Hand exoskeleton for rehabilitation medicine

Abstract

The application provides a hand exoskeleton for rehabilitation medicine, and relates to the technical field of rehabilitation robots. The hand exoskeleton for rehabilitation medicine comprises a finger module, a spring set, a back-of-hand module, a traction rope set and a driving module, the joints of the finger module are connected through the spring set, the finger module and the back-of-hand module are connected through the spring set, one end of the traction rope set is connected with the radial end of the finger module, the other end of the traction rope set passes through the back-of-hand module and is connected with the driving module, the driving module is located on the side of the back-of-hand module away from the finger module, and the driving module is used for driving the finger module to move relative to the back-of-hand module through the traction rope set to bend the spring set. The driving module and the spring set can alternately serve as the power source for realizing the joint movement of the finger module, so that the labor input can be significantly reduced in the process of finger rehabilitation training, and the rehabilitation training efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robot technology, and more specifically, to a hand exoskeleton for rehabilitation medicine. Background Technology

[0002] The hand is the most active and dexterous motor organ in the human body, but stroke survivors often exhibit significant hand disabilities, unable to perform fine motor skills such as full-hand grasping, finger pinching, individual finger movement, and thumb adduction and abduction. Loss of hand mobility can severely impact daily life. However, traditional artificial hand rehabilitation training requires significant manpower, has low reproducibility, and demands considerable skill, resulting in low efficiency. Summary of the Invention

[0003] The problem addressed by this invention is: how to improve the efficiency of rehabilitation training.

[0004] To address the aforementioned problems, this invention provides a hand exoskeleton for rehabilitation medicine, comprising a finger module, a spring assembly, a back-of-hand module, a traction rope assembly, and a drive module. The joints of the finger module are connected via the spring assembly, and the finger module is also connected to the back-of-hand module via the spring assembly. One end of the traction rope assembly is connected to the radial end of the finger module, and the other end passes through the back-of-hand module and is connected to the drive module. The drive module is located on the side of the back-of-hand module away from the finger module, and is used to drive the finger module to move relative to the back-of-hand module via the traction rope assembly to bend the spring assembly.

[0005] Optionally, the finger module includes a fingertip sleeve and a finger root sleeve, both for wearing on the patient's finger. The spring assembly includes a fingertip joint spring and a metacarpophalangeal joint spring. The inner walls of the fingertip sleeve and the finger root sleeve, which are close to each other, are respectively provided with a first spiral groove. The two ends of the fingertip joint spring are respectively screwed into the first spiral groove of the fingertip sleeve and the first spiral groove of the finger root sleeve. The inner wall of the finger root sleeve, which is opposite to the fingertip sleeve, is provided with a second spiral groove. One end of the metacarpophalangeal joint spring is screwed into the second spiral groove, and the other end is connected to the back of the hand module.

[0006] Optionally, the hand exoskeleton for rehabilitation medicine further includes a wiring module, which has a ring structure and is connected axially between the metacarpophalangeal joint spring and the back of the hand module. The wiring module is provided with a wiring structure, and the traction rope group passes through the wiring structure and the back of the hand module in sequence.

[0007] Optionally, the wiring module includes a first wiring ring, a second wiring ring, and a third wiring ring; the fingertip sleeve includes a fingertip tip cord connection structure and a fingertip bottom cord connection structure; the finger root sleeve includes a finger root tip cord connection structure, a finger root left end cord connection structure, a finger root bottom end cord connection structure, and a finger root right end cord connection structure arranged sequentially along its circumference; the fingertip tip cord connection structure and the finger root tip cord connection structure are aligned along the axial direction of the fingertip joint spring; the fingertip bottom end cord connection structure and the finger root bottom end cord connection structure are aligned along the axial direction of the fingertip joint spring.

[0008] The first wiring ring is provided with a first wiring top hole, a first wiring groove, and a first wiring bottom hole; the first wiring groove is located at the end of the first wiring ring facing the second wiring ring, the first wiring top hole is collinear with the finger root top rope connection structure, the two first wiring grooves are located on both sides of the first wiring top hole, and the lower ends of the two first wiring grooves are respectively connected to the finger root left end rope connection structure and the finger root right end rope connection structure, and the first wiring bottom hole is coaxial with the finger root bottom end rope connection structure;

