43, elastic plate 44, plug 45, bushing 46, servo I 47, servo II 48, servo III 49, servo IV 50, servo V 51, drive shaft 52, limit strip 53, screw 54, positioning sleeve 55, threaded sleeve I 56, threaded sleeve II 57, threaded sleeve III 58, threaded segment I 59, threaded segment II 60, threaded segment III 61, drive wheel 62, transmission belt 63, drive joint 64, rotating shaft 121, wrist servo 122, extension arm 123, drive shaft 124, fixing sleeve 125, connector 126, drive member connector 127, toothed mouth 231, end side plate 241, pulley 242, drive motor 243, guide roller 244. DETAILED DESCRIPTION

[0036] The following will describe the implementation methods of the present application in detail with reference to the accompanying drawings and examples, so that the implementation process of how the present application applies technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0037] The hand rehabilitation exoskeleton device provided in an embodiment of the present invention includes a palm component 1 and several finger components, wherein the bases of the finger components are connected to the palm component 1 and are distributed according to the structure of the human hand, including a thumb component I2 and a finger component II3, a finger component III4, a finger component IV5, and a finger component V6 arranged side by side. The device also includes a control device, which serves as the command center of the entire hand rehabilitation exoskeleton device, controls the operation of each electrical component, and controls each component to work according to a preset program.

[0038] Figure 1-15 The first embodiment of the hand rehabilitation exoskeleton device is shown. The hand rehabilitation exoskeleton device is suitable for the right hand, and the back of the hand faces upward when in use. Figure 1 、 Figure 2 and Figure 3As shown, a wrist joint assembly 7 is also provided behind the palm assembly 1. The palm assembly 1 comprises an upper palm assembly 9 and a lower palm back assembly 8. A soft palm pad 10 is provided on the front of the palm assembly 9, and a Velcro 11 is provided on the front of the palm pad 10. The user wears a strap with Velcro on the palm, and the palm is positioned by bonding the Velcro at two locations. In addition to the wrist joint structure 12, the wrist joint assembly 7 also has a wrist fastener 13 with a strap structure provided on the top of the wrist joint structure 12. The wrist fastener 13 is used to secure the user's wrist and forearm.

[0039] Specifically, the above-mentioned finger components have the same structure, such as Figure 4 As shown, it includes a shaping component 14, a slide rail component 15 and a finger sleeve component 16, wherein the slide rail component 15 is an arc-shaped structure bent toward the back of the hand and has elastic deformation performance, and in the natural state, the slide rail component 15 is in the maximum extension state, which specifically includes a track part and a transmission part.

[0040] like Figure 5 As shown, the shaping assembly 14 includes a rigid shaping frame having an arcuate portion 20 and a horizontal portion 17 connected to the root of the arcuate portion 20, wherein a mounting shaft 19 is vertically provided at the lower end of the horizontal portion 17, and a connecting rib 18 for connecting to the slide rail assembly 15 is provided at the upper portion. Specifically, the cross-section of the arcuate portion 20 is a flat-bottomed U-shape with an outward opening. An adjusting bolt 21 pointing to the slide rail assembly 15 is provided at the upper, middle, and lower portions of the arcuate portion 20, respectively. The front end of the adjusting bolt 21 is a relatively rotatable pressure plate 22 that contacts the slide rail assembly 15. The rigid shaping frame serves as a reference structure for adjusting the curvature of the slide rail assembly 15. The curvature of the slide rail assembly 15 can be adjusted by comprehensively adjusting the adjusting bolts 21 on the arcuate portion 20. For example, by screwing the lower adjusting bolt 21 forward, the entire slide rail assembly 15 can be deflected toward the back of the hand, and then the curvature of the upper portion of the slide rail assembly 15 can be adjusted by auxiliary adjustment of the middle and upper adjusting bolts 21. Figure 4 As shown, the shaping frame is located at the periphery of the slide rail assembly 15 , and the nut end of the adjusting bolt 21 faces outward, which makes it easier for all shaping assemblies 14 to not interfere with each other and facilitates adjustment of each slide rail assembly 15 .

