Hand rehabilitation exoskeleton based on rope driving and rehabilitation training method thereof

Abstract

The application discloses a hand rehabilitation exoskeleton based on a rope driving and a rehabilitation training method thereof, and relates to the field of rehabilitation exoskeletons.The hand rehabilitation exoskeleton comprises a control system, a sensor system, a finger driving mechanism, a forearm link, a back-of-hand link, a hand rehabilitation exoskeleton executing mechanism and a thumb rehabilitation mechanism.The hand rehabilitation exoskeleton executing mechanism comprises a proximal interphalangeal joint adaptive mechanism and a distal interphalangeal joint rehabilitation closed-loop mechanism.The finger driving mechanism comprises a finger stretching and bending power assembly and a fingertip stretching and bending power assembly, a thumb stretching and bending power assembly and a plurality of rope transmission mechanisms.The rope transmission mechanisms comprise a rope spring transmission mechanism and a pulley set transmission mechanism.The finger driving mechanism drives the hand rehabilitation exoskeleton executing mechanism to perform a stretching action or a bending action.The hand rehabilitation exoskeleton and the rehabilitation training method thereof can assist in finger bending or stretching and grasping training, have good adaptability and use comfort, are convenient to wear, and are suitable for the rehabilitation training of hands of stroke patients.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton robot technology, and in particular to a rope-driven hand rehabilitation exoskeleton and its rehabilitation training method. Background Technology

[0002] According to a World Health Organization report, tens of millions of new stroke patients are diagnosed globally each year, with my country accounting for about one-third. In recent years, the incidence of stroke in my country has continued to increase, with extremely high disability and mortality rates, primarily affecting middle-aged and elderly people. Among the many sequelae of stroke, hand dysfunction is one of the most common impairments in stroke-related hemiplegic patients. Stroke-related hemiplegic patients are prone to swelling and pain in the paralyzed hand, difficulty in flexion and extension of the affected hand joints, and later, muscle atrophy in the hand, flattening of the palm, ultimately leading to permanent loss of hand motor function. Impaired fine motor skills in the hand severely affect patients' daily activities. Traditional rehabilitation methods generally involve doctors and therapists providing assisted rehabilitation; however, with the increasing incidence of stroke, rehabilitation physicians and resources are severely lacking. Furthermore, this passive approach to rehabilitation not only fails to provide patients with real-time feedback on treatment effectiveness but also lacks initiative. Therefore, many patients choose to train at home on their own, which may result in insufficient training intensity and unscientific methods, thus delaying the optimal time for rehabilitation.

[0003] With the development of robotics and computer science, robot-assisted rehabilitation technology has begun to be applied in the field of rehabilitation medicine. Hand rehabilitation robots have become an effective solution. Hand exoskeleton rehabilitation robots, mechatronic devices, can be worn on a patient's hand to assist in rehabilitation, providing controllable force and torque. Using hand medical robots can reduce the burden on doctors and address the shortage of rehabilitation physicians and resources. By wearing a hand exoskeleton rehabilitation robot, patients can train independently according to the intensity, and can also engage in long-term, repetitive exercises. Because the force and torque are generated by motors, patients can customize their rehabilitation plans and content, and receive real-time rehabilitation information. Based on this information and data, they can continuously optimize their training intensity and scientific training methods. Robot-based rehabilitation programs and traditional therapies produce similar positive effects on patients. However, the main advantage of robots and assistive devices is the ability to deliver high therapeutic doses while providing semi-independent movement, which has been shown to increase power.

[0004] Existing hand exoskeleton robots, in terms of their installation method, mainly fall into two categories: exoskeleton-type and in-hand-type, located on the back and palm sides of the hand, respectively. Their traction methods also differ. Exoskeleton-type rehabilitation robots generally use rotational joints for traction; that is, every joint in a biological hand has a rotational joint that requires traction. In contrast, in-hand-type rehabilitation robots mostly rely on end-effector traction. Because of the coupling relationship between the metacarpophalangeal, proximal, and distal interphalangeal joints of the fingers, this type of rehabilitation robot can only drive a limited range of finger movements, and the hand cannot reach or manipulate objects for grasping training. Traditional rigid exoskeleton hand rehabilitation robots are heavy, have poor adaptability, and suffer severe impact from rigidity. While flexible exoskeleton robots are lightweight and have a high degree of conformity, their motion transmission is inaccurate, control is difficult, and they often cannot provide sufficient output force during rehabilitation training. Stroke patients with hand movement disorders typically find extending their fingers more difficult than bending them, experiencing greater resistance.

[0005] Therefore, there is a need to study hand exoskeleton robots that can accurately transmit motion, provide force or torque to each joint during finger extension, and are also flexible. Summary of the Invention

[0006] The technical problem to be solved by the present invention is as follows: In view of the above problems, the present invention provides a rope-driven hand rehabilitation exoskeleton and its rehabilitation training method, which adopts a rope-driven rigid linkage exoskeleton robot. It can adapt to the human hand joint through the rope-driven linkage joint, and can provide the expected auxiliary torque for patients with hand dysfunction, so as to help patients with hand dysfunction in rehabilitation training.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] A rope-driven hand rehabilitation exoskeleton includes a control system, a sensor system, a finger actuator mechanism, a forearm rod worn on the forearm, a back of the hand rod worn on the back of the hand, four hand rehabilitation exoskeleton actuators worn on the non-thumb areas, and a thumb rehabilitation mechanism worn on the thumb.

[0009] The hand rehabilitation exoskeleton actuator includes a proximal interphalangeal joint adaptive mechanism and a distal interphalangeal joint rehabilitation closed-loop mechanism that is rotatably connected to the proximal interphalangeal joint adaptive mechanism.

[0010] The finger drive mechanism includes a finger extension and bending power assembly and a fingertip extension and bending power assembly respectively fixedly mounted on the forearm rod, a thumb extension and bending power assembly fixedly mounted on the back of the hand rod, and multiple sets of rope transmission mechanisms fixedly mounted on the back of the hand rod. The rope transmission mechanism includes a rope spring transmission mechanism and a pulley group transmission mechanism.

[0011] The power output end of the finger extension and bending power component is respectively connected to the two power input ends of the four proximal interphalangeal joint adaptive mechanisms through the pulley group transmission mechanism of the four rope transmission mechanism, thereby driving the four proximal interphalangeal joint adaptive mechanism actuators to synchronously perform extension or bending actions.

[0012] The power output end of the fingertip extension and bending power component is respectively connected to the two power input ends of the four distal interphalangeal joint rehabilitation closed-loop mechanisms through the rope spring transmission mechanism of the four sets of rope transmission mechanisms, thereby driving the four distal interphalangeal joint rehabilitation closed-loop mechanisms to perform extension or bending actions synchronously.

[0013] The power output end of the thumb extension and bending power component is connected to the two power input ends of the thumb rehabilitation mechanism through a set of pulley transmission mechanism, thereby driving the thumb rehabilitation mechanism to perform extension or bending actions.

[0014] The control system is fixedly mounted on the forearm member and electrically connected to the control end of the finger drive mechanism. The sensor system is installed at each power transmission position of the finger drive mechanism and on the finger bones and is connected to the control system for transmission. The sensor system detects the operating status information of the finger drive mechanism and transmits it to the control system.

[0015] Furthermore, the proximal interphalangeal joint adaptive mechanism includes a third finger sleeve worn on the proximal phalanx and a second finger sleeve worn on the middle phalanx. The top of the third finger sleeve is rotatably connected to a first connecting rod, the other end of the first connecting rod is rotatably connected to a second connecting rod, the other end of the second connecting rod is rotatably connected to a slider, and a slide rail base is fixedly provided on the top surface of the second finger sleeve. The slider is slidably embedded in the slide rail base.

[0016] The top of the slider is rotatably connected to a push rod, and the other end of the push rod is rotatably equipped with a roller. The side of the third finger sleeve is fixedly connected to a guide groove plate, and a second cam groove is opened on the guide groove plate. The roller is rotatably embedded in the second cam groove.

[0017] Furthermore, the distal interphalangeal joint rehabilitation closed-loop mechanism includes a first finger sleeve worn on the distal phalanx, the top of the first finger sleeve is rotatably connected to a fourth link, the other end of the fourth link is rotatably connected to a third link, and the end of the fourth link is fixedly provided with rope connecting posts on both sides of the pivot at the rotatable connection, and the other end of the third link is rotatably connected to the top of the slider.

[0018] Furthermore, both the finger extension and bending power assembly and the fingertip extension and bending power assembly include a reducer fixedly mounted on the forearm member, a motor fixedly connected to the power input end of the reducer, an active bevel gear fixedly connected to the power output end of the reducer, a driven bevel gear rotatably mounted on the forearm member and meshing with the active bevel gear, and a pulley group coaxially arranged with the driven bevel gear.

