Analog rehabilitation finger training device and control system thereof

Abstract

The application belongs to the technical field of medical equipment, and particularly relates to a simulation rehabilitation finger training device and a control system thereof. The application comprises a hand rehabilitation seat fixed on a desktop or other platform, an arm support frame fixedly installed on the hand rehabilitation seat, a wrist mechanism rotatably installed on the arm support frame, and a finger rehabilitation mechanism fixedly installed on the wrist mechanism and used for rehabilitation training of human fingers. The finger rehabilitation training device is provided with a wrist mechanism with a self-adaptive function. In the process of rehabilitation training of the hand of a patient, the arm of the patient will unconsciously make slight rotation due to long-time rehabilitation. The application utilizes adjusting motors, arc-shaped adjusting holes, adjusting knobs and other devices to ensure that the finger rehabilitation mechanism can make self-adaptive adjustment to the slight rotation of the wrist of the patient, improve the coupling degree and coordination of the finger rehabilitation mechanism and the patient, ensure the balance of the finger device and the hand, and effectively avoid secondary injury of the training device to the patient.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a simulated rehabilitation finger training device and its control system. Background Technology

[0002] Between 1990 and 2010, the number of stroke patients in developing countries increased by 10%. According to the "China Stroke Prevention and Control Report" released in 2017, the stroke population is trending towards younger ages. Despite continuous advancements in medical conditions and a decrease in stroke mortality, many patients still suffer from varying degrees of paralysis. Studies show that 55%-75% of stroke patients have finger motor dysfunction, and only about 30% recover completely. In the early stages of the disease, patients have difficulty moving their hands using their own strength. Prolonged inactivity can lead to permanent muscle atrophy and loss of motor function. The hand is a vital organ, and many daily activities, including eating, dressing, and washing, rely on it. Stroke-induced finger motor dysfunction makes these actions difficult, placing a heavy emotional and economic burden on families and society. Therefore, regular rehabilitation training for stroke patients is essential.

[0003] As a branch of rehabilitation, finger rehabilitation has achieved many theoretical research results in recent years, and a wide variety of finger rehabilitation equipment has emerged. Rehabilitation institutions mainly use these devices for the later stages of auxiliary rehabilitation treatment for patients. Based on the theory of continuous passive movement, patients can recover their health in the shortest possible time. However, existing finger rehabilitation institutions have the following problems:

[0004] Most existing finger rehabilitation institutions use replaceable batteries, but the batteries themselves do not last long and cannot meet the power supply needs of the rehabilitation institutions for a long time. They need to be replaced frequently, which is cumbersome.

[0005] Existing finger rehabilitation institutions often use flexible yet sufficiently rigid and lightweight materials because the weight of the rehabilitation institution needs to be applied to the patient's hand. This results in higher costs for the rehabilitation institutions. At the same time, the patient's hand needs to bear the weight of the rehabilitation institution for a long time, which can easily cause fatigue in the patient's hand, shorten the rehabilitation time, and affect the rehabilitation effect.

[0006] In existing finger rehabilitation institutions, the patient's palm is facing down and passively follows the rehabilitation device during the rehabilitation process. The patient's wrist is mostly fixed on the rehabilitation device and cannot adapt to the natural twisting of the patient's wrist. The coupling and coordination between the rehabilitation device and human movement is not high, which can easily cause secondary injury to the patient. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of existing technologies, such as failure to meet the energy supply needs of rehabilitation institutions, high cost, and low coupling and coordination with the human body. It provides a simulated rehabilitation finger training device and its control system that allows users to perform rehabilitation movements with their palms facing upwards, has a low cost, and high coupling and coordination.

[0008] The technical solution adopted by the present invention to solve its technical problem is: a simulated rehabilitation finger training device, including a hand rehabilitation seat fixed on a desktop or other platform, an arm support frame fixedly installed on the hand rehabilitation seat, a wrist mechanism rotatably installed on the arm support frame, and a finger rehabilitation mechanism fixedly installed on the wrist mechanism for performing rehabilitation training on human fingers.