[0009] The second wiring ring is provided with a second wiring top hole, a second wiring groove, and a second wiring bottom hole; the second wiring groove is located at one end of the second wiring ring facing the third wiring ring; there are three second wiring top holes, the middle second wiring top hole is coaxial with the first wiring top hole, the two second wiring top holes at both ends are respectively connected to the top of the two first wiring grooves, and the second wiring bottom hole is coaxial with the first wiring bottom hole; the upper ends of the two second wiring grooves are respectively spaced apart from the two second wiring top holes at both ends, and the lower ends of the second wiring grooves are connected to the second wiring bottom holes;

[0010] The third wiring ring is provided with five third wiring top holes arranged in sequence. The three third wiring top holes in the middle are coaxial with the three second wiring top holes, and the two third wiring top holes at both ends are connected to the upper ends of the two second wiring grooves. The five third wiring top holes are connected to the back of the hand module.

[0011] The traction rope assembly includes a first rope line that pulls the back of the hand of the fingertip sleeve, a second rope line that pulls the palm of the hand of the fingertip sleeve, two third rope lines that pull the palm of the hand of the finger root sleeve, and two fourth rope lines that pull the back of the hand of the finger root sleeve.

[0012] The first cord is connected to the back of the hand module after passing through the fingertip cord connection structure, the first thread top hole, the second thread top hole, and the third thread top hole in sequence.

[0013] The second cord and the two third cords pass through the first wiring bottom hole and the second wiring bottom hole respectively through the fingertip bottom cord connection structure and the finger root bottom cord connection structure, and then pass through the top of the two second wiring grooves and out of the two third wiring top holes located at both ends to communicate with the back of the hand module.

[0014] The two fourth ropes pass through the lower ends of the two first wiring grooves through the left end rope connection structure and the right end rope connection structure of the finger root, respectively, and pass through the upper ends of the two first wiring grooves through the two second wiring top holes located at both ends. They then pass out through the two third wiring top holes that are connected to the two second wiring top holes and connect to the back of the hand module.

[0015] Optionally, the hand exoskeleton for rehabilitation medicine further includes a tubing that connects the back of the hand module and the drive module, and the traction rope assembly passes through the tubing and is connected to the output end of the drive module.

[0016] Optionally, the drive module includes a winch, a motor, and a housing. The housing has a through hole that communicates with the hose. The motor is connected to the housing, and its output end is connected to the winch. The winch is connected to the end of the traction rope assembly away from the back of the hand module. The motor drives the winch to rotate and wind the traction rope assembly around it, thereby realizing the movement of the traction rope assembly.

[0017] Optionally, the winch is provided with a spiral groove, and the traction rope assembly is wound in the spiral groove.

[0018] Optionally, the drive module further includes a bearing-coated wheel, which is located in the radial direction of the winch, and the radial end face of the bearing-coated wheel is tangent to the radial end face of the winch. The bearing-coated wheel is used to press the traction rope assembly into the spiral groove.

[0019] Optionally, copper sleeves are provided at both ends of the rubber-coated bearing wheel in the axial direction, and the copper sleeves are used to adjust the position of the rubber-coated bearing wheel in the axial direction of the winch.

[0020] Optionally, both the fingertip and the base of the finger are made by 3D printing.

[0021] Compared with existing technologies, the hand exoskeleton for rehabilitation medicine of the present invention connects the joints of the finger modules with spring groups, allowing the movement of the finger module joints to be mutually converted with the deformation of the spring groups at the joints. Furthermore, the finger modules and the back-of-hand module are connected by spring groups, enabling the movement of both modules to be mutually converted with the deformation of the spring groups at the joints. One end of a traction rope is connected to the radial end of the finger module, and the other end passes through the back-of-hand module and connects to the drive module. This allows the output of the drive module to be converted into driving force for the finger modules via the traction rope. The drive module is located on the side of the back-of-hand module away from the finger modules and is used to drive the finger modules to move relative to the back-of-hand module via the traction rope, bending the spring groups. This allows the drive module and the spring groups to alternately serve as the power source for the joint movement of the finger modules. Thus, during finger rehabilitation training, the manpower input can be significantly reduced, thereby improving the efficiency of rehabilitation training. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the hand exoskeleton used in rehabilitation medicine in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the fingertip module in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the traction rope assembly routing in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the drive module in an embodiment of the present invention;

