Finger rehabilitation assistive device

Abstract

This invention discloses a finger rehabilitation assistive device, including a palm fixation frame, a palm-finger base, a proximal finger base, and a distal finger base. A palm guide rail is fixed to the palm fixation frame, and a palm-finger push rod that acts on the palm-finger base is slidably connected to the palm guide rail. A proximal guide rail is fixed to the palm-finger base, and a proximal push rod that acts on the proximal finger base is slidably connected to the proximal guide rail. A distal guide rail is fixed to the proximal guide rail, and a distal push rod that acts on the distal finger base is slidably connected to the distal guide rail. A driving device for moving the palm-finger push rod is installed on the palm fixation frame. The palm-finger push rod is connected to the proximal push rod via a proximal finger transmission structure, and the proximal push rod is connected to the distal push rod via a distal finger transmission structure. This invention has a simple structure, is easy to use, and provides stable and reliable movement. It can help fingers regain some motor function, allowing individuals to complete finger rehabilitation training independently, thus reducing rehabilitation costs.

Description

Technical Field

[0001] This invention relates to a rehabilitation training device, specifically a finger rehabilitation assistive device. Background Technology

[0002] The integrity of hand function is a crucial factor affecting a person's ability to live independently. Loss of partial or complete finger motor function prevents the normal performance of daily activities, reducing the patient's quality of life. Finger muscle weakness after a stroke is a major manifestation of hand function loss, leading to the inability to extend the fingers. Studies have shown that continuous, high-intensity repetitive training for stroke patients helps in the rehabilitation of hand motor function. Traditional stroke rehabilitation treatment requires one-on-one, hands-on rehabilitation therapy between therapist and patient. This method is not only costly and labor-intensive, but also cannot guarantee the effectiveness and intensity of rehabilitation training, lacking optimal training parameters to achieve the best treatment plan. Finger rehabilitation assistive devices can guide patients' hands through high-intensity rehabilitation training, effectively solving the above problems. Currently, most finger rehabilitation assistive devices on the market guide patients' fingers through fixed-pattern rehabilitation exercises. No device has yet been found that can switch between multi-joint and single-joint training, nor has a device been found that allows for mechanical speed adjustment through simple gear shifting. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is: how to provide a finger rehabilitation assistive device that is simple in structure, easy to use, low in rehabilitation cost, and has good rehabilitation effect.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A finger rehabilitation assistive device includes a palm fixation frame and a palm finger base located in front of the palm fixation frame. A proximal finger base is provided in front of the palm finger base, and a distal finger base is provided in front of the proximal finger base. An abdominal binding device is provided on the palm fixation frame, the palm finger base, the proximal finger base, and the distal finger base respectively. A palm finger driving structure is provided between the palm fixation frame and the palm finger base. A proximal finger driving structure is provided between the palm finger base and the proximal finger base. A distal finger driving structure is provided between the proximal finger base and the distal finger base.

[0006] The palm and finger drive structure includes a palm guide rail and a palm and finger push rod. Both the palm guide rail and the palm and finger push rod are arc-shaped structures with the same curvature. One end of the palm guide rail is fixedly connected to the top of the palm fixing frame, and the other end extends towards the direction of the palm and finger seat. One end of the palm and finger push rod is slidably connected to the palm guide rail and can extend and retract relative to the palm guide rail along the extension direction of the palm guide rail. When the palm and finger push rod extends outward, the extended end of the palm and finger push rod can abut against the top of the palm and finger seat to drive the palm and finger seat to move downward.

[0007] The proximal finger drive structure includes a proximal guide rail and a proximal finger push rod. Both the proximal guide rail and the proximal finger push rod are arc-shaped structures with the same curvature. One end of the proximal guide rail is fixedly connected to the top of the palm and finger base, and the other end extends toward the direction of the proximal finger base. One end of the proximal finger push rod is slidably connected to the proximal guide rail and can extend and retract relative to the proximal guide rail along the extension direction of the proximal guide rail. When the proximal finger push rod extends outward, the extended end of the proximal finger push rod can abut against the top of the proximal finger base to drive the proximal finger base to move downward.

[0008] The distal finger drive structure includes a distal finger guide rail and a distal finger push rod. Both the distal finger guide rail and the distal finger push rod are arc-shaped structures with the same curvature. One end of the distal finger guide rail is fixedly connected to the top of the proximal finger seat, and the other end extends toward the direction of the distal finger seat. One end of the distal finger push rod is slidably connected to the distal finger guide rail and can extend and retract relative to the distal finger guide rail along the extension direction of the distal finger guide rail. The extended end of the distal finger push rod is fixedly connected to the top of the distal finger seat. When the distal finger push rod extends outward, the distal finger push rod can drive the distal finger seat to move downward.

[0009] A drive device capable of moving the palm-finger push rod is installed on the top surface of the palm fixation frame. A proximal finger transmission structure is provided between the palm-finger drive structure and the proximal finger drive structure. The palm-finger push rod is connected to the proximal finger push rod through the proximal finger transmission structure. When the palm-finger push rod moves, the palm-finger push rod can drive the proximal finger push rod to move through the proximal finger transmission structure. A distal finger transmission structure is provided between the proximal finger drive structure and the distal finger drive structure. The proximal finger push rod is connected to the distal finger push rod through the distal finger transmission structure. When the proximal finger push rod moves, the proximal finger push rod can drive the distal finger push rod to move through the distal finger transmission structure.