[0009] The wrist mechanism includes a wrist U-shaped bracket set on a desktop or other platform, a C-shaped adjustment hole opened at the center of the wrist U-shaped bracket, a connecting frame slidably installed in the C-shaped adjustment hole via an adjustment knob, and balance springs symmetrically supported on both sides of the connecting frame between the base plate of the wrist U-shaped bracket.

[0010] The finger rehabilitation mechanism is mounted on the connecting frame and rotates along the wrist mechanism along with the connecting frame; the arc-shaped rotation center of the C-shaped adjustment hole is on the rotation axis of the wrist mechanism;

[0011] The finger rehabilitation mechanism is equipped with an adjustment motor for driving the connecting frame to slide in the C-shaped adjustment hole. The adjustment motor is connected to the adjustment knob via a traction line.

[0012] Furthermore, the finger rehabilitation mechanism includes a palm hinge bracket fixedly installed on the upper end face of the connecting frame, four sets of four-finger assemblies fixedly installed on the lower end face of the palm hinge bracket, and a thumb finger assembly fixedly installed on the side end face of the palm hinge bracket.

[0013] The four-finger assembly includes four sets of first electric telescopic rods and a proximal guide plate installed along the four-finger direction on the lower end face of the palm hinge bracket, a proximal finger joint slide rod slidably installed with the proximal guide plate, a distal guide plate fixedly installed on the proximal finger joint slide rod, a distal finger joint slide rod slidably installed on the distal guide plate, and guide grooves formed on the proximal guide plate and the distal guide plate.

[0014] The output end of the first electric telescopic rod is rotatably mounted to the proximal finger joint slide rod. The proximal finger joint slide rod and the guide groove on the proximal guide plate, and the distal finger joint slide rod and the guide groove on the distal guide plate are all slidably connected by guide wheels.

[0015] The thumb finger assembly includes a second electric telescopic rod mounted on the side end face of the palm hinge bracket, a thumb slide rod rotatably mounted to the output end of the second electric telescopic rod, and a thumb guide plate fixedly mounted on the side end face of the palm hinge bracket; the thumb guide plate is provided with a thumb guide groove, and the thumb guide groove and the thumb slide rod are slidably mounted through guide wheels;

[0016] The guide grooves on the near guide plate, the far guide plate, and the thumb guide groove are all arc-shaped guide grooves with the center of the arc facing the palm.

[0017] Furthermore, the distal phalanx slide bar, proximal phalanx slide bar, and thumb slide bar all have a ring sleeve for fitting the fingers at the end furthest from the wrist; the ring sleeve on the thumb slide bar is fitted onto the thumb phalanx, the ring sleeve on the distal phalanx slide bar is fitted onto the distal phalanx of the patient's four fingers, and the ring sleeve on the proximal phalanx slide bar is fitted onto the proximal phalanx of the patient's four fingers.

[0018] Furthermore, a connecting rod is rotatably mounted on one end of the near guide plate near the far guide plate, and a balance block is rotatably mounted on the other end of the connecting rod. The other end of the balance block is rotatably connected to the distal phalanx slide rod.

[0019] Furthermore, arm hinge brackets are symmetrically fixedly installed on both sides of the arm support frame, and the arm hinge brackets are hinged to the wrist hinge brackets on the wrist U-shaped bracket; a limiting device for preventing excessive rotation of the wrist hinge bracket is installed on the arm hinge bracket near one end of the wrist hinge bracket.

[0020] Furthermore, the limiting device includes a horizontal limiting rod and a vertical limiting rod; the wrist hinge bracket is rotatably mounted on an arm hinge bracket within the angle between the horizontal limiting rod and the vertical limiting rod.

[0021] Furthermore, an arc-shaped opening for placing the arm is provided on the upper part of the arm support frame, and an arm pressure ring is detachably installed on the arm support frame, with the arc-shaped opening of the arm pressure ring corresponding to the arc-shaped opening on the arm support frame.

[0022] Furthermore, it also includes a battery for providing power to the finger rehabilitation facility, said battery being a rechargeable battery.

