Grip training device and rehabilitation training system

Abstract

The application provides a grasping training device and a rehabilitation training system, and relates to the technical field of rehabilitation training. The grasping training device comprises a guide piece, a first finger plate, a second finger plate and a driving assembly. Two sliding pieces are arranged, and the two sliding pieces are respectively connected with the guide piece in a sliding mode. The first finger plate and the second finger plate are arranged on the two sliding pieces respectively. The first finger plate is provided with a first finger placing position, and the second finger plate is provided with a second finger placing position. The driving assembly is arranged on the guide piece. Under the driving of the driving assembly, the two sliding pieces are away from or close to each other. The grasping training device and the rehabilitation training system provided by the application are simple in structure, convenient to use, and convenient for patients to use at home or alone, so that the use cost of the patients is reduced.

Description

Technical Field

[0001] This application relates to the field of rehabilitation training technology, and in particular to a grasping training device and a rehabilitation training system. Background Technology

[0002] In clinical medicine, some patients suffer from hemiplegia or limb injuries, resulting in limited limb movement. They require long-term limb training to gradually adapt physiologically and psychologically, ultimately achieving rehabilitation. However, existing rehabilitation training devices are complex in structure, bulky, and costly, making them difficult for patients to use for daily home training. Therefore, this paper presents a grasping training device and rehabilitation training system. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a gripping training device and a rehabilitation training system, which aims to solve the technical problems of complex structures in the prior art.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] In a first aspect, embodiments of this application provide a gripping training device, comprising:

[0006] Guide components;

[0007] The sliding member is provided in two parts, and the two sliding members are respectively slidably connected to the guide member;

[0008] A first finger plate and a second finger plate are respectively disposed on the two sliding members. The first finger plate is provided with a first finger placement position, and the second finger plate is provided with a second finger placement position.

[0009] A drive assembly is mounted on the guide member, and under the drive of the drive assembly, the two sliding members move away from or closer to each other.

[0010] In one embodiment of the first aspect, the drive assembly includes a first motor and a lead screw, the first motor being mounted on one end of the slider, the output shaft of the first motor being connected to the lead screw, and the lead screw passing through two of the sliders;

[0011] The lead screw includes a first threaded section and a second threaded section, the first threaded section and the second threaded section are screwed in opposite directions, and the two sliding members are respectively threadedly connected to the first threaded section and the second threaded section.

[0012] In one embodiment of the first aspect, the first finger placement position is provided with a limiting ring, and the second finger placement position is provided with four limiting rings.

[0013] In one embodiment of the first aspect, a force sensor is mounted on the first finger plate, and a first finger placement position is provided on the side of the force sensor opposite to the first finger plate.

[0014] Secondly, embodiments of this application also provide a rehabilitation training system, including:

[0015] The grip training device described in any of the above embodiments;

[0016] A controller, which is communicatively connected to the drive component.

[0017] In one embodiment of the second aspect, the rehabilitation training system further includes a telescopic training device, which includes a second motor, a transmission assembly, a drive joint, a working end, and a guide rail. The second motor is communicatively connected to the controller, the transmission assembly is connected to the output shaft of the second motor, the drive joint is connected to the transmission assembly, the working end is located at the end of the drive joint away from the transmission assembly, the working end is slidably connected to the guide rail, and the gripping training device is mounted on the working end.

[0018] In one embodiment of the second aspect, the transmission assembly includes a driven wheel and a connecting shaft, the driven wheel being connected to the output shaft of the second motor via a transmission rope, and the connecting shaft passing through the driven wheel and the drive joint.

[0019] In one embodiment of the second aspect, the drive assembly includes an active joint and a driven joint, the active joint having the connecting shaft passing through it, the driven joint including at least two connecting rods, two adjacent connecting rods being rotatably connected, the connecting rod closest to the active joint being fixedly connected to the active joint, and the connecting rod furthest from the active joint being connected to the working end.

[0020] In one embodiment of the second aspect, a tensioning mechanism is provided on the driven wheel, the transmission rope is wound around the driven wheel and the tensioning mechanism and the output shaft of the second motor, and the end of the transmission rope is connected to the tensioning mechanism.