[0026] Figure 5 This is an assembly diagram of the copper sleeve and winch in an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 100-Finger module; 110-Fingertip sleeve; 111-Fingertip tip rope connection structure; 112-Fingertip bottom rope connection structure; 120-Finger root sleeve; 121-Finger root tip rope connection structure; 122-Finger root bottom rope connection structure; 123-Finger root left end rope connection structure; 124-Finger root right end rope connection structure; 130-First spiral groove; 140-Second spiral groove; 200-Spring assembly; 210-Fingertip joint spring; 220-Metacarpophalangeal joint spring; 300-Back of hand module; 400-Drive module; 4 10-Winder; 420-Motor; 430-Box; 431-Motor board; 432-Box cover; 440-Bearing rubber-coated wheel; 450-Copper sleeve; 500-Cable routing module; 510-First cable routing ring; 511-First cable routing top hole; 512-First cable routing groove; 513-First cable routing bottom hole; 520-Second cable routing ring; 521-Second cable routing top hole; 522-Second cable routing groove; 523-Second cable routing bottom hole; 530-Third cable routing ring; 531-Third cable routing top hole; 532-Boss; 600-Hose. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] In the attached diagram, the Z-axis represents the vertical direction, i.e., up and down. The positive direction of the Z-axis (where the arrow points) indicates up, and the negative direction (opposite to the positive Z-axis) indicates down. The X-axis represents the horizontal direction, with the positive direction (where the arrow points) indicating left and the negative direction (opposite to the positive X-axis) indicating right. The Y-axis represents the front and back direction, with the positive direction (where the arrow points) indicating front and the negative direction (opposite to the positive Y-axis) indicating back. It should be noted that the aforementioned representations of the Z, Y, and X axes are for ease of description and simplification of the invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0032] Combination Figure 1As shown, the present invention provides a hand exoskeleton for rehabilitation medicine, including a finger module 100, a spring assembly 200, a back-of-hand module 300, a traction rope assembly, and a drive module 400. The joints of the finger module 100 are connected by the spring assembly 200, and the finger module 100 and the back-of-hand module 300 are connected by the spring assembly 200. One end of the traction rope assembly is connected to the radial end of the finger module 100, and the other end passes through the back-of-hand module 300 and is connected to the drive module 400. The drive module 400 is located on the side of the back-of-hand module 300 away from the finger module 100. The drive module 400 is used to drive the finger module 100 to move relative to the back-of-hand module 300 through the traction rope assembly, so as to bend the spring assembly 200.

[0033] Specifically, the finger module 100 generally includes multiple phalanges, and the joints between these phalanges are connected by a spring assembly 200 to allow for complete deformation. Each phalanx of the finger module 100 can be considered a cylindrical structure, and the radial end of the finger module 100 refers to the outer end of each phalanx along the radial direction, or the outer sidewall of each phalanx. For example, the finger module 100 includes a fingertip sleeve 110 and a finger root sleeve 120, and the joints of the finger module 100 are connected by the spring assembly 200, meaning that the fingertip sleeve 110 and the finger root sleeve 120 are connected by the spring assembly 200. The back of the hand module 300 is provided with a through hole. The drive module 400 is located on the side of the back of the hand module 300 away from the finger module 100. One end of the traction rope assembly is connected to the outline end of the finger module 100, and the other end passes through the back of the hand module 300 and is connected to the drive module 400. The drive module 400 is used to drive the finger module 100 to move relative to the back of the hand module 300 through the traction rope assembly to bend the spring assembly 200. When the simulated patient's fingers bend toward the palm, the drive module 400 drives the traction rope assembly to move away from the finger module 100 (retracting the rope). The traction rope assembly can be connected to the radial end of the finger module 100 in the negative Z-axis direction (i.e., the lower end of the finger module 100). The traction rope assembly can exert a downward force on the finger module 100, causing the joint of the finger module 100 to bend downward and bend the spring assembly 200 at the joint of the finger module 100 downward. When the finger module 100 needs to move upward, the drive module 400 drives the traction rope assembly toward the finger module 100 (releasing the rope), while the spring assembly 200 returns upward and pulls the traction rope assembly. When the simulated patient's finger points to the left, the drive module 400 drives the traction rope assembly to move away from the finger module 100 (retracting the rope). The traction rope assembly can be connected to the radial end of the finger module 100 facing the positive X-axis (i.e., the left end of the finger module 100). The traction rope assembly can exert a force on the finger module 100 to the left, causing the finger module 100 to move to the left and bend the spring assembly 200 at the joint of the finger module 100 to the left. When the finger module 100 needs to return to the right, the drive module 400 drives the traction rope assembly to move towards the finger module 100 (releasing the rope), while the spring assembly 200 returns to the right and pulls the traction rope assembly.