[0019] The thumb extension and bending power assembly includes a third reducer fixedly installed on the back of the hand, a third motor fixedly connected to the power input end of the reducer, and a ninth pulley fixedly connected to the power output end of the third reducer.

[0020] Furthermore, the transmission ratio between the driving bevel gear and the driven bevel gear is 5 to 2:1.

[0021] Furthermore, the rope spring transmission mechanism includes a first rope for stretching the finger and a second rope for bending the finger. One end of the first rope and one end of the second rope are respectively fixedly connected to both sides of the shaft of the same pulley in the pulley group at the output end of the fingertip bending power component. The other ends of the first rope and the second rope are respectively fixedly connected to the rope connecting posts on both sides of the same fourth link shaft.

[0022] Furthermore, the pulley block transmission mechanism includes a pulley mounting frame, a third rope for stretching the fingers, and a fourth rope for bending the fingers. A first cam groove is provided in the side wall of the pulley mounting frame. An upper fixing rod finger sleeve is provided on the side of the third finger sleeve near the pulley mounting frame and worn on the proximal finger bone. A fixing rod is fixedly connected to the fixing rod finger sleeve. A first movable pulley and a second movable pulley are rotatably mounted on both sides of the end of the fixing rod. The first movable pulley and the second movable pulley are respectively rolled and embedded in the first cam groove on both sides.

[0023] A first fixed pulley located above the first movable pulley, a second fixed pulley located below the first movable pulley, and a third fixed pulley are rotatably mounted inside one side wall of the pulley mounting bracket. A fourth fixed pulley located above the second movable pulley, a fifth fixed pulley, and a sixth fixed pulley located below the second movable pulley are rotatably mounted inside the other side wall of the pulley mounting bracket. A seventh fixed pulley and an eighth fixed pulley are coaxially connected to both sides of the end of the first connecting rod.

[0024] One end of the third rope and one end of the fourth rope are respectively fixedly connected to both sides of the shaft of the same pulley in the pulley group at the output end of the finger extension and bending power component. The other end of the third rope passes over the top of the first fixed pulley, successively around the first movable pulley and the second fixed pulley, then passes over the top of the third fixed pulley, around the top of the seventh fixed pulley, and is fixedly connected. The other end of the fourth rope passes under the fourth fixed pulley, successively around the fifth fixed pulley and the second movable pulley, then passes over the top of the sixth fixed pulley, around the bottom of the eighth fixed pulley, and is fixedly connected.

[0025] Furthermore, the control system includes a microcontroller, a motor controller, a lithium battery, a microcontroller switch, and an exoskeleton emergency stop switch, all fixedly mounted on the forearm member. The microcontroller is connected to the motor controller, which is connected to the power source of the finger actuator mechanism. Each signal output terminal of the sensor system is connected to the signal input terminal of the microcontroller. The lithium battery is connected to both the microcontroller and the motor controller. The exoskeleton emergency stop switch is connected in series to the output terminal of the lithium battery, and the microcontroller switch is connected in series to the power supply terminal of the microcontroller.

[0026] A rehabilitation training method based on a rope-driven hand rehabilitation exoskeleton is also proposed, including the following steps:

[0027] S10. After a patient with hand dysfunction wears the hand rehabilitation exoskeleton, the microcontroller switch and the exoskeleton emergency stop switch are activated to initialize the system.

[0028] S20, the sensing system and control system are started and running;

[0029] S30: The various angle sensors, tension sensors, pressure sensors and encoders in the sensor system collect the wearer's hand movement information and the motion information of the finger driver mechanism, and send the collected information to the microcontroller. The microcontroller performs real-time analysis and processing of the received information data, and sends instructions to control the motor controller.

[0030] S40: The motor controller controls the finger driver mechanism to perform corresponding actions according to the control signal received from the microcontroller, assisting the patient to alternately perform stretching and bending actions of the fingers;

[0031] S50. Repeat steps S30 and S40 until training is complete;

[0032] S60. After training, turn off the exoskeleton emergency stop switch and the microcontroller switch, and the patient removes the hand rehabilitation exoskeleton.

[0033] Furthermore, in step S40, the finger driver mechanism responds to the control signal in the following specific way:

[0034] S401, Hand rehabilitation exoskeleton drives finger flexion movements:

[0035] When the finger extension and bending power component is energized, it outputs a positive control torque, which drives the fixed rod and the proximal interphalangeal joint adaptive mechanism to rotate counterclockwise in sequence through the pulley group transmission mechanism. The fixed rod drives the proximal phalanx to rotate counterclockwise relative to the palm, and the proximal interphalangeal joint adaptive mechanism drives the middle phalanx to rotate counterclockwise relative to the proximal phalanx, thereby driving the finger to perform bending movements.

[0036] When the fingertip extension and bending power component is powered on, it outputs a positive control torque, which drives the distal interphalangeal joint rehabilitation closed-loop mechanism to rotate counterclockwise through the rope and spring transmission mechanism. The distal interphalangeal joint rehabilitation closed-loop mechanism drives the distal phalanx to rotate counterclockwise relative to the middle finger, thereby driving the fingertip to perform bending movements.

[0037] When the thumb extension and bending power component is powered on, it outputs a positive control torque, which drives the thumb rehabilitation mechanism to rotate counterclockwise through the pulley transmission mechanism. The thumb rehabilitation mechanism drives the distal phalanx to rotate counterclockwise relative to the proximal phalanx, thereby driving the thumb to perform bending movements.

[0038] S402, Hand rehabilitation exoskeleton drives finger stretching movements:

[0039] When the finger extension and bending power component is energized, it outputs a reverse control torque, which drives the fixed rod and the proximal interphalangeal joint adaptive mechanism to rotate clockwise in sequence through the pulley group transmission mechanism. The fixed rod drives the proximal phalanx to rotate clockwise relative to the palm, and the proximal interphalangeal joint adaptive mechanism drives the middle phalanx to rotate clockwise relative to the proximal phalanx, thereby driving the finger to perform a stretching movement.

[0040] When the fingertip extension and bending power component is powered on, it outputs a reverse control torque, which drives the distal interphalangeal joint rehabilitation closed-loop mechanism to rotate clockwise through the rope spring transmission mechanism. The distal interphalangeal joint rehabilitation closed-loop mechanism drives the distal phalanx to rotate clockwise relative to the middle phalanx, thereby driving the fingertip to perform a stretching movement.

[0041] When the thumb extension and bending power component is energized, it outputs a reverse control torque, which drives the thumb rehabilitation mechanism to rotate clockwise through the pulley system. The thumb rehabilitation mechanism drives the distal phalanx to rotate clockwise relative to the proximal phalanx, thereby driving the thumb to perform a stretching movement.

[0042] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0043] This invention primarily utilizes an exoskeleton system. Compared to internal systems, exoskeletons offer a wider range of motion, allowing for greater finger movement and enabling the user to touch and manipulate objects, thus improving rehabilitation outcomes. Cables transmit force to the lever joints, assisting in finger flexion and extension. During finger flexion and extension, the lever motion is accurately transmitted. Based on the movement trajectories of the metacarpophalangeal and proximal interphalangeal joints, a motion trajectory cam and an adaptive crank-slider are incorporated to enhance patient adaptability and comfort during rehabilitation.

[0044] 1. Compared to existing rigid actuators, the present invention is based on a rope-driven hand rehabilitation exoskeleton. The rope-driven actuator design is more flexible, does not need to be coaxial with the biological joint, has sufficient space for rope wiring, and the power drive mechanism of the actuator can be placed and fixed independently from the actuator, thereby improving the user's comfort and reducing the weight of the actuator, thus reducing the burden on the user's hand.

[0045] 2. Compared with the existing technology where multiple motors drive the movement of a single finger, the present invention is a rope-driven hand rehabilitation exoskeleton that uses a single motor to drive the distal interphalangeal joints of four fingers. The rope is fixed to a pulley, and torque control is achieved by the deformation of the spring caused by the tension of the rope, providing controllable auxiliary torque for patients with hand dysfunction.

[0046] 3. The proximal interphalangeal joint adaptive mechanism in the execution structure of the hand rehabilitation exoskeleton of this invention adopts a crank-slider mechanism. By moving the slider on the slide rail base, it adapts to the proximal interphalangeal joint, compensating for joint misalignment during movement. By incorporating a cam groove and the adaptive crank-slider mechanism, the adaptability and user comfort of the device can be improved. Furthermore, the cam mechanism detects the force applied to the robot joint by the hand to perform flexion and extension movements. The adaptive effect of the crank-slider mechanism can be obtained by comparing pressure sensors arranged on the cam mechanism.