[0021] In one embodiment of the second aspect, the driven wheel has a fan-shaped structure, and two tensioning mechanisms are provided. The two tensioning mechanisms are arranged opposite to each other on the non-arc surface of the driven wheel, and the two ends of the transmission rope are respectively connected to the two tensioning mechanisms.

[0022] Compared to existing technologies, the advantages of this application are as follows: This application provides a grasping training device and rehabilitation training system for upper limb rehabilitation training of patients. The grasping training device includes a guide, a first finger plate, a second finger plate, and a driving component. Two sliding members are provided and slidably connected to the guide. The first and second finger plates are respectively disposed on the two sliding members. The first finger plate has a first finger placement position, and the second finger plate has a second finger placement position. In this way, during use, the patient's thumb is placed in one finger placement position, and the patient's index, middle, ring, and little fingers are placed in the other finger placement position. Driven by the driving component, the two sliding members move away from or towards each other, causing the first and second finger plates to move away from or towards each other, thereby causing the patient's thumb to move closer to or further away from the other four fingers, forming a clenched fist or open finger posture. Through this reciprocating training, the patient's grasping rehabilitation training is achieved. The grasping training device provided by this application has a simple structure, is easy to use, and is convenient for patients to use at home or independently, reducing the patient's usage costs. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 The following are schematic diagrams of the grip training device in some embodiments of this application;

[0025] Figure 2 The following is a side view of the grip training device in some embodiments of this application;

[0026] Figure 3 The following are schematic diagrams of the structure of the rehabilitation training system in some embodiments of this application;

[0027] Figure 4 The following are schematic diagrams of the structure of the telescopic training device in some embodiments of this application. Figure 1 ;

[0028] Figure 5 The following are schematic diagrams of the structure of the telescopic training device in some embodiments of this application. Figure 2 ;

[0029] Figure 6 The following are schematic diagrams of the transmission components in some embodiments of this application;

[0030] Figure 7 A schematic diagram of the driven wheel in some embodiments of this application is shown.

[0031] Explanation of key component symbols:

[0032] 100-Grip training device; 110-Guide component; 120-Slider component; 130-First finger plate; 131-First finger placement position; 132-Force sensor; 140-Second finger plate; 141-Second finger placement position; 150-Drive assembly; 151-First motor; 152-Lead screw; 1521-First threaded section; 1522-Second threaded section; 160-Limiting ring;

[0033] 200-Telescopic training device; 210-Second motor; 220-Transmission assembly; 221-Driven wheel; 222-Tensioning mechanism; 2221-Tensioning block; 2222-Adjusting bolt; 223-Connecting shaft; 230-Drive joint; 231-Active joint; 232-Driven joint; 240-Working end; 250-Guide rail; 260-Bracket; 270-Base plate; 280-Support seat; 290-Handle. Detailed Implementation

[0034] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0035] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0039] Embodiments of this application provide a gripping training device 100 and a rehabilitation training system, which can be used for upper limb rehabilitation training, specifically for rehabilitation training of shoulder, elbow, and finger joints. The gripping training device 100 and rehabilitation training system provided by this application have a simple overall structure and are easy to use, allowing patients to use them at home or independently, thus reducing the cost of use for patients.

[0040] like Figure 1 As shown, an embodiment of this application provides a grasping training device 100, which includes a guide member 110, a slider 120, a first finger plate 130, a second finger plate 140, and a driving assembly 150. Two sliders 120 are provided, each slidably connected to the guide member 110. The first finger plate 130 and the second finger plate 140 are respectively disposed on the two sliders 120. The first finger plate 130 has a first finger placement position 131, and the second finger plate 140 has a second finger placement position 141. The driving assembly 150 is mounted on the guide member 110. Under the drive of the driving assembly 150, the two sliders 120 move away from or closer to each other.

[0041] In one embodiment, the guide 110 can be a slide rail structure, and the slider 120 can be a slider structure. The guide 110 is placed horizontally, and the two sliders 120 are disposed opposite each other on the guide 110. The sliders 120 and the guide 110 can be connected by a dovetail joint, i.e., a male and female tenon joint structure. If one of the sliders 120 and the guide 110 has an inverted trapezoidal protrusion, then the other has a corresponding inverted trapezoidal slot, so that after the sliders 120 and the guide 110 are connected, the sliders 120 can slide relative to the guide 110 without falling off the guide 110.