[0034] Therefore, in this embodiment, the finger module 100 is connected to the joints via a spring assembly 200, allowing the movement of the finger module 100 joints to be interchangeable with the deformation of the spring assembly 200 at the joints. The finger module 100 and the back-of-hand module 300 are also connected via the spring assembly 200, allowing the movement of both the finger module 100 and the back-of-hand module 300 to be interchangeable with the deformation of the spring assembly 200 at the joints. Furthermore, one end of a traction rope assembly is connected to the radial end of the finger module 100, and the other end passes through the back-of-hand module 300 and is connected to the drive module 400, allowing the drive module to... The output of block 400 can be converted into driving force for finger module 100 through traction rope assembly. Then, the driving module 400 is located on the side of back of hand module 300 away from finger module 100. The driving module 400 is used to drive finger module 100 to move relative to back of hand module 300 through traction rope assembly, so as to bend spring assembly 200. This allows driving module 400 and spring assembly 200 to alternate as the power source for realizing joint movement of finger module 100. In this way, the input of manpower can be significantly reduced during finger rehabilitation training, it does not depend on human proficiency, and it is highly replicable, thereby improving the efficiency of rehabilitation training.

[0035] Optionally, combined Figure 1 and Figure 2 As shown, the finger module 100 includes a fingertip sleeve 110 and a finger root sleeve 120, both for wearing on the patient's fingers. The spring assembly 200 includes a fingertip joint spring 210 and a metacarpophalangeal joint spring 220. The inner walls of the fingertip sleeve 110 and the finger root sleeve 120, which are close to each other, are respectively provided with a first spiral groove 130. The two ends of the fingertip joint spring 210 are respectively screwed into the first spiral groove 130 of the fingertip sleeve 110 and the first spiral groove 130 of the finger root sleeve 120. The inner wall of the finger root sleeve 120, which is away from the fingertip sleeve 110, is provided with a second spiral groove 140. One end of the metacarpophalangeal joint spring 220 is screwed into the second spiral groove 140, and the other end is connected to the back of the hand module 300.

[0036] Specifically, both the fingertip sleeve 110 and the finger root sleeve 120 are tubular structures. The fingertip sleeve 110 and the finger root sleeve 120 are used to fit on the patient's fingers. The inner walls of the fingertip sleeve 110 and the finger root sleeve 120 that are close to each other are respectively provided with a first spiral groove 130. That is, the inner wall of the fingertip sleeve 110 facing the negative Y-axis is provided with a first spiral groove 130, and the inner wall of the finger root sleeve 120 facing the positive Y-axis is provided with a first spiral groove 130. The front and rear ends of the fingertip joint spring 210 are respectively screwed into the first spiral groove 130. The inner wall of the finger root sleeve 120 away from the fingertip sleeve 110 (the inner wall of the finger root sleeve 120 facing the negative Y-axis) is provided with a second spiral groove 140. One end of the metacarpophalangeal joint spring 220 is screwed into the second spiral groove 140, and the other end is connected to the back of the hand module 300. Furthermore, the lengths of the first spiral groove 130 and the second spiral groove 140 are related in a certain way, that is, to ensure that after the fingertip joint spring 210 and the metacarpophalangeal joint spring 220 are screwed in, the fingertip bottom rope connection structure 112 of the fingertip sleeve 110 and the finger root bottom rope connection structure 122 of the finger root sleeve 120 are aligned along the axial direction of the fingertip joint spring 210 (described later).

[0037] Thus, by providing first spiral grooves 130 on the inner walls of the fingertip sleeve 110 and the finger root sleeve 120 respectively, the two ends of the fingertip joint spring 210 are screwed into the first spiral grooves 130 respectively. The first spiral grooves 130 restrict the movement of the fingertip joint spring 210 within the fingertip sleeve 110 and the finger root sleeve 120 respectively. Then, by providing a second spiral groove 140 on the inner wall of the finger root sleeve 120 away from the fingertip sleeve 110, one end of the metacarpophalangeal joint spring 220 is screwed into the second spiral groove 140, and the other end is connected to the back of the hand module 300. The second spiral groove 140 restricts the movement of the metacarpophalangeal joint spring 220 within the finger root sleeve 120. In this way, not only is the installation of the fingertip joint spring 210 and the metacarpophalangeal joint spring 220 convenient, but the stability of the fingertip joint spring 210 and the metacarpophalangeal joint spring 220 can also be improved.