[0023] Furthermore, the palm hinge bracket is provided with a back of hand tray for placing the back of the hand.

[0024] A control system for a simulated rehabilitation finger training device includes a main control module, a time warning module, a visual acquisition module, a voice recognition module, and a power supply module.

[0025] The main control module is used to control the training actions of the finger training device;

[0026] The visual acquisition module is used to acquire the patient's facial expressions and transmit the data signals to the main control module; the main control module controls the start or stop of the training actions based on the patient's facial expressions acquired by the visual acquisition module.

[0027] The voice recognition module is used to receive the patient's voice commands and transmit the voice signal to the main control module;

[0028] The time warning module is used to set the training time of the finger training device; when the training time set by the time warning module is reached, the main control module controls the finger training device to stop training.

[0029] The power module is used to provide power to the entire control system.

[0030] The main control module can control the first electric telescopic rod, the second electric telescopic rod, and the adjusting motor to perform corresponding movements based on the voice signals received and transmitted by the voice recognition module.

[0031] The beneficial effects of the simulated rehabilitation finger training device and its control system of the present invention are:

[0032] 1. The finger training device of the present invention is placed on a desktop or other platform. The patient wears the rehabilitation device with their palm facing up to perform passive or active rehabilitation training. The hand does not need to bear the weight of the rehabilitation training device. There are no restrictions on the materials used in the rehabilitation training device. The cost is low and it avoids fatigue in the patient's hand caused by the long-term bearing of the weight of the rehabilitation training device. It can increase the duration of rehabilitation training and improve the effect of rehabilitation training.

[0033] 2. The finger rehabilitation training device of the present invention is equipped with a wrist mechanism with adaptive function. During the rehabilitation training of the patient's hand, the patient's arm will unconsciously make slight rotations due to long-term rehabilitation. The present invention uses devices such as adjusting motor, arc-shaped adjusting hole, and adjusting knob to ensure that the finger rehabilitation mechanism can adaptively adjust to the slight rotation of the patient's wrist, improve the coupling and coordination between the finger rehabilitation mechanism and the patient, and ensure the balance between the finger device and the hand, effectively avoiding secondary injury to the patient by the training device.

[0034] 3. This finger rehabilitation training device can house the battery in the arm support frame. It uses a rechargeable battery. When the rehabilitation device is idle, the main control module controls the rehabilitation device to automatically charge, eliminating the need to replace the battery and ensuring that the battery is fully charged when in use.

[0035] 4. The finger mechanism of the present invention consists of a proximal phalanx slide bar, a distal phalanx slide bar, a connecting rod, and a balance block forming a quadrilateral balance restraint, which ensures the movement balance of the proximal and distal phalanxes of the human body during the patient's rehabilitation process.

[0036] 5. The rehabilitation training device of the present invention is equipped with a time alarm. In the control system of the present invention, the duration of rehabilitation training can be automatically controlled according to the patient's own condition, reducing the patient's resistance to rehabilitation and achieving better rehabilitation efficiency. Attached Figure Description

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0038] Figure 1 This is a perspective view of the finger training device according to an embodiment of the present invention;

[0039] Figure 2 This is a top-view structural diagram of the finger training device according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the upward-view portion of the finger training device according to an embodiment of the present invention;

[0041] Figure 4 This is a diagram showing the assembly of the arm support frame and wrist mechanism according to an embodiment of the present invention.

[0042] Figure 5 This is a schematic diagram of the structure of the four-finger component according to an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the structure of the thumb finger assembly according to an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the limiting device according to an embodiment of the present invention;

[0045] Figure 8 This is a flowchart of the control system of the finger rehabilitation training device according to an embodiment of the present invention.