[0042] In another embodiment, the guide 110 includes a base for mounting and a linear guide 250 structure disposed within the base. The slider 120 is locked to the slider in the linear guide 250 structure by bolts. The slider may be a ball-bearing slider to reduce the friction generated during sliding.

[0043] The first finger plate 130 and the second finger plate 140 are respectively fixedly mounted on the two sliding members 120. The fixing method can be screw locking, welding, snap-fit ​​connection, or any other method that ensures the first finger plate 130 and the second finger plate 140 move with the sliding member 120. By setting a first finger placement position 131 on the first finger plate 130 and a second finger placement position 141 on the second finger plate 140, during use, the five fingers of the patient's hand can be placed in two parts, respectively, in the first finger placement position 131 and the second finger placement position 141. In this embodiment, the thumb and the other four fingers are placed in the first finger placement position 131 and the second finger placement position 141, respectively. During operation, the two sliding members 120 reciprocate by moving closer and further apart under the action of the driving component 150, thereby causing the first finger plate 130 and the second finger plate 140 to move closer or further apart, and the patient's thumb and the other four fingers to move away and closer together, forming a clenching and opening training action.

[0044] In this embodiment, the grasping training device 100 may also be equipped with a controller, which is communicatively connected to the drive component 150. The controller may be a microcontroller and can be controlled via a remote control or software on a mobile phone or computer. The controller can precisely control the operating power and time of the drive component 150 to enable patients to use it at home or independently.

[0045] In some embodiments, the drive assembly 150 includes a first motor 151 and a lead screw 152. The first motor 151 is mounted on one end of the slider 120, and the output shaft of the first motor 151 is connected to the lead screw 152. The lead screw 152 passes through two sliders 120.

[0046] A mounting block is fixed at each end of the guide member 110, and the mounting blocks are perpendicular to the guide member 110. The first motor 151 is mounted on the outside of one of the mounting blocks, and the output shaft of the first motor 151 passes through the mounting block and is connected to the lead screw 152. During the rotation of the first motor 151, the lead screw 152 rotates, while the sliding member 120 cannot rotate with the lead screw 152 due to the constraint of the dovetail groove, and thus moves relative to the lead screw 152 during its rotation. The first motor 151 is a servo motor, which controls the positive and negative directions of the current to make the output shaft rotate in the forward and reverse directions, thereby realizing the relative movement of the sliding member 120.

[0047] Furthermore, to ensure the connection strength between the lead screw 152 and the first motor 151, a reinforcing rod can be provided at the connection between the output shaft of the first motor 151 and the lead screw 152. The reinforcing plate is fixed on the guide member 110, and the two ends of the lead screw 152 are respectively inserted into the mounting block and the reinforcing plate to maintain the installation stability of the lead screw 152.

[0048] In one embodiment, the threads on the lead screw 152 can maintain the same direction of rotation, while the two sliding members 120 can be provided with internal threaded holes with opposite directions of rotation. In this way, by connecting the two sliding members 120 to the two ends of the lead screw 152 respectively, during operation, the first motor 151 drives the lead screw 152 to rotate, thereby enabling the two sliding members 120 to move closer to or further away from each other.

[0049] In another embodiment, the lead screw 152 includes a first threaded section 1521 and a second threaded section 1522, with the threads of the first threaded section 1521 and the second threaded section 1522 having opposite threading directions. Two sliding members 120 are threadedly connected to the first threaded section 1521 and the second threaded section 1522, respectively. In this embodiment, the first threaded section 1521 and the second threaded section 1522 are arranged opposite each other with respect to the center line of the lead screw 152, and the internal threaded holes of the two sliding members 120 have the same threading direction. By threading the two sliding members 120 to both ends of the lead screw 152, the two sliding members 120 can move closer to or further away from each other when the lead screw 152 rotates.

[0050] like Figure 2 As shown, in some embodiments, the first finger placement position 131 is provided with a limiting ring 160, and the second finger placement position 141 is provided with four limiting rings 160.