[0038] Furthermore, the axial lengths of both the fingertip joint spring 210 and the metacarpophalangeal joint spring 220 are relatively long and are somewhat related. For example, the length of the fingertip joint spring 210 is longer than that of the metacarpophalangeal joint spring 220. As a result, during the bending of the finger, the deformation range of the fingertip joint spring 210 is greater than that of the metacarpophalangeal joint spring 220. In other words, the fingertip joint spring 210 is easier to deform than the metacarpophalangeal joint spring 220, thus facilitating the bending of the finger.

[0039] Optionally, the hand exoskeleton for rehabilitation medicine also includes a wiring module 500, which has a ring structure and is connected axially between the metacarpophalangeal joint spring 220 and the back of the hand module 300. The wiring module 500 is provided with a wiring structure, and the traction rope group passes through the wiring structure and the back of the hand module 300 in sequence.

[0040] Specifically, the wiring module 500 has a ring structure and is located between the metacarpophalangeal joint spring 220 and the back of the hand module 300. Both ends of the wiring module 500 are connected to the metacarpophalangeal joint spring 220 and the back of the hand module 300, respectively. The wiring module 500 is provided with a wiring structure, and the traction rope group passes through the back of the hand module 300 through the wiring structure.

[0041] Thus, by using a ring-shaped wiring module 500, the outline of the wiring module 500 is similar to that of the metacarpophalangeal joint spring 220. The wiring module 500 is connected between the metacarpophalangeal joint spring 220 and the back of the hand module 300. The traction rope group passes through the back of the hand module 300 through the wiring structure on the wiring module 500. The wiring structure on the wiring module 500 guides the traction rope group. In this way, not only can the wiring module 500 guide the traction rope group, but the back of the hand module 300 is also connected to the metacarpophalangeal joint spring 220 through the wiring module 500, which has a similar outline to the metacarpophalangeal joint spring 220, so as to facilitate the connection between the metacarpophalangeal joint spring 220 and the back of the hand module 300.

[0042] Optionally, such as Figure 2 and Figure 3 As shown, the wiring module 500 includes a first wiring ring 510, a second wiring ring 520, and a third wiring ring 530. The fingertip sleeve 110 includes a fingertip tip cord connection structure 111 and a fingertip bottom cord connection structure 112. The finger root sleeve 120 includes a finger root tip cord connection structure 121, a finger root left end cord connection structure 123, a finger root bottom end cord connection structure 122, and a finger root right end cord connection structure 124 arranged sequentially along its circumference. The fingertip tip cord connection structure 111 and the finger root tip cord connection structure 121 are aligned along the axial direction of the fingertip joint spring 210; the fingertip bottom end cord connection structure 112 and the finger root bottom end cord connection structure 122 are aligned along the axial direction of the fingertip joint spring 210.

[0043] The first cable routing ring 510 is provided with a first cable routing top hole 511, a first cable routing groove 512 and a first cable routing bottom hole 513; the first cable routing groove 512 is located at one end of the first cable routing ring 510 facing the second cable routing ring 520, the first cable routing top hole 511 is collinear with the finger root top rope connection structure 121, the two first cable routing grooves 512 are located on both sides of the first cable routing top hole 511, and the lower ends of the two first cable routing grooves 512 are respectively connected to the finger root left end rope connection structure 123 and the finger root right end rope connection structure 124, and the first cable routing bottom hole 513 is coaxial with the finger root bottom end rope connection structure 122;

[0044] The second wiring ring 520 is provided with a second wiring top hole 521, a second wiring groove 522, and a second wiring bottom hole 523. The second wiring groove 522 is located at one end of the second wiring ring 520 facing the third wiring ring 530. There are three second wiring top holes 521. The middle second wiring top hole 521 is coaxial with the first wiring top hole 511. The two second wiring top holes 521 at both ends are respectively connected to the top of the two first wiring grooves 512. The second wiring bottom hole 523 is coaxial with the first wiring bottom hole 513. The upper ends of the two second wiring grooves 522 are respectively spaced apart from the two second wiring top holes 521 at both ends. The lower ends of the second wiring grooves 522 are connected to the second wiring bottom holes 523.

[0045] The third wiring ring 530 is provided with five third wiring top holes 531 arranged in sequence. The three third wiring top holes 531 in the middle are coaxial with the three second wiring top holes 521 respectively, and the two third wiring top holes 531 at both ends are connected to the upper ends of the two second wiring grooves 522 respectively. The five third wiring top holes 531 are connected to the back of the hand module 300.