[0046] In the diagram: 1. Hand rehabilitation seat; 2. Arm support frame; 21. Arm hinge bracket; 22. Arc-shaped opening; 23. Arm pressure ring; 3. Wrist mechanism; 31. Wrist U-shaped bracket; 32. C-shaped adjustment hole; 33. Connecting frame; 34. Balance spring; 35. Adjustment motor; 36. Wrist hinge bracket; 37. Adjustment knob; 4. Finger rehabilitation mechanism; 41. Palm hinge bracket; 42. Four-finger assembly; 421. First electric telescopic rod; 422. Proximal finger guide plate; 423. Proximal finger joint slide bar; 424. Guide groove; 425. 426. Guide wheel, distal phalanx slide bar, 427. Distal phalanx guide plate, 428. Linkage rod, 429. Balance block, 43. Thumb finger assembly, 431. Second electric telescopic rod, 432. Thumb slide bar, 433. Thumb guide plate, 434. Thumb guide groove, 44. Limiting device, 441. Horizontal limiting rod, 442. Vertical limiting rod, 45. Back of hand tray, 46. Finger ring sleeve, 100. Main control module, 200. Time warning module, 300. Visual acquisition module, 400. Voice recognition module, 500. Power supply module. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0048] like Figures 1-7 The simulated rehabilitation finger training device of the present invention is shown in this embodiment, taking the rehabilitation of the right hand as an example. With the chest direction of a normal standing body as the front and the back direction as the back, the right hand direction as the right and the left hand direction as the left, the simulated rehabilitation finger training device of the present invention includes a hand rehabilitation seat 1 placed or fixed on a table or other platform, an arm support frame 2 fixedly installed on the hand rehabilitation seat 1, a wrist mechanism 3 rotatably installed on the arm support frame 2, and a finger rehabilitation mechanism 4 fixedly installed on the wrist mechanism 3 for performing rehabilitation training on the human fingers. The wrist mechanism 3 includes a wrist U-shaped bracket 31 set on the table or other platform, a C-shaped adjustment hole 32 opened at the center of the wrist U-shaped bracket 31, a connecting frame 33 slidably installed in the C-shaped adjustment hole 32 through an adjustment knob 37, and balance springs 34 symmetrically supported on both sides of the connecting frame 33 between the wrist support base plate and the connecting frame 33. The finger rehabilitation mechanism 4 is installed on the connecting frame 33 and rotates along the finger rehabilitation mechanism 4 with the connecting frame 33. The arc-shaped rotation center of the C-shaped adjustment hole 32 is on the rotation axis of the finger rehabilitation mechanism 4.

[0049] Further explanation is needed regarding the finger rehabilitation mechanism 4, which is equipped with an adjustment motor 35 for driving the connecting frame 33 to slide within the C-shaped adjustment hole 32. The adjustment motor 35 is connected to the adjustment knob 37 via a traction line. One end of the traction line is fixed to the adjustment knob 37, and the other end is wound around the output shaft of the adjustment motor 35. When the patient's arm rotates slightly to the right, the adjustment motor 35 rotates counterclockwise. Driven by the traction line, the adjustment knob 37 slides to the left along the C-shaped adjustment hole 32, thereby enabling the finger rehabilitation mechanism 4 to rotate to the right following the slight rotation of the wrist. During rehabilitation training, when the patient's arm rotates slightly to the left, the adjustment motor 35 rotates clockwise. Driven by the traction line, the adjustment knob 37 slides to the right along the C-shaped adjustment hole 32, thereby enabling the finger rehabilitation mechanism 4 to rotate to the right.

[0050] The finger rehabilitation training device of the present invention is equipped with a wrist mechanism 3 with an adaptive function. During the rehabilitation training of the patient's hand, the patient's arm will unconsciously rotate slightly due to long-term rehabilitation. The present invention uses devices such as adjusting motor 35, arc-shaped adjusting hole, and adjusting knob 37 to ensure that the finger rehabilitation mechanism 4 can adaptively adjust to the slight rotation of the patient's wrist, improve the coupling and coordination between the finger rehabilitation mechanism 4 and the patient, and ensure the balance between the finger device and the hand, effectively avoiding secondary injury to the patient by the training device.