[0041] like Figure 6 As shown, the track portion includes a steel inner frame 23 in the middle, the transmission portion includes an upper guide portion 24 provided at the upper end of the inner frame 23, and a lower guide portion 25 provided at the lower end of the inner frame 23, and the entire slide rail assembly 15 is connected to the connecting rib 18 at the end of the horizontal portion 17 through the lower guide portion 25. Specifically, as Figure 7 and Figure 8As shown, the upper guide portion 24 and the lower guide portion 25 each include two symmetrically arranged end side plates 241, and a pulley 242 with an axis perpendicular to the two end side plates 241 is provided between the front portions of the two end side plates 241. In addition, as shown in FIG. Figure 7 As shown, the upper guide portion 24 also includes a drive motor 243. Toothed openings 231 are evenly arranged on both sides of the inner frame 23, and the upper end is connected to the lower portion of the two end side plates 241 of the upper guide portion 24, and the lower end is connected to the lower portion of the two end side plates 241 of the lower guide portion 25. The transmission part in this embodiment also includes a synchronous belt 30 passing around two pulleys 242, and as shown in FIG. Figure 9 As shown, the synchronous belt 30 conforms to the outer and inner curved surfaces of the inner frame 23, and a guide roller 244 is provided at the connection area between the inner frame 23 and the end side plate 241. The synchronous belt 30 is guided by the guide roller 244. In addition, side plates 31 are vertically inserted on both sides of the inner frame 23, and the side plates 31 are provided with deformation holes 34 located on both sides of the inner frame 23. At the same time, on the inner side of the arc of the inner frame 23, two rows of pressure blocks 32 are provided on the side plates 31, extending toward the opposite side plates 31. These pressure blocks 32 cover the two sides of the synchronous belt 30 and ensure that the synchronous belt 30 always moves in the direction of the curvature of the inner frame 23, that is, conforms to the inner curved surface of the inner frame 23. In addition, a limiting edge 33 is provided on one side of the side plates 31 on both sides, extending toward the opposite side plate 31, so that the distance between adjacent side plates 31 decreases at the limiting edge 33.

[0042] Based on the slide rail assembly 15 of the above structure, the finger sleeve assembly 16 provided in this embodiment has a slide seat structure 35 and a finger sleeve structure, such as Figure 10 As shown, the slide structure 35 is a structure that is wide at the top and narrow at the bottom, and a waist plate 37 extending to both sides is provided in the middle, so that a limiting groove 38 for engaging the limiting edge 33 is formed between the waist plate 37 and the top surface structure, and the waist plate 37 is stuck below the limiting edge 3. In addition, the width of the bottom of the slide structure 35 is smaller than the distance between the pressure blocks 32 between the side plates 31, and is fixedly connected to the synchronous belt 30. When the driving motor 243 drives the synchronous belt 30 to rotate, the synchronous belt 30 drives the slide structure 35 to move along the slide rail assembly 15. In addition, the finger sleeve assembly 16 provided in this embodiment may cause the finger sleeve structure to detach under certain force conditions. As shown in the figure, a magnet block 39 with a hemispherical groove is provided on the top of the slide structure 35, and a steel ball 42 is provided at the bottom of the finger sleeve structure to cooperate with the hemispherical groove, and can satisfy the free rotation of the steel ball 42 in the hemispherical groove. In addition, the magnetic force between the magnet block 39 and the steel ball 42 is set to 15N, that is, if the traction force of the user's finger on the finger sleeve structure reaches 15N during rehabilitation training, the steel ball 42 detaches from the magnet block 39, thereby freeing the user's finger.

[0043] In addition, in order to facilitate the user to wear the hand rehabilitation exoskeleton device, the present embodiment has a split design for the finger cuff structure, with a hard outer finger cuff 40 and an inner finger cuff 41 with a deformable performance forming the finger cuff structure. Figure 11 As shown, the steel ball 42 is arranged in the middle of the bottom of the outer finger sleeve 40, and the longitudinal cross-section profile of the outer finger sleeve 40 is U-shaped. The lower half of the inner finger sleeve 41 is located in the outer finger sleeve 40 and fits the inner wall of the outer finger sleeve 40; in addition, a penetrating air hole 43 is provided on the lower side wall of the outer finger sleeve 40, and an elastic plate 44 with elasticity is provided on the outer side wall of the outer finger sleeve 40. A plug 45 is provided at the free end of the elastic plate 44, and when in the free state, the plug 45 blocks the air hole 43. Based on the above structure, after the inner finger cuff 41 is put on the finger cuff, the inner finger cuff 41 is adsorbed on the finger due to the low internal pressure. After the inner finger cuff 41 is inserted into the corresponding outer finger cuff 40, the bottom of the outer finger cuff 40 is in a closed state. Under the action of atmospheric pressure and friction, the inner finger cuff 41 and the outer finger cuff 40 are sucked together, thereby ensuring the firmness between the finger and the finger cuff structure. At the same time, after opening the air hole 43, the inner finger cuff 41 can be quickly pulled out. Therefore, this structure of the finger cuff structure can also meet the needs of patients to wear it quickly and conveniently. In addition, during rehabilitation training, if the user has some needs such as going to the toilet or drinking water, the inner finger cuff 41 can be pulled out to achieve the purpose of temporarily releasing the hand rehabilitation exoskeleton device.