[0047] 4. This invention is based on a rope-driven hand rehabilitation exoskeleton, which uses a moving and fixed pulley system. The rope is subjected to force, which pulls the rod to rotate and the moving pulley to move in the cam groove, driving the bending or stretching movements of the proximal and middle phalanges. The end of the rope is fixed to the rod joint, and the rope transmits the force to the rod joint, realizing that one rope drives two joints, assisting in finger bending or extension.

[0048] 5. The present invention is a rope-driven hand rehabilitation exoskeleton that uses a rigid linkage exoskeleton robot driven by ropes. Based on the finger flexion and grasping ability of stroke patients and the need for fingers to overcome extension resistance, the hand rehabilitation exoskeleton has good wearability and comfort, can adapt to patients with different finger sizes, and is suitable for hand rehabilitation training of stroke patients. Attached Figure Description

[0049] Figure 1 This is a three-dimensional structural diagram of the back of the hand of the hand rehabilitation exoskeleton of the present invention.

[0050] Figure 2 This is a three-dimensional structural diagram of the palm side of the hand rehabilitation exoskeleton of the present invention.

[0051] Figure 3 This is a three-dimensional structural diagram of a portion of the hand rehabilitation exoskeleton of the present invention.

[0052] Figure 4 This is a three-dimensional structural diagram of the entire driving structure of the little finger and thumb of the present invention.

[0053] Figure 5 This is a three-dimensional structural diagram of the forearm member on the back of the hand.

[0054] Figure 6 This is a three-dimensional structural diagram of the palm side of the forearm member.

[0055] Figure 7 This is a three-dimensional structural diagram of the finger driver structure of the present invention.

[0056] Figure 8 This is a three-dimensional structural diagram of the thumb-driving part of the present invention.

[0057] Figure 9 This is a three-dimensional structural schematic diagram of the rope spring transmission mechanism of the present invention;

[0058] Figure 10 This is a three-dimensional structural schematic diagram of the pulley block transmission mechanism of the present invention;

[0059] Figure 11 This is a schematic diagram of the internal cross-section of the moving and fixed pulley system for the rope winding stage in this invention.

[0060] Figure 12 This is a schematic diagram of the internal cross-section of the moving and fixed pulley system for winding ropes during the bending stage, as described in this invention.

[0061] Figure 13 This is a three-dimensional structural schematic diagram of the proximal interphalangeal joint adaptive mechanism of the present invention;

[0062] Figure 14 This is a three-dimensional structural diagram of the distal interphalangeal joint rehabilitation closed-loop mechanism of the present invention;

[0063] Figure 15 This is a three-dimensional structural diagram showing the connection between the actuator and the finger actuator mechanism of this hand rehabilitation exoskeleton;

[0064] Figure 16 Flowchart of the hand rehabilitation exoskeleton motion control method of the present invention.

[0065] In the diagram: 1. Forearm link, 1-1 First forearm support, 1-2 Forearm vertical plate, 1-3 Second forearm support, 2. Back of hand link, 3. Finger link, 3-1 First thumb finger sleeve, 3-2 Second thumb finger sleeve, 3-3 First little finger sleeve, 3-4 Second little finger sleeve, 3-5 Third little finger sleeve, 4. Forearm strap, 4-1 First forearm strap, 4-2 Second forearm strap, 5. Back of hand strap, 5-1 First back of hand strap, 5-2 Second back of hand strap, 6. Finger strap, 6-1 First thumb strap, 6-2 Second thumb strap, 6-3 Third thumb strap, 6-4 First little finger strap, 6-5 Second little finger strap, 6-6 Third little finger strap, 6-7 Fourth little finger strap, 7. Finger drive mechanism, 7- 1 First encoder, 7-2 Second encoder, 7-3 First motor, 7-4 Second motor, 7-5 First planetary reducer, 7-6 Second planetary reducer, 7-7 First driving bevel gear, 7-8 First driven bevel gear, 7-9 Second driving bevel gear, 7-10 Second driven bevel gear, 7-11 First pulley, 7-12 Second pulley, 7-13 Third pulley, 7-14 Fourth pulley, 7-15 Fifth pulley, 7-16 Sixth pulley, 7-17 Seventh pulley, 7-18 Eighth pulley, 7-19 Third encoder, 7-20 Third motor, 7-21 Third planetary reducer, 7-22 Ninth pulley, 8 Rope spring transmission mechanism, 8-1 First rope, 8-2 Second rope, 8-3 First cable sleeve, 8-4 Second 8-5 First clamp, 8-6 Second clamp, 8-7 First spring, 8-8 Second spring, 9 Pulley block transmission mechanism, 9-1 First movable pulley, 9-2 First fixed pulley, 9-3 Second fixed pulley, 9-4 Third fixed pulley, 9-5 Fourth fixed pulley, 9-6 Fifth fixed pulley, 9-7 Second movable pulley, 9-8 Sixth fixed pulley, 9-9 Seventh fixed pulley, 9-10 Eighth fixed pulley, 9-11 Third rope, 9-12 Fourth rope, 9-13 Fixed rod, 9-14 Fixed rod finger sleeve, 9-15 First cam groove, 10 Proximal interphalangeal joint adaptive mechanism, 10-1 First connecting rod, 10-2 Second connecting rod, 10-3 Slider, 10-4 Slide rail base, 10-5 Push rod, 10-6 Roller, 10-7 Second Cam groove, 10-8 fixed plate, 10-9 first pin, 10-10 second pin, 10-11 third pin, 11 distal interphalangeal joint rehabilitation closed-loop mechanism, 11-1 third link, 11-2 fourth link, 11-3 fourth pin, 11-4 fifth pin, 12 thumb rehabilitation mechanism, 12-1 fifth pin, 12-2 fifth link, 12-3 ninth fixed pulley, 12-4 tenth fixed pulley, 12-5 sixth pin, 12-6 sixth link, 12-7 seventh pin, 13 first drive shaft, 14 second drive shaft, 15 first support member, 16 second support member, 17 third support member, 18 fourth support member, 19 fifth support member, 20 sixth support member, 21 cam fixing rod, 22 first pressure sensor.23 Second pressure sensor, 24 Third pressure sensor, 25 First angle sensor, 26 Second angle sensor, 27 Tension sensor, 28 Microcontroller, 29 Microcontroller switch, 30 Lithium battery, 31 Exoskeleton emergency stop switch, 32 Motor controller. Detailed Implementation

[0066] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0067] Please see Figures 1 to 6 A rope-driven hand rehabilitation exoskeleton includes a control system, a sensor system, a finger actuator mechanism, a forearm rod 1 worn on the forearm via a forearm strap 4, a back-of-hand rod 2 worn on the back of the hand via a back-of-hand strap 5, four hand rehabilitation exoskeleton actuators worn on the non-thumb areas via finger straps 6, and a thumb rehabilitation mechanism 12 worn on the thumb.

[0068] Forearm member 1 consists of a second forearm support 1-3, a first forearm support 1-1, and a forearm vertical plate 1-2 integrally formed on the center of the top surface of the first forearm support 1-1. Both the first forearm support 1-1 and the forearm vertical plate 1-2 have threaded connection holes and bolt mounting holes. The first forearm support 1-1 and the second forearm support 1-3 are fixed to the forearm by first forearm straps 4-1 and second forearm straps 4-2, respectively, so that the second forearm support 1-3 is positioned above the first forearm support 1-1 and close to the elbow. The back of the hand member 2 is fixed to the palm and wrist by first back of the hand straps 5-1 and 5-2, respectively.

[0069] like Figure 1 , Figure 4 and Figure 7As shown, the finger drive mechanism 7 includes a finger extension and flexion power assembly and a fingertip extension and flexion power assembly respectively fixedly mounted on the forearm rod 1, a thumb extension and flexion power assembly fixedly mounted on the back of the hand rod 2, and multiple sets of rope transmission mechanisms fixedly mounted on the back of the hand rod 2. Specifically, the finger extension and flexion power assembly includes a second planetary reducer 7-6 fixedly mounted on the right side of the upper part of the forearm vertical plate 1-2 by screws, a second motor 7-4 fixedly connected to the power input end of the second planetary reducer 7-6, and the power output end of the second planetary reducer 7-6 movably extends to the lower part of the forearm vertical plate 1-2 and is fixedly connected to a second drive bevel gear 7-9. A third support member 17 and a first support member 15 are fixedly connected to the right side and the right side surface of the first forearm support 1-1 respectively by screws. A second drive shaft 14 is rotatably mounted on the top of the third support member 17 and the first support member 15. A second driven bevel gear 7-10 that meshes with the second driving bevel gear 7-9 is fixedly mounted on the second drive shaft 14. A seventh pulley 7-17 and an eighth pulley 7-18 are also coaxially fixedly mounted on the second drive shaft 14 to the right of the second driven bevel gear 7-10. A fifth pulley 7-15 and a sixth pulley 7-16 are also coaxially fixedly mounted on the second drive shaft 14 to the left of the second driven bevel gear 7-10. The four pulleys, the fifth pulley 7-15, the sixth pulley 7-16, the seventh pulley 7-17, and the eighth pulley 7-18, can be driven to rotate synchronously in the forward or reverse direction by the forward and reverse rotation of the second motor 7-4.