[0051] like Figure 3-6 As shown, the finger rehabilitation mechanism 4 in this embodiment includes a palm hinge bracket 41 fixedly installed on the upper end face of the connecting frame 33, four sets of four-finger components 42 fixedly installed on the lower end face of the palm hinge bracket 41, and a thumb finger component 43 fixedly installed on the side end face of the palm hinge bracket 41.

[0052] The four-finger assembly 42 includes four sets of first electric telescopic rods 421 mounted along the four-finger direction on the lower end face of the palm hinge bracket 41, a proximal guide plate 422, a proximal finger joint slide rod 423 slidably mounted with the proximal guide plate 422, a distal guide plate 427 fixedly mounted on the proximal finger joint slide rod 423, a distal finger joint slide rod 426 slidably mounted on the distal guide plate 427, and guide grooves 424 formed on the proximal guide plate 422 and the distal guide plate 427;

[0053] The output end of the first electric telescopic rod 421 is rotatably mounted to the proximal finger joint slide rod 423. The proximal finger joint slide rod 423 and the guide groove 424 on the proximal guide plate 422, and the distal finger joint slide rod 426 and the guide groove 424 on the distal guide plate 427 are all slidably connected by guide wheels 425.

[0054] The thumb finger assembly 43 includes a second electric telescopic rod 431 mounted on the side end face of the palm hinge bracket 41, a thumb slide rod 432 rotatably mounted to the output end of the second electric telescopic rod 431, and a thumb guide plate 433 fixedly mounted on the side end face of the palm hinge bracket 41. The thumb guide plate 433 has a thumb guide groove 434, and the thumb guide groove 434 and the thumb slide rod 432 are slidably mounted through a guide wheel 425. The guide grooves 424 on the near guide plate 422 and the far guide plate 427, as well as the thumb guide groove 434, are all arc-shaped guide grooves 424 with their arc centers facing the palm.

[0055] It should be further explained that in this embodiment, the distal phalanx slide bar 426, the proximal phalanx slide bar 423, and the thumb slide bar 432 are all provided with a finger ring 46 for fitting the fingers at the end away from the wrist; the finger ring 46 on the thumb slide bar 432 is fitted onto the distal phalanx of the thumb, the finger ring 46 on the distal phalanx is fitted onto the distal phalanx of the patient's four fingers, and the finger ring 46 on the proximal phalanx is fitted onto the proximal phalanx of the patient's four fingers.

[0056] like Figure 4 and Figure 7 As shown, arm hinge brackets 21 are symmetrically fixedly installed on both sides of the arm support frame 2. The arm hinge brackets 21 are hinged to the wrist hinge brackets 36 on the wrist U-shaped bracket 31. A limiting device 44 for preventing excessive rotation of the wrist hinge bracket 36 is installed on the arm hinge bracket 21 near the wrist hinge bracket 36. An arc-shaped opening 22 for placing the arm is provided on the top of the arm support frame 2. An arm pressure ring 23 is detachably installed on the arm support frame 2. The arc-shaped opening 22 of the arm pressure ring 23 is correspondingly set with the arc-shaped opening 22 on the arm support frame 2.

[0057] Before use, fix the hand rehabilitation seat 1 on a desktop or other platform to ensure a stable position. After fixing, place the patient's arm flat in the arc-shaped opening 22 on the arm support frame 2. After placement, tighten the arm clamping ring 23 to fix the patient's arm on the arm support frame 2. The wrist hinge bracket 36 is rotatably connected to the arm hinge bracket 21. The arm hinge bracket 21 supports one end of the wrist hinge bracket 36. A limit bracket is installed between the wrist hinge bracket 36 and the arm hinge bracket 21 to limit the farthest position of the wrist hinge bracket 36's movement, preventing... To prevent excessive rotation of the wrist hinge bracket 36 from posing a safety hazard to the patient, the wrist U-shaped bracket 31 is fixedly installed on a desktop or other platform to assist the hand rehabilitation seat 1 in supporting the finger rehabilitation mechanism 4. The other end of the wrist hinge bracket 36 is rotatably installed with the two side plates of the wrist U-shaped bracket 31. A C-shaped adjustment hole 32 is provided in the middle of the wrist U-shaped bracket 31, and a connecting frame 33 for fixed connection with the finger rehabilitation mechanism 4 is slidably installed in the C-shaped adjustment hole 32 through the adjustment knob 37. The connecting frame 33 is located inside the wrist U-shaped bracket 31. Figure 3 As shown, under the action of the adjusting motor 35, the hand-connecting bracket can rotate within a certain range via a traction rope connected to the adjusting knob 37, thereby causing the patient's arm to rotate slightly. The adjusting motor 35 can rotate in different directions by adjusting forward and reverse rotation. A hand back tray 45 is placed on the hand-connecting bracket 41 so that the patient's arm can be placed stably on it. In this embodiment, the adjusting motor 35 is a miniature stepper motor. In addition, such as Figure 5 As shown, the proximal phalanx slide 423 is connected to the output end of the first electric telescopic rod 421, allowing it to move, and the distal phalanx guide plate 427 is connected to the proximal phalanx slide 423.