[0010] In this invention, during use, the hand fixation frame is bound and fixed to the back of the hand using an abdominal binding device. Then, the palm and finger bases, proximal and distal finger bases are respectively fixedly connected to the back of the fingers undergoing rehabilitation training using the abdominal binding device. The drive device is then activated, acting on the palm and finger push rod and driving it to extend outward relative to the palm guide rail. During this outward extension, the extended end of the palm and finger push rod abuts against the top of the palm and finger base, generating a downward force on the base, thereby causing the palm to rotate downward. During the outward extension of the metacarpophalangeal push rod, the proximal finger transmission structure simultaneously extends the proximal finger push rod outward relative to the proximal guide rail. The extended end of the proximal finger push rod also abuts against the top of the proximal finger seat, exerting a downward force on the proximal finger seat, thus causing the proximal finger to rotate downward. Finally, during the outward extension of the proximal finger push rod, the distal finger transmission structure extends the distal finger push rod outward relative to the distal guide rail, directly causing the distal finger seat and the distal finger to rotate downward, thus achieving the assisted flexion training operation of the entire finger. Conversely, the drive device retracts the metacarpophalangeal push rod inward relative to the metacarpophalangeal guide rail, and through the proximal and distal finger transmission structures in sequence, the distal finger push rod retracts, providing an upward force to the distal finger seat, thus causing the distal finger to rotate upward. During the upward rotation of the distal finger, the distal finger, through joint transmission, drives the entire finger to rotate upward, ultimately bringing the finger to a straight position, completing the flexion-extension rehabilitation training of the finger.

[0011] As an optimization, the driving device includes an electric push rod mounted on the top surface of the hand fixation frame. The bottom of the electric push rod is hinged to the top of the hand fixation frame, and a telescopic rod extends from the top of the electric push rod. A push block is hinged to the end of the telescopic rod and fixedly connected to the palm-finger push rod. When the telescopic rod extends or retracts, it drives the palm-finger push rod to move. The extension and retraction of the telescopic rod in the electric push rod forms a linkage mechanism to drive the movement of the palm-finger push rod. The structure is simple, and the operation is flexible and reliable.

[0012] As an optimization, the proximal finger transmission structure includes a palm-finger drive shaft passing through the palm-finger base. The centerline of the palm-finger drive shaft is perpendicular to the plane where the palm-finger push rod is located. The palm-finger drive shaft is rotatably connected to the palm-finger base. A palm-finger gear and a proximal finger gear I are respectively installed at both ends of the palm-finger drive shaft. A palm-finger rack is provided at the palm-finger gear and a proximal finger rack I is provided at the proximal finger gear I. The palm-finger rack and the proximal finger rack I are located on both sides of the centerline of the palm-finger drive shaft and their length directions are parallel to each other. A palm-finger sliding sleeve that can slide along its length direction is fitted on the palm-finger rack. A proximal finger sliding sleeve I that can slide along its length direction is fitted on the proximal finger rack I. The palm-finger sliding sleeve and the proximal finger sliding sleeve I are respectively fixedly connected to the palm-finger base.

[0013] A palm-finger slide bar is provided on the side of the palm-finger push rod corresponding to the palm-finger rack. The plane of the palm-finger slide bar is parallel to the plane of the palm-finger push rod. The length direction of the palm-finger rack is perpendicular to the length direction of the palm-finger slide bar. A palm-finger slider is fixedly connected to the palm-finger rack. The palm-finger slider is slidably connected to the palm-finger slide bar and can slide along the length direction of the palm-finger slide bar. A palm-finger rotating shaft is fixedly connected to the side of the palm-finger slide bar facing the palm-finger push rod. The center line of the palm-finger rotating shaft is parallel to the center line of the palm-finger drive shaft. The palm-finger rotating shaft is rotatably connected to the palm-finger push rod.

[0014] A proximal finger push rod is provided on the side corresponding to the proximal finger rack I. The plane of the proximal finger slide I is parallel to the plane of the proximal finger push rod. The length direction of the proximal finger rack I is perpendicular to the length direction of the proximal finger slide I. A proximal finger slider I is fixedly connected to the proximal finger rack I. The proximal finger slider I is slidably connected to the proximal finger slide I and can slide along the length direction of the proximal finger slide I. A proximal finger rotation shaft I is fixedly connected to the side of the proximal finger slide I facing the proximal finger push rod. The center line direction of the proximal finger rotation shaft I is parallel to the center line direction of the palm and finger drive shaft. The proximal finger rotation shaft I is rotatably connected to the proximal finger push rod.

[0015] The distal finger transmission structure includes a proximal finger drive shaft passing through the proximal finger seat. The centerline of the proximal finger drive shaft is perpendicular to the plane where the proximal finger push rod is located. The proximal finger drive shaft is rotatably connected to the proximal finger seat. A proximal finger gear II and a distal finger gear are respectively installed at both ends of the proximal finger drive shaft. A proximal finger rack II is provided at the proximal finger gear II and meshes with it. A distal finger rack is provided at the distal finger gear II and meshes with it. The proximal finger rack II and the distal finger rack are respectively located on both sides of the centerline of the proximal finger drive shaft and their length directions are parallel to each other. A proximal finger sleeve II that can slide along its length direction is fitted on the proximal finger rack II. A distal finger sleeve that can slide along its length direction is fitted on the distal finger rack. The proximal finger sleeve II and the distal finger sleeve are respectively fixedly connected to the proximal finger seat.