[0070] The fingertip extension and bending power assembly includes a first planetary reducer 7-5 fixedly mounted to the left side of the upper part of the forearm vertical plate 1-2 by screws, and a first motor 7-3 fixedly connected to the power input end of the first planetary reducer 7-5. The power output end of the first planetary reducer 7-5 extends movably through to the lower part of the forearm vertical plate 1-2 and is fixedly connected to a first driving bevel gear 7-7. A fourth support member 18 and a second support member 16 are fixedly connected to the left side and the left side surface of the first forearm bracket 1-1 by screws, respectively. A first transmission shaft 13 is rotatably mounted on the top of the fourth support member 18 and the second support member 16. A first driven bevel gear 7-8 that meshes with the first driving bevel gear 7-7 is fixedly mounted on the first transmission shaft 13. A first pulley 7-11 and a second pulley 7-12 are also coaxially fixedly arranged on the first transmission shaft 13 to the left of the first driven bevel gear 7-8. A third pulley 7-13 and a fourth pulley 7-14 are also coaxially fixedly arranged on the first transmission shaft 13 to the right of the first driven bevel gear 7-8. The first motor 7-3 can drive the four pulleys—first pulley 7-11, second pulley 7-12, third pulley 7-13, and fourth pulley 7-14—to rotate synchronously in either the forward or reverse direction.

[0071] In this embodiment, the finger extension and flexion power assembly and the fingertip extension and flexion power assembly have the same structure and are symmetrically arranged on the forearm vertical plate 1-2. Several rope connection holes are provided on the end faces of the first pulley 7-11, second pulley 7-12, third pulley 7-13, fourth pulley 7-14, fifth pulley 7-15, sixth pulley 7-16, seventh pulley 7-17, and eighth pulley 7-18. The radius distance between the center of each rope connection hole and the pulley's central axis is different to accommodate the rope traction needs of fingers of different lengths. The transmission ratio between the driving bevel gear and the driven bevel gear is 5 to 2:1, preferably 2:1, to further achieve a speed reduction effect.

[0072] like Figure 1 , Figure 4 and Figure 8 As shown, the right side of the hand back member 2 is fixedly connected to the fifth support member 19 and the sixth support member 20 by screws. The thumb extension and bending power assembly includes a third planetary reducer 7-21 fixedly mounted on the side of the sixth support member 20 by screws, a third motor 7-20 fixedly connected to the power input end of the third planetary reducer 7-21, and a ninth pulley 7-22 fixedly connected to the power output end of the third planetary reducer 7-21.

[0073] The motor controller 32 is connected to the power source of the finger driver mechanism, namely the first motor 7-3, the second motor 7-4 and the third motor 7-20, respectively, and is used to control the start and stop of the three motors as well as their forward and reverse rotation.

[0074] like Figure 3 and Figure 4 As shown, the hand rehabilitation exoskeleton actuator includes a proximal interphalangeal joint adaptive mechanism 10 and a distal interphalangeal joint rehabilitation closed-loop mechanism 11 rotatably connected to the proximal interphalangeal joint adaptive mechanism 10. The rope-driven hand rehabilitation exoskeleton of this invention operates on the same principle for the little finger, ring finger, middle finger, and index finger; therefore, the principle and installation method of the hand rehabilitation exoskeleton actuator worn on these four fingers are also the same. However, the thumb rehabilitation mechanism 12 worn on the thumb omits the distal interphalangeal joint rehabilitation closed-loop mechanism 11 compared to the other four fingers. Therefore, the specific structure and working principle of the hand rehabilitation exoskeleton actuator will be described in detail below using the little finger as an example. The three phalanges of a finger, from the base to the tip, are the proximal phalanx, middle phalanx, and distal phalanx. The joint between the proximal and middle phalanges is the proximal phalangeal joint, and the joint between the middle and distal phalanges is the distal interphalangeal joint.

[0075] like Figure 5 , Figure 6 and Figure 13As shown, the proximal interphalangeal joint adaptive mechanism 10 includes a third little finger sleeve 3-5 worn on the proximal phalanx via a third little finger strap 6-6 and a second little finger sleeve 3-4 worn on the middle phalanx via a second little finger strap 6-5. The top of the third little finger sleeve 3-5 is rotatably connected to a first connecting rod 10-1 via a first pin 10-9. A seventh fixed pulley 9-9 and an eighth fixed pulley 9-10, coaxially sleeved outside the first pin 10-9, are fixedly connected to both sides of the end of the first connecting rod 10-1. The seventh fixed pulley 9-9 and the eighth fixed pulley 9-10 are used to fix the third rope 9-11 and the fourth rope 9-12 of the pulley block transmission mechanism 9, respectively. Pulling the seventh fixed pulley 9-9 or the eighth fixed pulley 9-10 around the first pin 10-9 via the third rope 9-11 and the fourth rope 9-12 drives the first connecting rod 10-1 to rotate clockwise or counterclockwise around the first pin 10-9.

[0076] The other end of the first connecting rod 10-1 is rotatably connected to the second connecting rod 10-2 via the second pin 10-10. The second pin 10-10 is fixed to the end of the second connecting rod 10-2. The other end of the second connecting rod 10-2 is rotatably connected to the slider 10-3 via the third pin 10-11. The third pin 10-11 is fixed to the top of the slider 10-3. A slide rail base 10-4 is fixedly installed on the top surface of the second finger sleeve 3-4 of the little finger. The slider 10-3 is slidably embedded in the slide rail base 10-4 and can reciprocate along the length of the slide rail base 10-4. Push rods 10-5 are rotatably connected to both sides of the top of the slider 10-3. The end of the push rod 10-5 is rotatably sleeved on the outside of the third pin 10-11, and a roller 10-6 is rotatably installed at the other end of the push rod 10-5. On each side of the third finger sleeve 3-5 of the little finger, a fixing plate 10-8 is fixedly connected. A guide groove plate is fixedly connected to one side of the fixing plate 10-8 by screws. The guide groove plate is located at the proximal interphalangeal joint of the little finger. A second cam groove 10-7 is formed on the guide groove plate. A roller 10-6 is rolled and embedded in the corresponding second cam groove 10-7 and can roll freely within it. A through groove, communicating with the second cam groove 10-7, is formed in the lateral arc surface of the guide side plate. The push rod 10-5 is movably located within this through groove. The contour curve of the second cam groove 10-7 is designed based on the joint movement trajectory of the proximal interphalangeal joint of the little finger. A second pressure sensor 23 is installed on the inner wall of the second cam groove 10-7. As the roller 10-6 rolls in the second cam groove 10-7, it presses against the second pressure sensor 23. The tensile force of the push rod 10-5 can be detected by the second pressure sensor 23.

[0077] The proximal interphalangeal joint adaptive mechanism 10 helps patients adapt the movement of the exoskeleton to the movement of the proximal interphalangeal joints during rehabilitation. This mechanism uses a crank-slider mechanism, which adjusts the joints of the exoskeleton to ensure that the rotation axis of the exoskeleton and the finger joints are aligned during movement, while also adapting to changes in finger length among different individuals. Even though the exoskeleton has self-adjusting capabilities, the contour line is designed based on the movement trajectory of the proximal interphalangeal joints. By obtaining detection data from the second pressure sensor 23, the force exerted by the finger on the exoskeleton joint to perform flexion and extension movements is obtained, thereby detecting the adaptive effect of the crank-slider adaptive mechanism.

[0078] like Figure 5 , Figure 6 and Figure 13 As shown, the distal interphalangeal joint rehabilitation closed-loop mechanism 11 includes a first little finger sleeve 3-3 worn on the distal phalanx via a first little finger strap 6-4. The top of the first little finger sleeve 3-3 is rotatably connected to a fourth link 11-2 via a fifth pin 11-4. The fifth pin 11-4 is fixedly mounted on the top of the first little finger sleeve 3-3. The end of the fourth link 11-2 is rotatably sleeved on the outside of the fifth pin 11-4, and two bearings on both sides of the fourth link 11-2 are used to axially fix it on the fifth pin 11-4. The other end of the fourth link 11-2 is rotatably connected to a third link 11-1 via a fourth pin 11-3, and the fourth pin 11-3 is fixedly connected to the third link 11-1. The other end of the third link 11-1 is rotatably connected to the top of a slider 10-3 via a third pin 11-3, and the two sides of the third link 11-1 are axially fixed on the third pin 10-11 via elastic retaining rings. The end of the fourth link 11-2 is fixed with rope connecting posts on both sides of the pivot at the rotating connection, respectively, for connecting the first rope 8-1 and the second rope 8-2 of the rope spring transmission mechanism 8. Through the traction of the first rope 8-1 and the second rope 8-2, the fourth link 11-2 rotates clockwise or counterclockwise around the fourth pin 11-3. The distal interphalangeal joint rehabilitation closed-loop mechanism 11 uses the fourth link 11-2 as the power input. The input force is equal to the force generated by the compression or tension of the spring at the end of the first rope 8-1 or the second rope 8-2. This rehabilitation closed-loop mechanism can rehabilitate the distal interphalangeal joints of the four fingers, and may restore the grasping ability of the fingertips.