[0051] The limiting ring 160 can be made of a relatively soft material, with a ring hole formed through the tape to accommodate the patient's fingers. In this embodiment, one limiting ring 160 is provided at the first finger placement position 131 to place the patient's thumb, and four limiting rings 160 are provided at the second finger placement position 141 to place the patient's index, middle, ring, and little fingers respectively, so that during the movement of the slider 120, the patient's finger joints can be driven to perform clenching and unclenching movements. Of course, in other embodiments, the number of limiting rings 160 provided at the first finger placement position 131 and the second finger placement position 141 can be interchanged to meet the patient's different usage angles or alternating training of both hands.

[0052] In some embodiments, a force sensor 132 is installed on the first finger plate 130, and a first finger placement position 131 is provided on the side of the force sensor 132 opposite to the first finger plate 130.

[0053] By setting the force sensor 132, the force applied by the patient's hand can be measured and acquired to assess the patient's rehabilitation status. Then, the output torque, output speed or output position of the motor can be adjusted adaptively to meet the training needs of the patient at different rehabilitation stages.

[0054] Specifically, this application can employ an admittance control method. Under different control modes of the motor, by using the x=F / k spring model and adjusting the range of the stiffness coefficient k, patients can achieve grasping task training with different stiffness and strength.

[0055] Embodiments of this application also provide a rehabilitation training system, which includes the grasping training device 100 and controller from any of the above embodiments. The controller is communicatively connected to the first motor 151. In this embodiment, the controller and the first motor 151 can be connected via EtherCAT communication.

[0056] This embodiment has the grip training device 100 of any of the above embodiments, and therefore has all the beneficial effects of the grip training device 100 of any of the above embodiments, which will not be described in detail here.

[0057] like Figure 3 As shown, in some embodiments, the rehabilitation training system further includes a telescopic training device 200, which includes a second motor 210, a transmission assembly 220, a drive joint 230, a working end 240, and a guide rail 250. The second motor 210 is communicatively connected to the controller, the transmission assembly 220 is connected to the output shaft of the second motor 210, the drive joint 230 is connected to the transmission assembly 220, the working end 240 is located at the end of the drive joint 230 away from the transmission assembly 220, the working end 240 is slidably connected to the guide rail 250, and the grasping training device 100 is installed on the working end 240.

[0058] like Figure 5 As shown, the telescopic training device 200 also includes a base plate 270 and a support 260. The support 260 is installed at one end of the base plate 270, and openings are provided on adjacent sides of the support 260. The drive joint 230 is located at one of the openings of the support 260. The second motor 210 and the transmission assembly 220 are both installed on the support 260. Multiple support seats 280 are equidistantly arranged between the guide rail 250 and the base plate 270. The support seats 280 can be fixed to the base plate 270 by bolts. The guide rail 250 is connected to the end of the support seat 280 away from the base plate 270 by bolts.

[0059] The controller can connect to both the first motor 151 and the second motor 210 simultaneously via EtherCAT communication. Under the control of the controller, the rehabilitation training system can achieve different training modes. The gripping training device 100 and the telescopic training device 200 can work simultaneously or separately. During the operation of the telescopic training device 200, the drive joint 230, driven by the second motor 210 and the transmission component 220, performs forward and backward telescopic movements. The patient's hand is confined to the working end 240, so the patient's arm follows the telescopic movement of the drive joint 230 to perform reciprocating telescopic training, thereby providing rehabilitation training for the patient's shoulder and elbow.

[0060] In some embodiments, the transmission assembly 220 includes a driven wheel 221 and a connecting shaft 223. The driven wheel 221 is connected to the output shaft of the second motor 210 via a transmission rope, and the connecting shaft 223 passes through the driven wheel 221 and the drive joint 230.

[0061] The connecting shaft 223 passes through both sides of the bracket 260 to mount the driven wheel 221 onto the bracket 260. The transmission rope is wound around the output shaft of the second motor 210 and the driven wheel 221 in sequence. The drive joint 230 is formed by connecting multiple rods in sequence. Driven by the output shaft of the second motor 210, the driven wheel 221 rotates, which in turn drives the connecting shaft 223 and the drive joint 230 to rotate. Since one end of the drive joint 230 is connected to the working end, the drive joint 230 retracts during rotation to drive the working end to slide on the guide rail 250.