[0016] A proximal finger slide bar II is provided on the side of the proximal finger push rod corresponding to the proximal finger rack II. The plane of the proximal finger slide bar II is parallel to the plane of the proximal finger push rod. The length direction of the proximal finger rack II is perpendicular to the length direction of the proximal finger slide bar II. A proximal finger slider II is fixedly connected to the proximal finger rack II. The proximal finger slider II is slidably connected to the proximal finger slide bar II and can slide along the length direction of the proximal finger slide bar II. A proximal finger rotating shaft II is fixedly connected to the side of the proximal finger slide bar II facing the proximal finger push rod. The center line direction of the proximal finger rotating shaft II is parallel to the center line direction of the proximal finger drive shaft. The proximal finger rotating shaft II is rotatably connected to the proximal finger push rod.

[0017] A distal finger slide bar is provided on the side of the distal finger push rod corresponding to the distal finger rack. The plane of the distal finger slide bar is parallel to the plane of the distal finger push rod. The length direction of the distal finger rack is perpendicular to the length direction of the distal finger slide bar. A distal finger slider is fixedly connected to the distal finger rack. The distal finger slider is slidably connected to the distal finger slide bar and can slide along the length direction of the distal finger slide bar. A distal finger rotating shaft is fixedly connected to the side of the distal finger slide bar facing the distal finger push rod. The center line of the distal finger rotating shaft is parallel to the center line of the proximal finger drive shaft. The distal finger rotating shaft is rotatably connected to the distal finger push rod.

[0018] As the palm push rod extends outward relative to the palm guide rail, it drives the palm slide to move along the extension direction of the palm guide rail. The palm rack is slidably connected to the palm slide via the palm slider. Therefore, when the palm slide moves, it also drives the palm rack. Since the palm rack is constrained by the palm slide sleeve, and the palm slide is constrained by the palm slider, the extension of the palm push rod, due to its arc-shaped structure, is essentially a circular motion. This generates horizontal and vertical forces on the palm slide, causing the palm rack to move downward. The horizontal force causes the palm slider to slide on the palm slide, while the palm rack moves downward relative to the palm slide. This downward movement of the palm rack drives the meshing palm gear to rotate; the rotation of the palm gear is transmitted through the palm drive shaft. The proximal finger gear I rotates, and because the palmar finger rack and proximal finger rack are located on opposite sides of the palmar finger drive shaft, the proximal finger gear I drives the proximal finger rack I to move in the opposite direction, that is, upward. During the movement of the proximal finger rack I, through the constraint of the proximal finger slider I which slides with the proximal finger slide bar I, the force of the proximal finger rack I will generate an upward component force on the proximal finger push rod. Combined with the horizontal component force of the proximal finger slider I and the proximal finger slide bar I, a resultant force will be generated on the proximal finger push rod to move along the extension direction of the proximal finger guide rail, that is, the proximal finger push rod extends outward relative to the proximal finger guide rail. Similarly, the outward extension of the proximal finger push rod drives the proximal finger gear II to rotate through the proximal finger slide bar II and the proximal finger rack II. The proximal finger gear II drives the distal finger gear to rotate through the proximal finger drive shaft, and then drives the distal finger push rod to extend outward relative to the distal finger guide rail through the distal finger rack and the distal finger slide bar. This realizes the outward extension of the palmar finger push rod and simultaneously drives the movement of the palmar finger seat, the proximal finger seat, and the distal finger seat.

[0019] As an optimization, the palm and finger gear includes multiple shift gears I arranged sequentially along the centerline of the palm and finger drive shaft. The diameters of the multiple shift gears I decrease sequentially outward along the centerline of the palm and finger drive shaft. A palm and finger transmission is mounted on the palm and finger seat. The output end of the palm and finger transmission is fixedly connected to the palm and finger sliding sleeve. When the palm and finger transmission changes gears, the palm and finger rack can mesh with each shift gear I respectively. A palm and finger cylinder with the same centerline as the palm and finger rotating shaft is fixedly connected to the palm and finger push rod at the position corresponding to the palm and finger rotating shaft. The end of the palm and finger rotating shaft away from the palm and finger sliding strip rotates and slides within the palm and finger rotating cylinder. The proximal finger gear II includes multiple shift gears II arranged sequentially along the centerline of the proximal finger drive shaft. The diameters of the multiple shift gears II decrease sequentially outward along the centerline of the proximal finger drive shaft. A proximal finger gearbox is mounted on the proximal finger seat. The output end of the proximal finger gearbox is fixedly connected to the proximal finger slide sleeve II. When the proximal finger gearbox changes gears, the proximal finger rack II can mesh with each shift gear II respectively. A proximal finger cylinder, co-centered with the proximal finger spindle II, is fixedly connected to the proximal finger spindle II at the position corresponding to the proximal finger spindle II. The end of the proximal finger spindle II away from the proximal finger slide sleeve II rotates and slides within the proximal finger spindle cylinder. By meshing the rack with gears of different diameters, the rotational speed of the proximal finger gear I and the distal finger gear can be adjusted. In other words, the degree of proximal finger flexion can be adjusted through the palm-finger gearbox, while the proximal finger gearbox adjusts the degree of distal finger flexion through gear changes, thus achieving different degrees of finger rehabilitation.

[0020] As an optimization, the palm-finger transmission includes a palm-finger shifting cavity disposed inside the palm-finger seat. A palm-finger gear output hole communicating with the palm-finger shifting cavity is opened on the side of the palm-finger seat facing the direction of the palm-finger slide sleeve. A palm-finger output rod is disposed inside the palm-finger shifting cavity. One end of the palm-finger output rod passes through the palm-finger gear output hole and is fixedly connected to the palm-finger slide sleeve. A palm-finger shifting hole communicating with the palm-finger shifting cavity is opened on the top of the palm-finger seat. A palm-finger shift lever is disposed on the top of the palm-finger seat. One end of the palm-finger shift lever passes through the palm-finger shifting hole and is fixedly connected to the palm-finger output rod. The palm-finger shifting hole is provided with multiple gear positions I and a neutral position I. When the palm-finger shift lever is located in the neutral position I, the palm-finger rack and the palm-finger gear are spaced apart.