[0044] Furthermore, regarding the finger cuff structure, since human fingers vary in length, and the finger assembly II3, finger assembly III4, finger assembly IV5, and finger assembly V6 are arranged in parallel, to compensate for the varying finger lengths, the inner finger cuffs 41 provided in this embodiment have varying lengths. This ensures that the inner finger cuffs 41 on all fingers, except the thumb, have the same length after being applied, thereby matching the outer finger cuff 40. Alternatively, the inner finger cuffs 41 can be configured to have the same length, and the length of the outer finger cuffs 40 can be adjusted to the length of the fingers. The length of the outer finger cuffs 40 can then be used to compensate for the varying finger lengths.

[0045] In the first embodiment, each finger assembly is configured to be able to perform closing and spreading actions, specifically, as Figure 12 As shown, five bushings 46 are distributed on the front of the palm back assembly 8 according to the positions of the five finger joints, which are used to install the mounting shaft 19 at the bottom of the shaping frame, and as shown Figure 13 As shown, servos I47, II48, III49, IV50 and V51 corresponding to the sleeve 46 are arranged inside the palm back assembly 8, and the driving shafts 52 of the five servos are respectively connected to the five mounting shafts 19, and under the action of the servos, the five finger assemblies complete the closing and unfolding movements.

[0046] At the same time, the spacing between finger assembly II3, finger assembly III4, finger assembly IV5, and finger assembly V6 is adjustable to suit users with different palm widths. Figure 12 As shown, the three shaft sleeves 46 corresponding to the finger assembly III4, the finger assembly IV5 and the finger assembly V6 are arranged in a translatable manner in the transversely extending slots arranged on the front of the palm back assembly 8, and the slots reserve a certain length for the shaft sleeves 46 to move. Figure 13 As shown, the positions of the servo I 47 and the servo II 48 are fixed, and the servo III 49, the servo IV 50 and the servo V 51 form a servo group with adjustable spacing. Threaded sleeves I56, II57, and III58 are symmetrically and sequentially arranged on both sides of the steering gear III49, steering gear IV50, and steering gear V51, and are coaxial. Two screws 54 pass through the threaded sleeves on both sides, and the ends of the screws 54 are movably sleeved in the positioning sleeves 55 on both sides of the steering gear II48, and can only rotate relative to the positioning sleeves 55. To meet the requirement of uniform variation in the spacing between the steering gears II48, III49, IV50, and V51, threaded segments I59, II60, and III61 are provided on the screws 54, which cooperate with the threaded sleeves I56, II57, and III58 in sequence. The threaded segments I59, II60, and III61 have the same rotation direction, and when the threaded sleeve III58 moves a distance of 3d along the screw 5, the threaded sleeve II57 moves 2d and the threaded sleeve I56 moves d. In order to ensure the smooth movement of servo III49, servo IV50 and servo V51, limit strips 53 parallel to the screw 5 are respectively provided on the top and bottom walls of the palm back assembly 8, and the limit strips 53 fit the side walls of servo III49, servo IV50 and servo V51.

[0047] In order to facilitate the user to adjust by himself, the front ends of the two screw rods 54 extend to the outside of the shell of the palm back assembly 8, as shown in FIG. Figure 14 As shown, drive wheels 62 are respectively installed at the ends of the two screw rods 54, and the two identical drive wheels 62 are connected by a transmission belt 63, and a drive joint 64 that can cooperate with a wrench is constructed at the outer end of one of the screw rods 54. Since the direction and speed of the two drive wheels 62 connected by the transmission belt 63 are the same, the two screw rods 54 used are exactly the same, thereby meeting the requirement of synchronous movement of the threaded sleeves on both sides.