[0062] The working end and the guide rail 250 can be slidably connected in a dovetail groove manner. If one of the working end and the guide rail 250 is provided with an inverted trapezoidal protrusion, then the other is provided with an inverted trapezoidal slot. This is so that after the working end is connected to the guide rail 250, the working end can slide relative to the guide rail 250 without falling off the guide rail 250.

[0063] In some embodiments, the drive assembly 150 includes an active joint 231 and a driven joint 232. The active joint 231 is provided with a connecting shaft 223. The driven joint 232 includes at least two connecting rods. Two adjacent connecting rods are rotatably connected. The connecting rod closest to the active joint 231 is fixedly connected to the active joint 231, and the connecting rod furthest from the active joint 231 is connected to the working end 240.

[0064] The connecting shaft 223 passes through and locks onto the active joint 231, so that the active joint 231 rotates with the connecting shaft 223 during rotation. One end of the driven joint 232 is fixedly connected to the active joint 231 by bolts, and the other end is rotatably connected to the working end by a pin. During operation, the connecting rod connected to the driven joint 232 and the active joint 231 rotates with the active joint 231. Since the end of the driven joint 232 is limited by the working end, the second motor 210, a servo motor, adjusts the rotation direction of the active joint 231 by changing the positive and negative directions of the motor. The connecting rod not connected to the active joint 231 folds or expands, thereby realizing the extension and retraction movement of the working end, and thus achieving shoulder extension training for the patient.

[0065] like Figure 6 As shown, in some embodiments, a tensioning mechanism 222 is provided on the driven wheel 221, and a transmission rope is wound around the driven wheel 221 and the tensioning mechanism 222 and the output shaft of the second motor 210, with the end of the transmission rope connected to the tensioning mechanism 222.

[0066] The output shaft of the second motor 210 and the driven wheel 221 are sequentially wound around the transmission rope, and the end of the transmission rope is connected to the tensioning mechanism 222 to form a closed rope transmission structure, which has the advantages of low friction, zero backlash, and good reverse drive performance.

[0067] like Figure 7 As shown, in some embodiments, the driven wheel 221 has a fan-shaped structure, and two tensioning mechanisms 222 are provided. The two tensioning mechanisms 222 are arranged opposite to each other on the non-arc surface of the driven wheel 221, and the two ends of the transmission rope are respectively connected to the two tensioning mechanisms 222.

[0068] In this embodiment, based on the patient's stretching needs, the range of motion of the working end is limited. The rotation angle range of the driven wheel 221 can be 135° to meet the training activity stroke requirements. Of course, the rotation angle of the driven wheel 221 can be reasonably selected according to actual design requirements and the mechanism limitations of the driven wheel 221. The driven wheel 221 has a semi-circular structure, with a connecting shaft 223 passing through its middle to drive the connecting shaft 223 to rotate simultaneously. Two tensioning mechanisms 222 are arranged opposite to each other at the upper and lower ends of the non-circular arc surface of the driven wheel 221. During transmission connection, one end of the transmission rope is fixed to one tensioning mechanism 222, and the other end passes through half an arc of the driven wheel 221, the output shaft of the second motor 210, and the other half arc of the driven wheel 221 before being fixed to the other tensioning mechanism 222, forming a closed transmission structure. By adjusting the tensioning mechanism 222, the length of the transmission rope can be limited, thus affecting the rotation angle of the driven wheel 221.

[0069] Furthermore, the tensioning mechanism 222 includes two tensioning blocks 2221 arranged opposite to each other and an adjusting bolt 2222. One tensioning block 2221 is fixedly mounted on the end of the driven wheel 221 near the arc surface of the non-arc surface, and the other tensioning block 2221 is slidably connected to the non-arc surface of the driven wheel 221. The adjusting bolt 2222 passes through the two tensioning blocks 2221 in sequence and is threadedly connected to the tensioning blocks 2221. Both ends of the transmission rope are connected to the two movable tensioning blocks 2221 respectively. By turning the adjusting bolt 2222, the distance between the two tensioning blocks 2221 can be adjusted, thereby adjusting the tension of the transmission rope.