[0021] The proximal finger transmission includes a proximal finger shift chamber disposed inside the proximal finger seat. A proximal finger gear output hole communicating with the proximal finger shift chamber is opened on the side of the proximal finger seat facing the direction of the proximal finger slide sleeve II. A proximal finger output rod is disposed in the proximal finger shift chamber. One end of the proximal finger output rod passes through the proximal finger gear output hole and is fixedly connected to the proximal finger slide sleeve II. A proximal finger shift hole communicating with the proximal finger shift chamber is opened on the top of the proximal finger seat. A proximal finger shift lever is disposed on the top of the proximal finger seat. One end of the proximal finger shift lever passes through the proximal finger shift hole and is fixedly connected to the proximal finger output rod. The proximal finger shift hole is provided with multiple gear II and a neutral gear II. When the proximal finger shift lever is located in the neutral gear II, the proximal finger rack II and the proximal finger gear II are spaced apart.

[0022] When the transmission is in neutral, the rack and pinion will not mesh with the corresponding gear, meaning that the force will not be transmitted to the next gear. This allows for independent control of the flexion and rotation of the palm and fingers, or the flexion and rotation of the palm and fingers alone.

[0023] As an optimization, when the finger to be used is in a straight position, the extended end of the palmar finger push rod is spaced apart from the top of the palmar finger seat, and the extended end of the proximal finger push rod is also spaced apart from the top of the proximal finger seat. When the finger is in a straight position, the driving device drives the palmar finger push rod to extend outward. Since the palmar finger push rod is separated from the palmar finger seat, the palmar finger push rod first drives the proximal finger push rod to extend outward through the proximal finger transmission structure, and simultaneously drives the distal finger push rod to extend outward through the distal finger transmission structure. This allows the distal finger to bend and rotate first, which better matches the bending action of the finger.

[0024] Compared with existing technologies, this invention has a simple structure, is easy to use, and provides stable and reliable movement. It effectively prevents stiffness in the patient's finger joints, helps them recover some motor function, and allows individuals to complete finger rehabilitation training independently, thus reducing rehabilitation costs. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the left-side three-dimensional structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the right-side three-dimensional structure of the present invention;

[0027] Figure 3 This is a schematic diagram of the installation structure of the palm and finger transmission in this invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0029] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the product is in use. They are only for the convenience of describing the 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 the invention. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. In addition, the terms "horizontal," "vertical," etc., do not indicate that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] like Figures 1 to 3As shown, the finger rehabilitation assistive device in this specific embodiment includes a palm fixation frame 1 and a palm finger seat 2 located in front of the palm fixation frame 1. A proximal finger seat 3 is provided in front of the palm finger seat 2, and a distal finger seat 4 is provided in front of the proximal finger seat 3. An abdominal binding device is provided on the palm fixation frame 1, the palm finger seat 2, the proximal finger seat 3, and the distal finger seat 4. A palm finger driving structure is provided between the palm fixation frame 1 and the palm finger seat 2. A proximal finger driving structure is provided between the palm finger seat 2 and the proximal finger seat 3. A distal finger driving structure is provided between the proximal finger seat 3 and the distal finger seat 4.

[0031] The palm and finger drive structure includes a palm guide rail 5 and a palm and finger push rod 6. Both the palm guide rail 5 and the palm and finger push rod 6 are arc-shaped structures with the same curvature. One end of the palm guide rail 5 is fixedly connected to the top of the palm fixing frame 1, and the other end extends toward the direction of the palm and finger seat 2. One end of the palm and finger push rod 6 is slidably connected to the palm guide rail 5 and can extend and retract relative to the palm guide rail 5 along the extension direction of the palm guide rail 5. When the palm and finger push rod 6 extends outward, the extended end of the palm and finger push rod 6 can abut against the top of the palm and finger seat 2 to drive the palm and finger seat 2 to move downward.

[0032] The proximal finger drive structure includes a proximal guide rail 7 and a proximal finger push rod 8. Both the proximal guide rail 7 and the proximal finger push rod 8 are arc-shaped structures with the same curvature. One end of the proximal guide rail 7 is fixedly connected to the top of the palm and finger base 2, and the other end extends toward the direction of the proximal finger base 3. One end of the proximal finger push rod 8 is slidably connected to the proximal guide rail 7 and can extend and retract relative to the proximal guide rail 7 along the extension direction of the proximal guide rail 7. When the proximal finger push rod 8 extends outward, the extended end of the proximal finger push rod 8 can abut against the top of the proximal finger base 3 to drive the proximal finger base 3 to move downward.

[0033] The distal finger drive structure includes a distal finger guide rail 9 and a distal finger push rod 10. Both the distal finger guide rail 9 and the distal finger push rod 10 are arc-shaped structures with the same curvature. One end of the distal finger guide rail 9 is fixedly connected to the top of the proximal finger seat 3, and the other end extends toward the direction of the distal finger seat 4. One end of the distal finger push rod 10 is slidably connected to the distal finger guide rail 9 and can extend and retract relative to the distal finger guide rail 9 along the extension direction of the distal finger guide rail 9. The extended end of the distal finger push rod 10 is fixedly connected to the top of the distal finger seat 4. When the distal finger push rod 10 extends outward, the distal finger push rod 10 can drive the distal finger seat 4 to move downward.