[0048] In addition, the main function of the hand rehabilitation exoskeleton device provided in this embodiment is to assist in exercising the user's fingers. It can be used as an independent device, or it can be installed on other exoskeleton devices, such as an upper limb exoskeleton structure with a rehabilitation function. After assembly, the hand rehabilitation exoskeleton device and the upper limb exoskeleton structure work together to achieve a better rehabilitation training effect. To this end, the rear of the wrist joint structure 12 used in this embodiment is provided with two plug-in connectors, and the expansion installation is completed through the plug-in connectors. In addition, as Figure 15 As shown, the wrist joint structure 12 has two independently movable deflection units, the first deflection unit includes a rotating shaft 121 arranged along the width direction of the palm assembly 1, and the end of the rotating shaft 121 is provided with a driving member connector 127 for connecting to the driving mechanism; the second deflection unit includes a wrist servo 122 arranged perpendicular to the rotating shaft 121. Specifically, a mounting groove is horizontally opened in the middle of the rotating shaft 121, and the wrist servo 122 is installed in the mounting groove, and the servo drive shaft points to the front and is connected to the palm assembly 1; in order to ensure the stability of the second deflection unit structure, the second deflection unit is also provided with a fixed The extension arm 123 is fixedly connected to the rotating shaft 121, and the front part of the extension arm is an extension sleeve, which is movably installed in the fixed sleeve 125 set on the top of the palm back assembly 8, and the servo drive shaft movably passes through the extension sleeve and is connected to the connecting head 126 set just in front of the fixed sleeve 125. When the wrist servo 122 is started, the entire palm assembly 1 is deflected under the action of the servo drive shaft and the connecting head 126. Of course, the first deflection unit and the second deflection unit can work together, which can enable the wrist joint structure 12 to imitate the movement of the human wrist, thereby assisting the hand in comprehensive rehabilitation training.

[0049] In this embodiment, the track portion of the slide assembly 15 provides a directional movement trajectory for the finger sleeve assembly 16, and the transmission portion is provided to drive the finger sleeve assembly 16 to move back and forth along the movement trajectory. After the user wears the device and starts the device, the finger sleeve assembly 16 will drive each finger to move along the preset trajectory, thereby stretching the fingers. In addition, the hand rehabilitation exoskeleton device can assist the user's hand to fully simulate the closing and spreading of human fingers, the unidirectional and multi-directional swinging of the wrist, and the entire device can be adjusted to meet the needs of users with different hand shapes. Therefore, for patients with hemiplegia, the device can replace the caregiver to complete their hand rehabilitation training.

[0050] In addition, it also provides Figure 16The second embodiment shown is different from the first embodiment in that a thumb assembly I2 is added. As shown in the figure, the thumb assembly I2 on the left and the thumb assembly I2 on the right are symmetrically distributed relative to the four middle finger assemblies, thereby satisfying the wearability of the user's left and right hands; in addition, since the two thumb assemblies I2 in this embodiment limit the width between the entire finger assemblies from both sides, compared with the first embodiment, the four middle finger assemblies in the second embodiment do not have the function of adjustable width. In order to meet the usage needs of different users, it is necessary to set up multiple models suitable for different hand width ranges.

[0051] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of the components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0052] It should be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or system. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the product or system comprising the element.

[0053] The foregoing description shows and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. Rather, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the inventive concept described herein by the teachings above or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention are intended to be within the scope of the appended claims.

Claims

1. A hand rehabilitation exoskeleton device comprising a palm assembly and several finger assemblies, wherein the bases of the finger assemblies are connected to the palm assembly and are arranged according to the structure of the human hand, and include thumb assembly I, finger assembly II, finger assembly III, finger assembly IV, and finger assembly V in sequence, characterized by: The finger assembly includes a slide rail assembly and a finger sleeve assembly, wherein the slide rail assembly includes a track portion and a transmission portion, the finger sleeve assembly is installed on the track portion and connected to the transmission portion, and the transmission portion controls the finger sleeve assembly to move along the track portion; the finger sleeve assembly has a finger sleeve structure that is sleeved on the finger, and the finger is pulled to move along with the finger sleeve assembly through the finger sleeve structure; the slide rail assembly is an arc-shaped structure that bends toward the back of the hand and can be deformed; the finger assembly also includes a shaping component that individually shapes each slide rail assembly, and the shaping component can change the bending curvature of the slide rail assembly and shape it.