[0079] The rope transmission mechanism includes a rope spring transmission mechanism 8 and a pulley block transmission mechanism 9. For example... Figure 9As shown, the rope spring transmission mechanism 8 includes a first rope 8-1 for stretching the finger and a second rope 8-2 for bending the finger. One end of the first rope 8-1 and one end of the second rope 8-2 are respectively fixedly connected to both sides of the same pulley (such as the second pulley 7-12) in the pulley group at the output end of the fingertip extension and bending power component. The other ends of the first rope 8-1 and the second rope 8-2 are respectively fixedly connected to the rope connecting posts on both sides of the same fourth link 11-2 shaft. The fourth link 11-2 can be rotated clockwise by the traction of the first rope 8-1, driving the distal phalanx to rotate clockwise relative to the middle phalanx, thereby realizing the stretching action of the fingertip. The fourth link 11-2 can be rotated counterclockwise by the traction of the second rope 8-2, driving the distal phalanx to rotate counterclockwise relative to the middle phalanx, thereby realizing the bending action of the fingertip. Obviously, since the traction of both the first rope 8-1 and the second rope 8-2 is achieved by the rotation of the second pulley 7-12, when the second pulley 7-12 rotates in one direction, only one of the first rope 8-1 and the second rope 8-2 is in a tensioned state, while the other is in a slack state. The power output end of the fingertip extension and flexion power assembly is respectively connected to the two power input ends of the four distal interphalangeal joint rehabilitation closed-loop mechanisms 11 through the rope spring transmission mechanism 8 of the four sets of rope transmission mechanisms, thus driving the four distal interphalangeal joint rehabilitation closed-loop mechanisms 11 to simultaneously perform extension or flexion movements.

[0080] Specifically, a first loop 8-3 is fitted around the outer side of the first rope 8-1, and a second loop 8-4 is fitted around the outer side of the second rope 8-2. The first loop 8-3 and the second loop 8-4 are fixed inside the rod joint according to a preset trajectory to prevent the internal rope from bending during traction. The rope inside the loop can transmit traction force according to the preset path of the loop. A second spring 8-8 is fitted around the outer side of the end of the first rope 8-1 that connects to the fourth link 11-2. One end of the second spring 8-8 is fixed to the fourth link 11-2, and the other end is fixedly connected to the end of the first loop 8-3 through a second clamp 8-6. When the first rope 8-1 is stretched, the fourth link 11-2 rotates clockwise, thereby compressing the second spring 8-8. The external effect of the force generated by the first rope 8-1 is to deform the second spring 8-8. At the same time, the second clamp 8-6 connects the second spring 8-8 to the exoskeleton joint, ensuring that the second spring 8-8 does not bend under its own weight and the weight of the rope. Similarly, a first spring 8-7 is fitted on the outer side of the end where the second rope 8-2 connects to the fourth link 11-2. One end of the first spring 8-7 is fixed to the fourth link 11-2, and the other end is fixedly connected to the end of the second sleeve 8-4 through the first clamp 8-5. When the second rope 8-2 is stretched, the fourth link 11-2 rotates counterclockwise, thereby stretching the first spring 8-7. The external effect of the force generated by the second rope 8-2 is to deform the first spring 8-7. At the same time, the first clamp 8-5 connects the first spring 8-7 to the exoskeleton joint, ensuring that the first spring 8-7 does not bend under its own weight and the weight of the rope.

[0081] like Figures 10 to 12 As shown, the pulley system transmission mechanism 9 includes a pulley mounting frame, a third rope 9-11 for stretching the fingers, and a fourth rope 9-12 for bending the fingers. An "L"-shaped fixing rod 21 is fixedly connected to the side of the pulley mounting frame by screws. The other side of the fixing rod 21 is fixedly connected to the top edge of the back-of-hand rod 2 by screws, corresponding to the metacarpophalangeal joints at the base of each of the five fingers. A first cam groove 9-15 is provided in the side wall of the pulley mounting frame. A third finger sleeve 3-5 for the little finger has an upper fixing rod finger sleeve 9-14 on the side near the pulley mounting frame, which is worn near the phalanx by a fourth little finger strap 6-7. A fixing rod 9-13 is fixedly connected to the fixing rod finger sleeve 9-14. A first movable pulley 9-1 and a second movable pulley 9-7 are rotatably mounted on both sides of the end of the fixing rod 9-13. The first movable pulley 9-1 and the second movable pulley 9-7 are respectively rolled and embedded in the first cam grooves 9-15 on both sides.

[0082] One end of the third rope 9-11 and one end of the fourth rope 9-12 are respectively fixedly connected to both sides of the same pulley (such as the fifth pulley 7-15) in the pulley group at the output end of the finger extension and bending power component. A first fixed pulley 9-2 located above the first movable pulley 9-1, a second fixed pulley 9-3 located below the first movable pulley 9-2, and a third fixed pulley 9-4 are rotatably mounted inside one side wall of the pulley mounting bracket. The other end of the third rope 9-11 passes over the top of the first fixed pulley 9-2, successively around the first movable pulley 9-1 and the second fixed pulley 9-3, then passes over the top of the third fixed pulley 9-4, around the top of the seventh fixed pulley 9-9, and finally to the bottom of the seventh fixed pulley 9-9 and is fixedly connected. The third fixed pulley 9-4 is used to determine the output motion trajectory of the third rope 9-11. Once the third rope 9-11 is under tension, the first fixed pulley 9-2, the second fixed pulley 9-3, and the third fixed pulley 9-4 rotate in their original positions, while the first movable pulley 9-1 moves within the first cam groove 9-15 and approaches the side where the first fixed pulley 9-2 and the second fixed pulley 9-3 are located. At this time, the fixed rod 9-13 swings clockwise upward, forcing the proximal phalanx to rotate clockwise relative to the palm; the seventh fixed pulley 9-9 is pulled clockwise by the third rope 9-11, thereby driving the first connecting rod 10-1 to rotate synchronously in the same direction, causing the middle phalanx to rotate clockwise relative to the proximal phalanx. In this way, the corresponding finger performs a stretching action and is lifted.

[0083] On the other side wall of the pulley mounting bracket, a fourth fixed pulley 9-5 and a fifth fixed pulley 9-6 are rotatably mounted, located above the second movable pulley 9-7, and a sixth fixed pulley 9-8 is located below the second movable pulley 9-7. The other end of the fourth rope 9-12 passes under the fourth fixed pulley 9-5, successively around the fifth fixed pulley 9-6 and the second movable pulley 9-7, then over the sixth fixed pulley 9-8, around the bottom of the eighth fixed pulley 9-10, and finally to the top of the eighth fixed pulley 9-10 where it is fixedly connected. The sixth fixed pulley 9-8 is used to determine the output motion trajectory of the fourth rope 9-12. Once the fourth rope 9-12 is under force, the fourth fixed pulley 9-5, the fifth fixed pulley 9-6, and the sixth fixed pulley 9-8 rotate in their original positions, while the second movable pulley 9-7 moves within the first cam groove 9-15 and approaches the side where the fifth fixed pulley 9-6 and the sixth fixed pulley 9-8 are located. At this time, the fixed rod 9-13 swings counterclockwise downwards, forcing the proximal phalanx to rotate counterclockwise relative to the palm; the eighth fixed pulley 9-10 is pulled counterclockwise by the fourth rope 9-12, thereby driving the first connecting rod 10-1 to rotate synchronously in the same direction, causing the middle phalanx to rotate counterclockwise relative to the proximal phalanx. In this way, the corresponding finger performs a bending action and bends downwards. The power output end of the finger extension and bending power component is respectively connected to the two power input ends of the four proximal interphalangeal joint adaptive mechanisms 10 through the pulley group transmission mechanism 9 of the four rope transmission mechanisms, thus driving the four proximal interphalangeal joint adaptive mechanisms 10 to synchronously perform extension or bending actions.