[0034] A drive device capable of moving the palm-finger push rod 6 is installed on the top surface of the palm fixation frame 1. A proximal finger transmission structure is provided between the palm-finger drive structure and the proximal finger drive structure. The palm-finger push rod 6 is connected to the proximal finger push rod 8 through the proximal finger transmission structure. When the palm-finger push rod 6 moves, it can drive the proximal finger push rod 8 to move through the proximal finger transmission structure. A distal finger transmission structure is provided between the proximal finger drive structure and the distal finger drive structure. The proximal finger push rod 8 is connected to the distal finger push rod 10 through the distal finger transmission structure. When the proximal finger push rod 8 moves, it can drive the distal finger push rod 10 to move through the distal finger transmission structure.

[0035] In this specific embodiment, the driving device includes an electric push rod 11 disposed on the top surface of the palm fixation frame. The bottom of the electric push rod 11 is hinged to the top of the palm fixation frame 1. A telescopic rod extends from the top of the electric push rod 11. A push block 12 is hinged to the end of the telescopic rod. The push block 12 is fixedly connected to the palm and finger push rod 6. When the telescopic rod extends or retracts, the telescopic rod can drive the palm and finger push rod 6 to move.

[0036] In this specific embodiment, the proximal finger transmission structure includes a palm-finger drive shaft passing through the palm-finger seat 2. The centerline of the palm-finger drive shaft is perpendicular to the plane where the palm-finger push rod 6 is located. The palm-finger drive shaft is rotatably connected to the palm-finger seat 2. A palm-finger gear 13 and a proximal finger gear I 14 are respectively installed at both ends of the palm-finger drive shaft. A palm-finger rack 15 is provided at the palm-finger gear 13 and meshes with it. A proximal finger rack I 16 is provided at the proximal finger gear I 14 and meshes with it. The palm-finger rack 15 and the proximal finger rack I 16 are respectively located on both sides of the centerline of the palm-finger drive shaft and their length directions are parallel to each other. A palm-finger sliding sleeve 17 that can slide along its length direction is sleeved on the palm-finger rack 15. A proximal finger sliding sleeve I 18 that can slide along its length direction is sleeved on the proximal finger rack I 16. The palm-finger sliding sleeve 17 and the proximal finger sliding sleeve I 18 are respectively fixedly connected to the palm-finger seat 2.

[0037] A palm-finger push rod 6 is provided with a palm-finger slide bar 19 on the side corresponding to the palm-finger rack 15. The plane of the palm-finger slide bar 19 is parallel to the plane of the palm-finger push rod 6. The length direction of the palm-finger rack 15 is perpendicular to the length direction of the palm-finger slide bar 19. A palm-finger slider is fixedly connected to the palm-finger rack 15. The palm-finger slider is slidably connected to the palm-finger slide bar 19 and can slide along the length direction of the palm-finger slide bar 19. A palm-finger rotating shaft is fixedly connected to the side of the palm-finger slide bar 19 facing the palm-finger push rod 6. The center line of the palm-finger rotating shaft is parallel to the center line of the palm-finger drive shaft. The palm-finger rotating shaft is rotatably connected to the palm-finger push rod 6.

[0038] A proximal finger push rod 8 is provided on the side corresponding to the proximal finger rack I16. The plane of the proximal finger slide I20 is parallel to the plane of the proximal finger push rod 8. The length direction of the proximal finger rack I16 is perpendicular to the length direction of the proximal finger slide I20. A proximal finger slider I is fixedly connected to the proximal finger rack I16. The proximal finger slider I is slidably connected to the proximal finger slide I20 and can slide along the length direction of the proximal finger slide I20. A proximal finger rotation shaft I is fixedly connected to the side of the proximal finger slide I20 facing the proximal finger push rod 8. The center line direction of the proximal finger rotation shaft I is parallel to the center line direction of the palm and finger drive shaft. The proximal finger rotation shaft I is rotatably connected to the proximal finger push rod 8.

[0039] The distal finger transmission structure includes a proximal finger drive shaft passing through the proximal finger seat 3. The centerline of the proximal finger drive shaft is perpendicular to the plane where the proximal finger push rod 8 is located. The proximal finger drive shaft is rotatably connected to the proximal finger seat 3. A proximal finger gear II 21 and a distal finger gear 22 are respectively installed at both ends of the proximal finger drive shaft. A proximal finger rack II 23 is provided at the proximal finger gear II 21 and meshes with it. A distal finger rack 24 is provided at the distal finger gear 22 and meshes with it. The proximal finger rack II 23 and the distal finger rack 24 are respectively located on both sides of the centerline of the proximal finger drive shaft and their length directions are parallel to each other. A proximal finger sleeve II 25 that can slide along its length direction is fitted on the proximal finger rack II 23. A distal finger sleeve 26 that can slide along its length direction is fitted on the distal finger rack 24. The proximal finger sleeve II 25 and the distal finger sleeve 26 are respectively fixedly connected to the proximal finger seat 3.

[0040] A proximal finger push rod 8 is provided with a proximal finger slide bar II 27 on the side corresponding to the proximal finger rack II 23. The plane of the proximal finger slide bar II 27 is parallel to the plane of the proximal finger push rod 8. The length direction of the proximal finger rack II 23 is perpendicular to the length direction of the proximal finger slide bar II 27. A proximal finger slider II is fixedly connected to the proximal finger rack II 23. The proximal finger slider II is slidably connected to the proximal finger slide bar II 27 and can slide along the length direction of the proximal finger slide bar II 27. A proximal finger rotating shaft II is fixedly connected to the side of the proximal finger slide bar II 27 facing the proximal finger push rod 8. The center line direction of the proximal finger rotating shaft II is parallel to the center line direction of the proximal finger drive shaft. The proximal finger rotating shaft II is rotatably connected to the proximal finger push rod 8.