2. The hand rehabilitation exoskeleton device according to claim 1, wherein: A mounting shaft is fixedly provided at the base of each finger assembly, and a driving mechanism is provided in the palm assembly. The driving mechanism is respectively connected to the mounting shaft of each finger assembly and causes each finger assembly to deflect around the corresponding mounting shaft in the width direction of the palm assembly.

3. The hand rehabilitation exoskeleton device according to claim 2, wherein: The drive mechanism includes a servo assembly corresponding to each finger assembly one by one, and the servo assembly independently controls the finger assembly. In addition to the servo assembly controlling the thumb assembly I, the remaining servo assemblies are arranged side by side to form an adjustable-distance servo group; the adjustable-distance servo group is equipped with a spacing adjustment assembly, which can synchronously increase or decrease the spacing between two adjacent servo assemblies in the adjustable-distance servo group; and the finger assembly corresponding to each servo assembly in the adjustable-distance servo group can translate with the movement of the servo assembly.

4. The hand rehabilitation exoskeleton device according to claim 3, wherein: The spacing adjustment assembly includes a screw extending horizontally along the width direction of the palm assembly. The screw can only rotate in place around its own axis, and coaxial threaded sleeves I, II, and III are sequentially provided on the servo III, servo IV, and servo V. The screw is provided with threaded segments I, II, and III that pass through the threaded sleeves I, II, and III and sequentially cooperate with them. The threaded segments I, II, and III have the same rotation direction, and when the screw threaded sleeve III moves a distance d, the threaded sleeve II moves d, and the threaded sleeve I moves d.

5. The hand rehabilitation exoskeleton device according to claim 1, wherein: The slide rail assembly has elastic deformation performance, and in a natural state, the slide rail assembly is in a maximum extension state; the shaping assembly includes a hard shaping frame with an arc-shaped portion, and a plurality of adjusting bolts pointing to the slide rail assembly are arranged on the arc-shaped portion, and the front end of the adjusting bolt is a pressure plate that touches the slide rail assembly, and the above-mentioned adjusting bolts are distributed at least one at a position corresponding to the upper part and a position corresponding to the middle part of the slide rail assembly.

6. The hand rehabilitation exoskeleton device according to claim 1, wherein: The finger sleeve assembly includes a lower slide structure and an upper finger sleeve structure, wherein the slide structure is slidably clamped on the slide rail assembly, and the finger sleeve structure is connected to the slide structure through a movable structure, and the movable structure is disengaged after being subjected to a pulling force of 10-30N.

7. The hand rehabilitation exoskeleton device according to claim 6, wherein: The finger sleeve structure includes an outer finger sleeve and an inner finger sleeve, wherein the outer finger sleeve is connected to the movable structure; the outer finger sleeve has a receiving groove with an upward opening, and the inner finger sleeve is movably sleeved in the receiving groove, and the outer wall of the inner finger sleeve is in contact with the inner wall of the inner finger sleeve; in addition, a penetrating air hole is provided on the lower side wall of the outer finger sleeve, and an elastic plate with elasticity is provided on the outer side wall of the outer finger sleeve, and a plug is provided at the free end of the elastic plate, and when in a free state, the plug blocks the air hole.

8. The hand rehabilitation exoskeleton device according to claim 1, wherein: The palm assembly further comprises a palm fixing device, which fixes the palm of the user and the palm assembly together.

9. The hand rehabilitation exoskeleton device according to claim 1, wherein: The hand rehabilitation exoskeleton device has two thumb components I, and the two thumb components I are symmetrically distributed relative to the finger component II, finger component III, finger component IV and finger component V.

10. The hand rehabilitation exoskeleton device according to any one of claims 1 to 9, characterized in that: The hand rehabilitation exoskeleton device also includes a wrist joint component. The rear portion of the wrist joint component is provided with an assembling structure, and the assembly structure can be connected to the upper limb exoskeleton structure.

11. The hand rehabilitation exoskeleton device according to any one of claims 1 to 9, wherein: The hand rehabilitation exoskeleton device also includes a wrist joint assembly, which has two independently moving deflection units. The two deflection units respectively control the palm assembly to complete up and down swinging movements and left and right swinging movements.

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