[0084] like Figure 8 As shown, the power output end of the thumb extension and flexion power assembly is connected to the two power input ends of the thumb rehabilitation mechanism 12 via a set of pulley transmission mechanisms 9, driving the thumb rehabilitation mechanism 12 to perform extension or flexion actions. Since the thumb only has two joint bones, the proximal phalanx and the distal phalanx, the thumb rehabilitation mechanism 12 only includes a structure similar to the proximal interphalangeal joint adaptive mechanism 10, omitting the adaptive adjustment structure composed of the second cam groove 10-7, roller 10-6, push rod 10-5, slider 10-3 and slide rail base 10-4. Specifically, it includes a fixed rod finger sleeve 9-14 worn on the proximal phalanx via the third thumb strap 6-3, a second thumb finger sleeve 3-2 worn on the proximal phalanx via the second thumb strap 6-2 and located outside the fixed rod finger sleeve 9-14, and a first thumb finger sleeve 3-1 worn on the distal phalanx via the first thumb strap 6-1. Similar to the proximal interphalangeal joint adaptive mechanism 10, the top of the second thumb sleeve 3-2 is rotatably connected to a fifth link 12-2 via a fifth pin 12-1. The ends of the fifth link 12-2 are respectively fixedly connected to a ninth fixed pulley 12-3 and a tenth fixed pulley 12-4, coaxially sleeved on the outside of the fifth pin 12-1. The other end of the fifth link 12-2 is rotatably connected to a sixth link 12-6 via a sixth pin 12-5. The sixth pin 12-5 is fixed to the end of the sixth link 12-6, and the other end of the sixth link 12-6 is rotatably connected to the top of the first thumb sleeve 3-1 via a seventh pin 12-7.

[0085] One end of the third rope 9-11 of the pulley transmission mechanism 9, located at the metacarpophalangeal joint of the thumb, is wound from the top to the bottom of the ninth pulley 7-22 and fixed. One end of the fourth rope 9-12 is wound from the bottom to the top of the ninth pulley 7-22 and fixed. The ends of the third rope 9-11 and the fourth rope 9-22 are fixed to opposite sides of the shaft of the ninth pulley 7-22. Forward rotation of the third motor 7-20 drives forward rotation of the ninth pulley 7-22, stretching the third rope 9-11 and thus causing the thumb rehabilitation mechanism 12 to perform a finger stretching action. Reverse rotation of the third motor 7-20 drives reverse rotation of the ninth pulley 7-22, stretching the fourth rope 9-12 and thus causing the thumb rehabilitation mechanism 12 to perform a finger bending action. One of the third ropes 9-11 and the fourth rope 9-12 remains taut while the other remains relaxed.

[0086] The control system is fixedly mounted on the forearm member 1 and electrically connected to the control end of the finger drive mechanism. The sensor system is installed at various power transmission positions of the finger drive mechanism and on the finger bones, and is connected to the control system for transmission. The sensor system detects the operating status information of the finger drive mechanism and transmits it to the control system. Specifically, such as... Figure 1As shown, the control system includes a microcontroller 28, a motor controller 32, a lithium battery 30, a microcontroller switch 29, and an exoskeleton emergency stop switch 31, all fixedly mounted on the forearm support 1. Specifically, the microcontroller 28 and the motor controller 32 are fixedly mounted on the surface of the second forearm support 1-3. The lithium battery 30 is embedded in a battery box and electrically connected to the microcontroller 28 and the motor controller 32 via wires. The battery box is fixedly mounted on the top surface of the first forearm support 1-1. The microcontroller switch 29 is connected in series to the power supply line of the microcontroller 28 to control the on / off state of the microcontroller 28's circuit. The exoskeleton emergency stop switch 31 is located on the surface of the battery box and connected in series to the output bus of the lithium battery 30, facilitating emergency stop of the exoskeleton's movement. The motor controller 32 is electrically connected to the first motor 7-3, the second motor 7-4, and the third motor 7-20, respectively, to drive and control the start, stop, and forward / reverse rotation of the three motors.

[0087] like Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, the sensor system includes a second encoder 7-2 coaxially fixed on the shaft of the first motor 7-3, a first encoder 7-1 coaxially fixed on the shaft of the second motor 7-4, a third encoder 7-19 coaxially fixed on the shaft of the third motor 7-20, a first angle sensor 25 coaxially fixed on the pivot position of the fourth link 11-2 of the four distal interphalangeal joint rehabilitation closed-loop mechanism 11, a second angle sensor 26 coaxially fixed on the pivot position of the first link 10-1 of the four proximal interphalangeal joint adaptive mechanism 10, a first pressure sensor 22 installed on the distal phalanges of the four fingers (excluding the thumb), a third pressure sensor 24 installed on the proximal phalanges of the four fingers, a second pressure sensor 23 installed on the inner walls of the four second cam grooves 10-7, and a tension sensor 27 installed on the third rope 9-11 used for stretching the four fingers. Each signal output terminal of the sensor system is connected to the signal input terminal of the microcontroller 28.

[0088] See Figure 15 A rehabilitation training method based on a rope-driven hand rehabilitation exoskeleton includes the following steps:

[0089] S10. After a patient with hand dysfunction wears the hand rehabilitation exoskeleton, the microcontroller switch and the exoskeleton emergency stop switch are activated to initialize the system.

[0090] S20, the sensing system and control system are started and running;

[0091] S30: The various angle sensors, tension sensors, pressure sensors, and encoders in the sensor system collect the wearer's hand movement information and the motion information of the finger actuator mechanism, and send the collected information to the microcontroller. The microcontroller performs real-time analysis and processing of the received information data, and can acquire and display the wearer's rope tension, joint movement angle, and finger pressure and other related motion information. The microcontroller sends instructions to the motor controller to control the various motors to work in coordination and run according to the preset control program.

[0092] S40: The motor controller controls the finger driver mechanism to perform corresponding actions according to the control signal received from the microcontroller, assisting the patient to alternately perform stretching and bending actions of the fingers;

[0093] In this step, the finger actuator mechanism responds to the control signal in the following specific way:

[0094] S401, Hand rehabilitation exoskeleton drives finger flexion movements:

[0095] When the finger extension and bending power component is energized, it outputs a positive control torque, which drives the fixed rod 9-13 and the proximal interphalangeal joint adaptive mechanism 10 to rotate counterclockwise in sequence through the pulley group transmission mechanism 9. The fixed rod 9-13 drives the proximal phalanx to rotate counterclockwise relative to the palm, and the proximal interphalangeal joint adaptive mechanism 10 drives the middle phalanx to rotate counterclockwise relative to the proximal phalanx, thereby driving the finger to perform bending movements. Specifically: When the second motor 7-4 is energized and rotates in the forward direction, it outputs a control torque. Through the transmission of the second planetary reducer 7-6 and the meshing transmission between the second driving bevel gear 7-9 and the second driven bevel gear 7-10, the torque is amplified, driving the fifth pulley 7-15, the sixth pulley 7-16, the seventh pulley 7-17, and the eighth pulley 7-18 to rotate synchronously in the forward direction. The four pulleys simultaneously pull the four fourth ropes 9-12, causing them to bear force. Under the action of the corresponding fourth ropes 9-12, the four second moving pulleys 9-7 move along their respective first cam grooves 9-15 toward the side where the corresponding fifth fixed pulley 9-6 and second fixed pulley 9-8 are located. Their respective fixed rods 9-13 move downward, forcing the proximal phalanges of the four fingers to bend downward. At the same time, the fourth ropes 9-12 pull the fixed force point at the upper end of the eighth fixed pulley 9-10, causing the first connecting rod 10-1 to rotate counterclockwise, thereby synchronously realizing the bending process of the middle phalanges of the four fingers.

[0096] When the fingertip bending power component is energized and outputs a positive control torque, it drives the distal interphalangeal joint rehabilitation closed-loop mechanism 11 to rotate counterclockwise via the rope spring transmission mechanism 8. The distal interphalangeal joint rehabilitation closed-loop mechanism 11 drives the distal phalanx to rotate counterclockwise relative to the middle phalanx, thereby driving the fingertip to bend. Specifically: When the first motor 7-3 is energized and rotates forward, it outputs a control torque. Through the transmission of the first planetary reducer 7-5 and the meshing transmission between the first driving bevel gear 7-7 and the first driven bevel gear 7-8, the torque is amplified, driving the first pulley 7-11, the second pulley 7-12, the third pulley 7-13, and the fourth pulley 7-14 to rotate synchronously forward. These four pulleys simultaneously pull the four second ropes 8-2, causing them to bear force. The four second ropes 8-2 respectively pull the corresponding fourth connecting rod 11-2 to rotate counterclockwise, completing the bending process of the distal phalanx. The first motor 7-3 and the second motor 7-4 work together to complete the synchronous bending process of the four fingers.