[0041] The distal finger push rod 10 has a distal finger slide 28 on the side corresponding to the distal finger rack 22. The plane of the distal finger slide 28 is parallel to the plane of the distal finger push rod 10. The length direction of the distal finger rack 24 is perpendicular to the length direction of the distal finger slide 28. A distal finger slider is fixedly connected to the distal finger rack 24. The distal finger slider is slidably connected to the distal finger slide 28 and can slide along the length direction of the distal finger slide 28. A distal finger rotating shaft is fixedly connected to the side of the distal finger slide 28 facing the distal finger push rod 10. The center line of the distal finger rotating shaft is parallel to the center line of the proximal finger drive shaft. The distal finger rotating shaft is rotatably connected to the distal finger push rod 10.

[0042] In this specific embodiment, the palm and finger gear 13 includes a plurality of shift gears I arranged sequentially along the center line of the palm and finger drive shaft. The diameters of the plurality of shift gears I decrease sequentially outward along the center line of the palm and finger drive shaft. A palm and finger transmission is mounted on the palm and finger seat 2. The output end of the palm and finger transmission is fixedly connected to the palm and finger sliding sleeve 17. When the palm and finger transmission changes gears, the palm and finger rack 15 can mesh with each shift gear I respectively. The palm and finger push rod 6 is fixedly connected to a palm and finger rotating cylinder with the same center line as the palm and finger rotating shaft at the position corresponding to the palm and finger rotating shaft. The end of the palm and finger rotating shaft away from the palm and finger sliding strip 19 rotates and slides in the palm and finger rotating cylinder. The proximal finger gear II 21 includes multiple shift gears II arranged sequentially along the center line of the proximal finger drive shaft. The diameters of the multiple shift gears II decrease sequentially outward along the center line of the proximal finger drive shaft. A proximal finger gearbox is installed on the proximal finger seat 3. The output end of the proximal finger gearbox is fixedly connected to the proximal finger slide sleeve II 25. When the proximal finger gearbox changes gears, the proximal finger rack II 23 can mesh with each shift gear II respectively. The proximal finger push rod 8 is fixedly connected to a proximal finger cylinder with the same center line as the proximal finger spindle II at the position corresponding to the position of the proximal finger spindle II. The end of the proximal finger spindle II away from the proximal finger slide sleeve II rotates and slides within the proximal finger cylinder.

[0043] In this specific embodiment, the palm-finger transmission includes a palm-finger shifting cavity disposed inside the palm-finger seat 2. A palm-finger gear output hole communicating with the palm-finger shifting cavity is opened on the side of the palm-finger seat 2 facing the direction of the palm-finger slide sleeve 17. A palm-finger output rod is disposed inside the palm-finger shifting cavity. One end of the palm-finger output rod passes through the palm-finger gear output hole and is fixedly connected to the palm-finger slide sleeve 17. A palm-finger shifting hole 29 communicating with the palm-finger shifting cavity is opened on the top of the palm-finger seat 2. A palm-finger lever 30 is disposed on the top of the palm-finger seat 2. One end of the palm-finger lever 30 passes through the palm-finger shifting hole 29 and is fixedly connected to the palm-finger output rod. The palm-finger shifting hole 29 is provided with multiple gear positions I and a neutral position I. When the palm-finger lever 30 is located in the neutral position I, the palm-finger rack 15 and the palm-finger gear 13 are spaced apart.

[0044] The proximal shifter includes a proximal shift chamber disposed inside the proximal shift seat 3. A proximal shift output hole communicating with the proximal shift chamber is provided on the side of the proximal shift seat 3 facing the proximal shift sleeve II 25. A proximal output rod is disposed inside the proximal shift chamber. One end of the proximal output rod passes through the proximal shift output hole and is fixedly connected to the proximal shift sleeve II 25. A proximal shift hole communicating with the proximal shift chamber is provided on the top of the proximal shift seat 3. A proximal shift lever is disposed on the top of the proximal shift seat 3. One end of the proximal shift lever passes through the proximal shift hole and is fixedly connected to the proximal output lever. The proximal shift hole is provided with multiple gear IIs and a neutral gear II. When the proximal shift lever is in the neutral gear II position, the proximal rack II 23 and the proximal gear II 21 are spaced apart.