[0070] like Figure 4 As shown, in some embodiments, the telescopic training device 200 can be used independently, with a handle 290 provided on the working end. The patient can hold the handle 290 to perform extension rehabilitation training. In this embodiment, the telescopic training device 200 can adopt impedance or admittance control methods. Under different control modes of the motor, using the spring-damping model F=kx+bv, by adjusting the range of values ​​of stiffness coefficients k and b, telescopic training tasks with different stiffness and different forces can be achieved.

[0071] In some embodiments, the working end 240 may include a slider, a mounting flange, and a sensor, wherein the slider is slidably connected to the guide rail 250, the mounting flange is mounted on the slider, the sensor is mounted on the side of the mounting flange away from the slider, and the handle 290 is mounted on the sensor to measure the force applied to the patient's hand, assess the patient's rehabilitation status, and then adaptively adjust the output torque, output speed, or output position of the motor to meet the training needs of the patient at different rehabilitation stages.

[0072] In summary, the rehabilitation training system provided in this application adopts a modular design, including a grasping training device 100 and a telescopic training device 200, which can be used separately or simultaneously to achieve coordinated training of the two tasks under different task models. It simultaneously realizes grasping and relaxation rehabilitation training, achieving rehabilitation training for the shoulder, elbow, and finger joints. It can also generate two-dimensional planar movements through the combination of the two modules for wrist joint rehabilitation training. The system has a simplified overall structure, is easy to operate, and has low production costs, making it convenient for patients to purchase and use at home without needing to go to a professional rehabilitation training center, thus reducing the burden on patients' families.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0074] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A rehabilitation training system, characterized in that, include: A grasping training device includes a guide, a slider, and a drive assembly. Two sliders are provided, and the two sliders are slidably connected to the guide. A first finger plate and a second finger plate are respectively disposed on the two sliders. The first finger plate is provided with a first finger placement position, and the second finger plate is provided with a second finger placement position. The drive assembly is mounted on the guide member, and under the drive of the drive assembly, the two sliding members move away from or closer to each other; The controller is communicatively connected to the drive component; A telescopic training device includes a second motor, a transmission assembly, a drive joint, a working end, and a guide rail. The second motor is communicatively connected to the controller. The transmission assembly is connected to the output shaft of the second motor. The drive joint is connected to the transmission assembly. The working end is located at the end of the drive joint away from the transmission assembly. The working end is slidably connected to the guide rail. The gripping training device is installed on the working end. The transmission assembly includes a driven wheel and a connecting shaft. The driven wheel is connected to the output shaft of the second motor via a transmission rope. The connecting shaft passes through the driven wheel and the drive joint. A tensioning mechanism is provided on the driven wheel. The transmission rope is wound around the driven wheel, the tensioning mechanism, and the output shaft of the second motor. The end of the transmission rope is connected to the tensioning mechanism.

2. The rehabilitation training system according to claim 1, characterized in that, The drive assembly includes an active joint and a driven joint. The active joint is connected to the connecting shaft. The driven joint includes at least two connecting rods. Two adjacent connecting rods are rotatably connected. The connecting rod closest to the active joint is fixedly connected to the active joint. The connecting rod furthest from the active joint is connected to the working end.

3. The rehabilitation training system according to claim 1, characterized in that, The driven wheel has a fan-shaped structure, and there are two tensioning mechanisms. The two tensioning mechanisms are arranged opposite to each other on the non-arc surface of the driven wheel, and the two ends of the transmission rope are respectively connected to the two tensioning mechanisms.

4. The rehabilitation training system according to claim 1, characterized in that, The drive assembly includes a first motor and a lead screw. The first motor is mounted on one end of the slider, and the output shaft of the first motor is connected to the lead screw. The lead screw passes through two of the sliders. The lead screw includes a first threaded section and a second threaded section, the first threaded section and the second threaded section are screwed in opposite directions, and the two sliding members are respectively threadedly connected to the first threaded section and the second threaded section.

5. The rehabilitation training system according to claim 1, characterized in that, The first finger placement position has one limiting ring, and the second finger placement position has four limiting rings.

6. The rehabilitation training system according to claim 1, characterized in that, A force sensor is installed on the first finger plate, and a first finger placement position is provided on the side of the force sensor opposite to the first finger plate.

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