[0097] The thumb extension and flexion power component is energized and outputs a positive control torque, which drives the thumb rehabilitation mechanism 12 to rotate counterclockwise through the pulley system. The thumb rehabilitation mechanism drives the distal phalanx to rotate counterclockwise relative to the proximal phalanx, thereby driving the thumb to flex. Specifically: the third motor 7-20 is energized and rotates in the forward direction, driving the ninth pulley 7-22 to rotate counterclockwise. The fourth rope 9-12 fixed on the ninth pulley 7-22 begins to bear force. Under the action of the fourth rope 9-12, the second movable pulley 9-7 moves along the first cam groove 9-15 towards the side where the fifth fixed pulley 9-6 and the second fixed pulley 9-8 are located, driving the fixed rod 9-13 to move downward, forcing the proximal phalanx of the thumb to bend downward. At the same time, the fourth rope 9-12 pulls the fixed force point at the upper end of the ninth fixed pulley 12-3, causing the fifth connecting rod 12-2 to rotate counterclockwise, thus synchronously realizing the bending process of the distal phalanx of the thumb. The first motor 7-3, the second motor 7-4, and the third motor 7-20 work together to complete the synchronous bending process of the five fingers.

[0098] The microcontroller 28 receives angle data detected by each first angle sensor 25 and each second angle sensor 26, and determines the bending angle; the microcontroller 28 determines whether the fingertip force of each finger can reach the minimum fingertip force of 10N required for daily grasping based on the pressure data detected by each first pressure sensor 22; the microcontroller 28 determines the adaptive effect of the crank-slider adaptive mechanism during the bending process based on the pressure data detected by each second pressure sensor 23.

[0099] S402, Hand rehabilitation exoskeleton drives finger stretching movements:

[0100] When the finger extension and bending power component is energized, it outputs a reverse control torque, which drives the fixed rod 9-13 and the proximal interphalangeal joint adaptive mechanism 10 to rotate clockwise in sequence through the pulley group transmission mechanism 9. The fixed rod 9-13 drives the proximal phalanx to rotate clockwise relative to the palm, and the proximal interphalangeal joint adaptive mechanism 10 drives the middle phalanx to rotate clockwise relative to the proximal phalanx, thereby driving the finger to perform a stretching movement. Specifically, when the second motor 7-4 is energized and rotates in the reverse direction, it outputs a control torque. This torque is amplified through the second planetary reducer 7-6 and the meshing transmission between the second driving bevel gear 7-9 and the second driven bevel gear 7-10, thus driving the fifth pulley 7-15, the sixth pulley 7-16, the seventh pulley 7-17, and the eighth pulley 7-18 to rotate synchronously in the opposite direction. These four pulleys simultaneously pull the four third ropes 9-11, causing them to bear force. Under the action of the corresponding third ropes 9-11, the four first moving pulleys 9-1 move along their respective first cam grooves 9-15 towards the side where the corresponding first fixed pulleys 9-2 and 9-3 are located, driving their respective fixed rods 9-13 to move upward and stretch the proximal phalanges upward. At the same time, the third ropes 9-11 pull the fixed force point at the lower end of the seventh fixed pulley 9-9, causing the first connecting rod 10-1 to rotate clockwise, thereby synchronously realizing the stretching process of the middle phalanges of the four fingers.

[0101] The fingertip extension and flexion power component is energized and outputs a reverse control torque, which drives the distal interphalangeal joint rehabilitation closed-loop mechanism 11 to rotate clockwise through the rope spring transmission mechanism 8. The distal interphalangeal joint rehabilitation closed-loop mechanism 11 drives the distal phalanx to rotate clockwise relative to the middle phalanx, thereby driving the fingertip to perform a stretching movement. Specifically: the first motor 7-3 is energized and rotates in the reverse direction, outputting a control torque. Through the transmission of the first planetary reducer 7-5 and the meshing transmission between the first driving bevel gear 7-7 and the first driven bevel gear 7-8, the torque is amplified and drives the first pulley 7-11, the second pulley 7-12, the third pulley 7-13, and the fourth pulley 7-14 to rotate synchronously in the opposite direction. These four pulleys simultaneously pull the four first ropes 8-1, causing them to bear force. The four first ropes 8-1 respectively pull the corresponding fourth connecting rod 11-2 to rotate clockwise, completing the stretching process of the distal phalanx. The first motor 7-3 and the second motor 7-4 work together to complete the synchronous stretching process of the four fingers.

[0102] When the thumb extension and flexion power component is energized, it outputs a reverse control torque, which drives the thumb rehabilitation mechanism 12 to rotate clockwise through the pulley system. The thumb rehabilitation mechanism 12 drives the distal phalanx to rotate clockwise relative to the proximal phalanx, thereby driving the thumb to perform a stretching movement. The third motor 7-20 is energized and rotates in the opposite direction, driving the ninth pulley 7-22 to rotate clockwise. The third rope 9-11 fixed on the ninth pulley 7-22 begins to bear force. Under the action of the third rope 9-11, the first movable pulley 9-1 moves along the first cam groove 9-15 towards the side where the first fixed pulley 9-2 and the second fixed pulley 9-3 are located, driving the fixed rod 9-13 to move upward, forcing the proximal phalanx of the thumb to stretch upward. At the same time, the third rope 9-11 pulls the fixed force point at the lower end of the tenth fixed pulley 12-4, causing the fifth connecting rod 12-2 to rotate clockwise, thereby synchronously realizing the stretching process of the distal phalanx of the thumb. The first motor 7-3, the second motor 7-4, and the third motor 7-20 work together to complete the synchronous stretching process of the five fingers.

[0103] The microcontroller 28 receives angle data detected by the first angle sensor 25 and the second angle sensor 26 to determine the stretching angle. Based on the pressure data detected by the second pressure sensor 23, the microcontroller 28 determines the adaptive effect of the crank-slider adaptive mechanism during the stretching process. Since stretching the fingers of stroke patients is more difficult, the microcontroller 28 obtains the stretching resistance overcome by stretching the stroke patient's fingers based on the pressure data received from the tension sensor 27. This allows for adjustments to the exoskeleton's drive parameters or training plan to achieve better rehabilitation results.

[0104] S50. Repeat steps S30 and S40 until training is complete;

[0105] S60. After training, turn off the exoskeleton emergency stop switch and the microcontroller switch, and the patient removes the hand rehabilitation exoskeleton.

[0106] This invention relates to a rope-driven hand rehabilitation exoskeleton, employing a rope-driven rigid linkage exoskeleton robot. Based on the stroke patient's need for finger flexion and grasping abilities and to overcome extension resistance, it provides auxiliary forces and torques for rehabilitation. Force control of the distal interphalangeal joints is achieved through the extension and contraction of springs. Force applied to the ropes rotates the levers and moves the pulleys within cam grooves, driving flexion or extension movements of the proximal and middle phalanges. The ropes transmit force to the lever joints, assisting in finger flexion or extension. The cam grooves and adaptive crank-slider mechanism enhance the device's adaptability and user comfort. This hand rehabilitation exoskeleton is highly wearable, comfortable, and adaptable to patients with different finger sizes, making it suitable for hand rehabilitation training in stroke patients.

[0107] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A rope-driven hand rehabilitation exoskeleton, characterized in that: It includes a control system, a sensor system, a finger actuator mechanism, a forearm rod worn on the forearm, a back of the hand rod worn on the back of the hand, four hand rehabilitation exoskeleton actuators worn on the non-thumb parts, and a thumb rehabilitation mechanism worn on the thumb. The hand rehabilitation exoskeleton actuator includes a proximal interphalangeal joint adaptive mechanism and a distal interphalangeal joint rehabilitation closed-loop mechanism that is rotatably connected to the proximal interphalangeal joint adaptive mechanism. The finger drive mechanism includes a finger extension and bending power assembly and a fingertip extension and bending power assembly respectively fixedly mounted on the forearm rod, a thumb extension and bending power assembly fixedly mounted on the back of the hand rod, and multiple sets of rope transmission mechanisms fixedly mounted on the back of the hand rod. The rope transmission mechanism includes a rope spring transmission mechanism and a pulley group transmission mechanism. The power output end of the finger extension and bending power component is respectively connected to the two power input ends of the four proximal interphalangeal joint adaptive mechanisms through the pulley group transmission mechanism of the four rope transmission mechanism, thereby driving the four proximal interphalangeal joint adaptive mechanism actuators to synchronously perform extension or bending actions. The power output end of the fingertip extension and bending power component is respectively connected to the two power input ends of the four distal interphalangeal joint rehabilitation closed-loop mechanisms through the rope spring transmission mechanism of the four sets of rope transmission mechanisms, thereby driving the four distal interphalangeal joint rehabilitation closed-loop mechanisms to perform extension or bending actions synchronously. The power output end of the thumb extension and bending power component is connected to the two power input ends of the thumb rehabilitation mechanism through a set of pulley transmission mechanism, thereby driving the thumb rehabilitation mechanism to perform extension or bending actions. The control system is fixedly mounted on the forearm member and electrically connected to the control end of the finger drive mechanism. The sensor system is installed at each power transmission position of the finger drive mechanism and on the finger bones and is connected to the control system for transmission. The sensor system detects the operating status information of the finger drive mechanism and transmits it to the control system.