[0058] The proximal finger joint slide bar 423 is slidably connected to the guide groove 424 on the proximal guide plate 422, and the distal finger joint slide bar 426 is slidably connected to the guide groove 424 on the distal guide plate 427. This ensures that the proximal finger joint slide bar 423 and the distal finger joint slide bar 426 can maintain a smooth and gentle movement trajectory. It should be noted that the guide groove 424 also serves as a limit to prevent excessive sliding from causing injury to the fingers. The distal finger joint slide bar 426 and the proximal finger joint slide bar 423 are provided with finger ring sleeves 46 at the ends away from the distal guide plate 427 or the proximal guide plate 422, corresponding to the finger joint of the patient's finger. When using the product, the patient needs to insert the finger into the finger ring sleeve 46. The thumb is different from the above four fingers in that it only has a thumb joint guide bar and a thumb guide groove 434.

[0059] In this embodiment, a connecting rod 428 is rotatably mounted on one end of the proximal guide plate 422 near the distal guide plate 427, and a balance block 429 is rotatably mounted on the other end of the connecting rod 428. The other end of the balance block 429 is rotatably connected to the distal phalanx slide rod 426. To make the movement of the proximal guide groove 424 and the distal guide groove 424 more stable and diverse, a connecting rod 428 is connected between them. The other end of the connecting rod 428 is connected to the balance block 429 to keep the finger balanced during movement. The proximal phalanx slide rod 423 is connected and fixed to the output shaft of the first electric telescopic rod 421 near the palm end. The five fingers correspond to five independent miniature electric telescopic rods, which can assist the patient's fingers in completing multiple movements under the action of the control system, realizing the extension and contraction of the five fingers, thereby helping the patient's damaged fingers to recover.

[0060] The finger training device of the present invention is placed on a desktop or other platform. The patient wears the rehabilitation device with their palm facing upward to perform passive or active rehabilitation training. The hand does not need to bear the weight of the rehabilitation training device. There are no restrictions on the materials used in the rehabilitation training device. The cost is low and it avoids fatigue in the patient's hand caused by the long-term bearing of the weight of the rehabilitation training device. It can increase the duration of rehabilitation training and improve the effect of rehabilitation training.

[0061] A timer is installed on the hand rehabilitation seat 1 to plan the optimal training time and duration for the patient and provide timely alarm reminders, thereby improving rehabilitation training efficiency and reducing manpower. This finger rehabilitation training device can house a rechargeable battery in the arm support frame. When the device is idle, the main control module automatically charges it, eliminating the need for battery replacement and ensuring the battery is fully charged during use.

[0062] Reference Figure 8 The control system of the aforementioned simulated rehabilitation finger training device includes a main control module 100, a time warning module 200, a visual acquisition module 300, a voice recognition module 400, and a power supply module 500.

[0063] The main control module 100 is used to control the training actions of the finger training device;

[0064] The visual acquisition module 300 is used to acquire the patient's facial expressions and transmit the data signals to the main control module 100; the main control module 100 controls the start or stop of the training actions based on the patient's facial expressions acquired by the visual acquisition module 300.