[0045] In this specific embodiment, when the finger to be used is in an extended state, the extended end of the palm finger push rod 6 is spaced apart from the top of the palm finger base 2, and the extended end of the proximal finger push rod 8 is spaced apart from the top of the proximal finger base 3.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described with reference to preferred embodiments, those skilled in the art should understand that various changes in form and detail can be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A finger rehabilitation assistive device, characterized in that: It includes a palm fixation frame and a palm and finger base located in front of the palm fixation frame. A proximal finger base is provided in front of the palm and finger base, and a distal finger base is provided in front of the proximal finger base. An abdominal binding device is provided on the palm fixation frame, palm and finger base, proximal finger base and distal finger base respectively. A palm and finger driving structure is provided between the palm fixation frame and the palm and finger base. A proximal finger driving structure is provided between the palm and finger base and the proximal finger base. A distal finger driving structure is provided between the proximal finger base and the distal finger base. The palm and finger drive structure includes a palm guide rail and a palm and finger push rod. Both the palm guide rail and the palm and finger push rod are arc-shaped structures with the same curvature. One end of the palm guide rail is fixedly connected to the top of the palm fixing frame, and the other end extends towards the direction of the palm and finger seat. One end of the palm and finger push rod is slidably connected to the palm guide rail and can extend along the direction of the palm guide rail. It can extend and retract relative to the palm guide rail. When the palm and finger push rod extends outward, the extended end of the palm and finger push rod can just abut against the top of the palm and finger seat to drive the palm and finger seat to move downward. The proximal finger drive structure includes a proximal guide rail and a proximal finger push rod. Both the proximal guide rail and the proximal finger push rod are arc-shaped structures with the same curvature. One end of the proximal guide rail is fixedly connected to the top of the palm and finger base, and the other end extends toward the direction of the proximal finger base. One end of the proximal finger push rod is slidably connected to the proximal guide rail and can extend and retract relative to the proximal guide rail along the extension direction of the proximal guide rail. When the proximal finger push rod extends outward, the extended end of the proximal finger push rod can abut against the top of the proximal finger base to drive the proximal finger base to move downward. The distal finger drive structure includes a distal finger guide rail and a distal finger push rod. Both the distal finger guide rail and the distal finger push rod are arc-shaped structures with the same curvature. One end of the distal finger guide rail is fixedly connected to the top of the proximal finger seat, and the other end extends toward the direction of the distal finger seat. One end of the distal finger push rod is slidably connected to the distal finger guide rail and can extend and retract relative to the distal finger guide rail along the extension direction of the distal finger guide rail. The extended end of the distal finger push rod is fixedly connected to the top of the distal finger seat. When the distal finger push rod extends outward, the distal finger push rod can drive the distal finger seat to move downward. A drive device capable of moving the palm-finger push rod is installed on the top surface of the palm fixation frame. A proximal finger transmission structure is provided between the palm-finger drive structure and the proximal finger drive structure. The palm-finger push rod is connected to the proximal finger push rod through the proximal finger transmission structure. When the palm-finger push rod moves, the palm-finger push rod can drive the proximal finger push rod to move through the proximal finger transmission structure. A distal finger transmission structure is provided between the proximal finger drive structure and the distal finger drive structure. The proximal finger push rod is connected to the distal finger push rod through the distal finger transmission structure. When the proximal finger push rod moves, the proximal finger push rod can drive the distal finger push rod to move through the distal finger transmission structure. The proximal finger transmission structure includes a palm-finger drive shaft passing through the palm-finger base. The centerline of the palm-finger drive shaft is perpendicular to the plane where the palm-finger push rod is located. The palm-finger drive shaft is rotatably connected to the palm-finger base. A palm-finger gear and a proximal finger gear I are respectively installed at both ends of the palm-finger drive shaft. A palm-finger rack is provided at the palm-finger gear and a proximal finger rack I is provided at the proximal finger gear I. The palm-finger rack and the proximal finger rack I are respectively located on both sides of the centerline of the palm-finger drive shaft and their length directions are parallel to each other. A palm-finger sliding sleeve that can slide along its length direction is fitted on the palm-finger rack. A proximal finger sliding sleeve I that can slide along its length direction is fitted on the proximal finger rack I. The palm-finger sliding sleeve and the proximal finger sliding sleeve I are respectively fixedly connected to the palm-finger base. A palm-finger slide bar is provided on the side of the palm-finger push rod corresponding to the palm-finger rack. The plane of the palm-finger slide bar is parallel to the plane of the palm-finger push rod. The length direction of the palm-finger rack is perpendicular to the length direction of the palm-finger slide bar. A palm-finger slider is fixedly connected to the palm-finger rack. The palm-finger slider is slidably connected to the palm-finger slide bar and can slide along the length direction of the palm-finger slide bar. A palm-finger rotating shaft is fixedly connected to the side of the palm-finger slide bar facing the palm-finger push rod. The center line of the palm-finger rotating shaft is parallel to the center line of the palm-finger drive shaft. The palm-finger rotating shaft is rotatably connected to the palm-finger push rod. A proximal finger push rod is provided on the side corresponding to the proximal finger rack I. The plane of the proximal finger slide I is parallel to the plane of the proximal finger push rod. The length direction of the proximal finger rack I is perpendicular to the length direction of the proximal finger slide I. A proximal finger slider I is fixedly connected to the proximal finger rack I. The proximal finger slider I is slidably connected to the proximal finger slide I and can slide along the length direction of the proximal finger slide I. A proximal finger rotation shaft I is fixedly connected to the side of the proximal finger slide I facing the proximal finger push rod. The center line direction of the proximal finger rotation shaft I is parallel to the center line direction of the palm and finger drive shaft. The proximal finger rotation shaft I is rotatably connected to the proximal finger push rod. The distal finger transmission structure includes a proximal finger drive shaft passing through the proximal finger seat. The centerline of the proximal finger drive shaft is perpendicular to the plane where the proximal finger push rod is located. The proximal finger drive shaft is rotatably connected to the proximal finger seat. A proximal finger gear II and a distal finger gear are respectively installed at both ends of the proximal finger drive shaft. A proximal finger rack II is provided at the proximal finger gear II and meshes with it. A distal finger rack is provided at the distal finger gear II and meshes with it. The proximal finger rack II and the distal finger rack are respectively located on both sides of the centerline of the proximal finger drive shaft and their length directions are parallel to each other. A proximal finger sleeve II that can slide along its length direction is fitted on the proximal finger rack II. A distal finger sleeve that can slide along its length direction is fitted on the distal finger rack. The proximal finger sleeve II and the distal finger sleeve are respectively fixedly connected to the proximal finger seat. A proximal finger slide bar II is provided on the side of the proximal finger push rod corresponding to the proximal finger rack II. The plane of the proximal finger slide bar II is parallel to the plane of the proximal finger push rod. The length direction of the proximal finger rack II is perpendicular to the length direction of the proximal finger slide bar II. A proximal finger slider II is fixedly connected to the proximal finger rack II. The proximal finger slider II is slidably connected to the proximal finger slide bar II and can slide along the length direction of the proximal finger slide bar II. A proximal finger rotating shaft II is fixedly connected to the side of the proximal finger slide bar II facing the proximal finger push rod. The center line direction of the proximal finger rotating shaft II is parallel to the center line direction of the proximal finger drive shaft. The proximal finger rotating shaft II is rotatably connected to the proximal finger push rod. A distal finger slide bar is provided on the side of the distal finger push rod corresponding to the distal finger rack. The plane of the distal finger slide bar is parallel to the plane of the distal finger push rod. The length direction of the distal finger rack is perpendicular to the length direction of the distal finger slide bar. A distal finger slider is fixedly connected to the distal finger rack. The distal finger slider is slidably connected to the distal finger slide bar and can slide along the length direction of the distal finger slide bar. A distal finger rotating shaft is fixedly connected to the side of the distal finger slide bar facing the distal finger push rod. The center line of the distal finger rotating shaft is parallel to the center line of the proximal finger drive shaft. The distal finger rotating shaft is rotatably connected to the distal finger push rod.