2. The rope-driven hand rehabilitation exoskeleton according to claim 1, characterized in that: The proximal interphalangeal joint adaptive mechanism includes a third finger sleeve worn on the proximal phalanx and a second finger sleeve worn on the middle phalanx. The top of the third finger sleeve is rotatably connected to a first connecting rod, the other end of the first connecting rod is rotatably connected to a second connecting rod, the other end of the second connecting rod is rotatably connected to a slider, and a slide rail base is fixedly provided on the top surface of the second finger sleeve. The slider is slidably embedded in the slide rail base. The top of the slider is rotatably connected to a push rod, and the other end of the push rod is rotatably equipped with a roller. The side of the third finger sleeve is fixedly connected to a guide groove plate, and a second cam groove is opened on the guide groove plate. The roller is rotatably embedded in the second cam groove.

3. The rope-driven hand rehabilitation exoskeleton according to claim 2, characterized in that: The distal interphalangeal joint rehabilitation closed-loop mechanism includes a first finger sleeve worn on the distal phalanx, a fourth link rotatably connected to the top of the first finger sleeve, a third link rotatably connected to the other end of the fourth link, and rope connecting posts fixedly provided on both sides of the pivot at the rotatable connection of the end of the fourth link, and the other end of the third link rotatably connected to the top of the slider.

4. The rope-driven hand rehabilitation exoskeleton according to claim 3, characterized in that: Both the finger extension and bending power assembly and the fingertip extension and bending power assembly include a reducer fixedly mounted on the forearm member, a motor fixedly connected to the power input end of the reducer, an active bevel gear fixedly connected to the power output end of the reducer, a driven bevel gear rotatably mounted on the forearm member and meshing with the active bevel gear, and a pulley group coaxially arranged with the driven bevel gear. The thumb extension and bending power assembly includes a third reducer fixedly installed on the back of the hand, a third motor fixedly connected to the power input end of the reducer, and a ninth pulley fixedly connected to the power output end of the third reducer.

5. The rope-driven hand rehabilitation exoskeleton according to claim 4, characterized in that: The transmission ratio between the driving bevel gear and the driven bevel gear is 5~2:

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6. The rope-driven hand rehabilitation exoskeleton according to claim 4, characterized in that: The rope spring transmission mechanism includes a first rope for stretching the finger and a second rope for bending the finger. One end of the first rope and one end of the second rope are respectively fixedly connected to both sides of the shaft of the same pulley in the pulley group at the output end of the fingertip bending power component. The other ends of the first rope and the second rope are respectively fixedly connected to the rope connecting posts on both sides of the same fourth link shaft.

7. The rope-driven hand rehabilitation exoskeleton according to claim 4, characterized in that: The pulley system transmission mechanism includes a pulley mounting frame, a third rope for stretching the fingers, and a fourth rope for bending the fingers. A first cam groove is provided in the side wall of the pulley mounting frame. An upper fixing rod finger sleeve is provided on the side of the third finger sleeve near the pulley mounting frame and worn on the finger bone. A fixing rod is fixedly connected to the fixing rod finger sleeve. A first movable pulley and a second movable pulley are rotatably mounted on both sides of the end of the fixing rod. The first movable pulley and the second movable pulley are respectively rolled and embedded in the first cam groove on both sides. A first fixed pulley located above the first movable pulley, a second fixed pulley located below the first movable pulley, and a third fixed pulley are rotatably mounted inside one side wall of the pulley mounting bracket. A fourth fixed pulley located above the second movable pulley, a fifth fixed pulley, and a sixth fixed pulley located below the second movable pulley are rotatably mounted inside the other side wall of the pulley mounting bracket. A seventh fixed pulley and an eighth fixed pulley are coaxially connected to both sides of the end of the first connecting rod. One end of the third rope and one end of the fourth rope are respectively fixedly connected to both sides of the shaft of the same pulley in the pulley group at the output end of the finger extension and bending power component. The other end of the third rope passes over the top of the first fixed pulley, successively around the first movable pulley and the second fixed pulley, then passes over the top of the third fixed pulley, around the top of the seventh fixed pulley, and is fixedly connected. The other end of the fourth rope passes under the fourth fixed pulley, successively around the fifth fixed pulley and the second movable pulley, then passes over the top of the sixth fixed pulley, around the bottom of the eighth fixed pulley, and is fixedly connected.

8. The rope-driven hand rehabilitation exoskeleton according to claim 2, characterized in that: The control system includes a microcontroller, a motor controller, a lithium battery, a microcontroller switch, and an exoskeleton emergency stop switch, all fixedly mounted on the forearm member. The microcontroller is connected to the motor controller, which is connected to the power source of the finger actuator mechanism. Each signal output terminal of the sensor system is connected to the signal input terminal of the microcontroller. The lithium battery is connected to both the microcontroller and the motor controller. The exoskeleton emergency stop switch is connected in series with the output terminal of the lithium battery, and the microcontroller switch is connected in series with the power supply terminal of the microcontroller.

9. A rope-driven hand rehabilitation exoskeleton according to claim 8, characterized in that, Its control method includes the following steps: S10. After a patient with hand dysfunction wears the hand rehabilitation exoskeleton, the microcontroller switch and the exoskeleton emergency stop switch are activated to initialize the system. S20, the sensing system and control system are started and running; S30: The various angle sensors, tension sensors, pressure sensors and encoders in the sensor system collect the wearer's hand movement information and the motion information of the finger driver mechanism, and send the collected information to the microcontroller. The microcontroller performs real-time analysis and processing of the received information data, and sends instructions to control the motor controller. S40: The motor controller controls the finger driver mechanism to perform corresponding actions according to the control signal received from the microcontroller, assisting the patient to alternately perform stretching and bending actions of the fingers; S50. Repeat steps S30 and S40 until training is complete; S60. After training, turn off the exoskeleton emergency stop switch and the microcontroller switch, and the patient removes the hand rehabilitation exoskeleton.

10. A rope-driven hand rehabilitation exoskeleton according to claim 9, characterized in that, In step S40, the finger driver mechanism responds to the control signal in the following specific way: S401, Hand rehabilitation exoskeleton drives finger flexion movements: When the finger extension and bending power component is energized, it outputs a positive control torque, which drives the fixed rod and the proximal interphalangeal joint adaptive mechanism to rotate counterclockwise in sequence through the pulley group transmission mechanism. The fixed rod drives the proximal phalanx to rotate counterclockwise relative to the palm, and the proximal interphalangeal joint adaptive mechanism drives the middle phalanx to rotate counterclockwise relative to the proximal phalanx, thereby driving the finger to perform bending movements. When the fingertip extension and bending power component is powered on, it outputs a positive control torque, which drives the distal interphalangeal joint rehabilitation closed-loop mechanism to rotate counterclockwise through the rope and spring transmission mechanism. The distal interphalangeal joint rehabilitation closed-loop mechanism drives the distal phalanx to rotate counterclockwise relative to the middle phalanx, thereby driving the fingertip to perform bending movements. When the thumb extension and bending power component is powered on, it outputs a positive control torque, which drives the thumb rehabilitation mechanism to rotate counterclockwise through the pulley transmission mechanism. The thumb rehabilitation mechanism drives the distal phalanx to rotate counterclockwise relative to the proximal phalanx, thereby driving the thumb to perform bending movements. S402, Hand rehabilitation exoskeleton drives finger stretching movements: When the finger extension and bending power component is energized, it outputs a reverse control torque, which drives the fixed rod and the proximal interphalangeal joint adaptive mechanism to rotate clockwise in sequence through the pulley group transmission mechanism. The fixed rod drives the proximal phalanx to rotate clockwise relative to the palm, and the proximal interphalangeal joint adaptive mechanism drives the middle phalanx to rotate clockwise relative to the proximal phalanx, thereby driving the finger to perform a stretching movement. When the fingertip extension and bending power component is powered on, it outputs a reverse control torque, which drives the distal interphalangeal joint rehabilitation closed-loop mechanism to rotate clockwise through the rope spring transmission mechanism. The distal interphalangeal joint rehabilitation closed-loop mechanism drives the distal phalanx to rotate clockwise relative to the middle phalanx, thereby driving the fingertip to perform a stretching movement. When the thumb extension and bending power component is energized, it outputs a reverse control torque, which drives the thumb rehabilitation mechanism to rotate clockwise through the pulley system. The thumb rehabilitation mechanism drives the distal phalanx to rotate clockwise relative to the proximal phalanx, thereby driving the thumb to perform a stretching movement.

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