[0065] The voice recognition module 400 is used to receive the patient's voice commands and transmit the voice signal to the main control module 100;

[0066] The time warning module 200 is used to set the training time of the finger training device; when the training time set by the time warning module 200 is reached, the main control module 100 controls the finger training device to stop training.

[0067] The power module 500 is used to provide power to the entire control system.

[0068] The main control module 100 can control the first electric telescopic rod 421, the second electric telescopic rod 431, and the regulating motor 35 to perform corresponding movements based on the voice signals received and transmitted by the voice recognition module 400.

[0069] In this control system, the power module 500 is a rechargeable battery, the main control module 100 is a single-chip microcomputer (model STC11L08XE), and the voice recognition module 400 is an LD3302, which integrates a single-chip microcomputer. The voice recognition module 400 converts sound into information that the single-chip microcomputer can recognize and then outputs the control motor movement state, so it is relatively convenient. By turning on the switch and saying the words "extend and retract your fingers," the motor can be controlled to rotate forward and backward, thereby realizing the extension and retraction of the fingers. By saying "rotate your arm," the hand hinge bracket 41 can be rotated within a certain range by adjusting the motor 35 and connecting to the adjustment knob 37 through the traction rope, thereby driving the patient's arm to rotate within a small range.

[0070] In this embodiment of the invention, the time warning module 200 is a time warning device. In the control system of the invention, the visual acquisition module 300 can collect human facial expressions and automatically control the duration of rehabilitation training according to the individual's condition, thereby reducing the patient's resistance to rehabilitation and achieving better rehabilitation efficiency.

[0071] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A simulated rehabilitation finger training device, characterized in that: It includes a hand rehabilitation seat (1) fixed on a desktop or other platform, an arm support frame (2) fixedly installed on the hand rehabilitation seat (1), a wrist mechanism (3) rotatably installed on the arm support frame (2), and a finger rehabilitation mechanism (4) fixedly installed on the wrist mechanism (3) for performing rehabilitation training on human fingers. The wrist mechanism (3) includes a wrist U-shaped bracket (31) set on a desktop or other platform, a C-shaped adjustment hole (32) opened at the center of the wrist U-shaped bracket (31), a connecting frame (33) slidably installed in the C-shaped adjustment hole (32) by adjusting knob (37), and a balance spring (34) symmetrically supported on both sides of the connecting frame (33) between the base plate of the wrist U-shaped bracket (31). The finger rehabilitation mechanism (4) is mounted on the connecting frame (33) and rotates along the wrist mechanism (3) following the connecting frame (33); the arc-shaped rotation center of the C-shaped adjustment hole (32) is on the rotation axis of the wrist mechanism (3); The finger rehabilitation mechanism (4) is equipped with an adjustment motor (35) for driving the connecting frame (33) to slide in the C-shaped adjustment hole (32). The adjustment motor (35) is connected to the adjustment knob (37) via a traction line. The finger rehabilitation mechanism (4) includes a palm hinge bracket (41) fixedly installed on the upper end face of the connecting frame (33), four sets of four-finger components (42) fixedly installed on the lower end face of the palm hinge bracket (41), and a thumb finger component (43) fixedly installed on the side end face of the palm hinge bracket (41). The four-finger assembly (42) includes four sets of first electric telescopic rods (421) installed along the four-finger direction on the lower end face of the palm hinge bracket (41), a proximal guide plate (422), a proximal finger joint slide rod (423) slidably installed with the proximal guide plate (422), a distal guide plate (427) fixedly installed on the proximal finger joint slide rod (423), a distal finger joint slide rod (426) slidably installed on the distal guide plate (427), and guide grooves (424) formed on the proximal guide plate (422) and the distal guide plate (427). The output end of the first electric telescopic rod (421) is rotatably mounted to the proximal phalanx slide rod (423). The proximal phalanx slide rod (423) and the guide groove (424) on the proximal guide plate (422), and the distal phalanx slide rod (426) and the guide groove (424) on the distal guide plate (427) are all slidably connected by guide wheels (425). The thumb finger assembly (43) includes a second electric telescopic rod (431) mounted on the side end face of the palm hinge bracket (41), a thumb slide rod (432) rotatably mounted to the output end of the second electric telescopic rod (431), and a thumb guide plate (433) fixedly mounted on the side end face of the palm hinge bracket (41); the thumb guide plate (433) is provided with a thumb guide groove (434), and the thumb guide groove (434) and the thumb slide rod (432) are slidably mounted through a guide wheel (425); The guide groove (424) on the near guide plate (422), the guide groove (424) on the far guide plate (427) and the thumb guide groove (434) are all arc-shaped grooves with the center of the arc facing the palm; The near guide plate (422) has a connecting rod (428) rotatably mounted at one end near the far guide plate (427), and a balance block (429) is rotatably mounted at the other end of the connecting rod (428). The other end of the balance block (429) is rotatably connected to the distal phalanx slide rod (426).