2. The finger rehabilitation assistive device according to claim 1, characterized in that: The driving device includes an electric push rod disposed on the top surface of the palm fixation frame. The bottom of the electric push rod is hinged to the top of the palm fixation frame. A telescopic rod extends from the top of the electric push rod. A push block is hinged to the end of the telescopic rod. The push block is fixedly connected to the palm and finger push rod. When the telescopic rod extends or retracts, the telescopic rod can drive the palm and finger push rod to move.

3. The finger rehabilitation assistive device according to claim 1, characterized in that: The palm and finger gear includes multiple shift gears I arranged sequentially along the center line of the palm and finger drive shaft. The diameter of the multiple shift gears I decreases sequentially outward along the center line of the palm and finger drive shaft. A palm and finger transmission is mounted on the palm and finger seat. The output end of the palm and finger transmission is fixedly connected to the palm and finger sliding sleeve. When the palm and finger transmission changes gears, the palm and finger rack can mesh with each shift gear I respectively. A palm and finger cylinder with the same center line as the palm and finger rotating shaft is fixedly connected to the palm and finger rotating rod at the position corresponding to the palm and finger rotating shaft. The end of the palm and finger rotating shaft away from the palm and finger sliding rod rotates and slides within the palm and finger rotating cylinder. The finger gear II includes multiple shift gears II arranged sequentially along the center line of the proximal finger drive shaft. The diameters of the multiple shift gears II decrease sequentially outward along the center line of the proximal finger drive shaft. A proximal finger gearbox is mounted on the proximal finger seat. The output end of the proximal finger gearbox is fixedly connected to the proximal finger slide sleeve II. When the proximal finger gearbox changes gears, the proximal finger rack II can mesh with each shift gear II respectively. The proximal finger push rod is fixedly connected to a proximal finger cylinder with the same center line as the proximal finger spindle II at the position corresponding to the position of the proximal finger spindle II. The end of the proximal finger spindle II away from the proximal finger slide sleeve II rotates and slides within the proximal finger cylinder.

4. The finger rehabilitation assistive device according to claim 3, characterized in that: The palm-finger transmission includes a palm-finger shifting cavity disposed inside the palm-finger seat. A palm-finger gear output hole communicating with the palm-finger shifting cavity is opened on the side of the palm-finger seat facing the direction of the palm-finger slide sleeve. A palm-finger output rod is disposed inside the palm-finger shifting cavity. One end of the palm-finger output rod passes through the palm-finger gear output hole and is fixedly connected to the palm-finger slide sleeve. A palm-finger shifting hole communicating with the palm-finger shifting cavity is opened on the top of the palm-finger seat. A palm-finger shift lever is disposed on the top of the palm-finger seat. One end of the palm-finger shift lever passes through the palm-finger shifting hole and is fixedly connected to the palm-finger output rod. The palm-finger shifting hole is provided with multiple gear positions I and a neutral position I. When the palm-finger shift lever is in the neutral position I, the palm-finger rack and the palm-finger gear are spaced apart. The proximal finger transmission includes a proximal finger shift chamber disposed inside the proximal finger seat. A proximal finger gear output hole communicating with the proximal finger shift chamber is opened on the side of the proximal finger seat facing the direction of the proximal finger slide sleeve II. A proximal finger output rod is disposed in the proximal finger shift chamber. One end of the proximal finger output rod passes through the proximal finger gear output hole and is fixedly connected to the proximal finger slide sleeve II. A proximal finger shift hole communicating with the proximal finger shift chamber is opened on the top of the proximal finger seat. A proximal finger shift lever is disposed on the top of the proximal finger seat. One end of the proximal finger shift lever passes through the proximal finger shift hole and is fixedly connected to the proximal finger output rod. The proximal finger shift hole is provided with multiple gear II and a neutral gear II. When the proximal finger shift lever is located in the neutral gear II, the proximal finger rack II and the proximal finger gear II are spaced apart.

5. The finger rehabilitation assistive device according to claim 1, characterized in that: When the finger to be used is in an extended state, the extended end of the palm finger push rod is spaced apart from the top of the palm finger base, and the extended end of the proximal finger push rod is spaced apart from the top of the proximal finger base.

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