2. The simulated rehabilitation finger training device according to claim 1, characterized in that: The distal phalanx slide bar (426), proximal phalanx slide bar (423), and thumb slide bar (432) are all provided with finger rings (46) for fitting the fingers at the ends away from the wrist. The finger rings (46) on the thumb slide bar (432) are fitted onto the phalanx of the thumb, the finger rings (46) on the distal phalanx slide bar (426) are fitted onto the distal phalanx of the patient's four fingers, and the finger rings (46) on the proximal phalanx slide bar (423) are fitted onto the proximal phalanx of the patient's four fingers.

3. The simulated rehabilitation finger training device according to claim 1, characterized in that: The arm support frame (2) is symmetrically fixedly installed with arm hinge brackets (21) on both sides. The arm hinge brackets (21) are hinged to the wrist hinge brackets (36) on the wrist U-shaped bracket (31). A limiting device (44) for preventing the wrist hinge brackets (36) from rotating excessively is installed on the arm hinge brackets (21) near the wrist hinge brackets (36).

4. The simulated rehabilitation finger training device according to claim 3, characterized in that: The limiting device (44) includes a horizontal limiting rod (441) and a vertical limiting rod (442); the wrist hinge bracket (36) is rotatably mounted on the arm hinge bracket (21) within the angle between the horizontal limiting rod (441) and the vertical limiting rod (442).

5. The simulated rehabilitation finger training device according to claim 1, characterized in that: The arm support frame (2) has an arc-shaped opening (22) for placing the arm on top. An arm pressure ring (23) is detachably installed on the arm support frame (2). The arc-shaped opening (22) of the arm pressure ring (23) is set to correspond to the arc-shaped opening on the arm support frame (2).

6. The simulated rehabilitation finger training device according to claim 1, characterized in that: It also includes a battery for providing power to the finger rehabilitation facility (4), said battery being a rechargeable battery.

7. The simulated rehabilitation finger training device according to claim 1, characterized in that: The palm hinge bracket (41) is provided with a back hand tray (45) for placing the back of the hand.

8. The control system of the simulated rehabilitation finger training device according to any one of claims 1-7, characterized in that: It includes a main control module (100), a time warning module (200), a visual acquisition module (300), a voice recognition module (400), and a power supply module (500). The main control module (100) is used to control the training actions of the finger training device; The visual acquisition module (300) is used to acquire the patient's facial expressions and transmit the data signals to the main control module (100); the main control module (100) controls the start or stop of the training action based on the patient's facial expressions acquired by the visual acquisition module (300); The voice recognition module (400) is used to receive the patient's voice commands and transmit the voice signal to the main control module (100). The time warning module (200) is used to set the training time of the time finger training device; when the training time set by the time warning module (200) is reached, the main control module (100) controls the finger training device to stop training. The power module (500) is used to provide power to the entire control system. The main control module (100) can receive and transmit voice signals from the voice recognition module (400) and control the first electric telescopic rod (421), the second electric telescopic rod (431), and the regulating motor (35) to perform corresponding movements.

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