[0046] The traction rope assembly includes a first rope line on the back side of the fingertip sleeve 110, a second rope line on the palm side of the fingertip sleeve 110, two third rope lines on the palm side of the finger root sleeve 120, and two fourth rope lines on the back side of the finger root sleeve 120.

[0047] The first cord passes through the fingertip top cord connection structure 111, the finger root top cord connection structure 121, the first wiring top hole 511, the second wiring top hole 521, and the third wiring top hole 531 in sequence, and then connects to the back of the hand module 300.

[0048] The second cord and the two third cords pass through the first wiring bottom hole 513 and the second wiring bottom hole 523 respectively via the fingertip bottom cord connection structure 112 and the finger root bottom cord connection structure 122, and then pass through the top of the two second wiring grooves 522 and out of the two third wiring top holes 531 located at both ends to communicate with the back of the hand module 300.

[0049] The two fourth cords pass through the lower ends of the two first cord routing grooves 512 via the left end cord connection structure 123 and the right end cord connection structure 124 of the finger root, respectively, and then pass through the upper ends of the two first cord routing grooves 512 to pass through the two second cord routing top holes 521 located at both ends. After passing through the two third cord routing top holes 531 connected to the two second cord routing top holes 521, they are connected to the back of the hand module 300.

[0050] Specifically, the wiring module 500 includes a first wiring ring 510, a second wiring ring 520, and a third wiring ring 530. The fingertip sleeve 110 includes a fingertip tip cord connection structure 111 and a fingertip bottom cord connection structure 112. The finger root sleeve 120 includes a finger root tip cord connection structure 121, a finger root left end cord connection structure 123, a finger root bottom end cord connection structure 122, and a finger root right end cord connection structure 124 arranged sequentially along its circumference. The fingertip tip cord connection structure 111 and the finger root tip cord connection structure 121 are aligned along the axial direction of the fingertip joint spring 210. The fingertip bottom end cord connection structure 112 and the finger root bottom end cord connection structure 122 are aligned along the axial direction of the fingertip joint spring 210. On both sides of the plane where the finger root top rope connection structure 121 and the finger root bottom rope connection structure 122 are located, there are finger root left end rope connection structure 123 and finger root right end rope connection structure 124. The finger root left end rope connection structure 123 is located at the upper left end of the finger root sleeve 120, and the finger root right end rope connection structure 124 is located at the upper right end of the finger root sleeve 120.

[0051] The first cable routing ring 510 is provided with a first cable routing top hole 511, a first cable routing groove 512 and a first cable routing bottom hole 513; the first cable routing top hole 511 is collinear with the finger root top rope connection structure 121, the two first cable routing grooves 512 are located on both sides of the first cable routing top hole 511, the lower end of the first cable routing groove 512 is connected to the finger root left end rope connection structure 123 and the finger root right end rope connection structure 124, the upper end of the first cable routing groove 512 is located near the first cable routing top hole 511, and the first cable routing bottom hole 513 is coaxial with the finger root bottom end rope connection structure 122;

[0052] The second wiring ring 520 is provided with a second wiring top hole 521, a second wiring groove 522, and a second wiring bottom hole 523; there are three second wiring top holes 521, the middle second wiring top hole 521 is coaxial with the first wiring top hole 511, the remaining two second wiring top holes 521 are respectively connected to the top of the two first wiring grooves 512, and the second wiring bottom hole 523 is coaxial with the first wiring bottom hole 513;

[0053] The upper end of the second wiring groove 522 is located near the remaining two second wiring top holes 521, and the lower end of the second wiring groove 522 is connected to the second wiring bottom hole 523.

[0054] The third wiring ring 530 is provided with five third wiring top holes 531. The three third wiring top holes 531 located in the middle are coaxial with the three second wiring top holes 521 respectively, and the remaining two third wiring top holes 531 are connected to the upper end of the second wiring groove 522 respectively; the five third wiring top holes 531 are connected to the back of the hand module 300.

[0055] The traction rope assembly consists of five ropes, and the specific paths of the five ropes are as follows:

[0056] The control fingertip sleeve 110's back-side cord is connected to the back-side module 300 by passing through the finger root top cord connection structure 121, the first wiring top hole 511, the second wiring top hole 521, and the third wiring top hole 531 in sequence via the tip top cord connection structure 111.

[0057] The control fingertip sleeve 110 palm side rope and the finger root sleeve 120 palm side two ropes are respectively connected by the fingertip bottom rope connection structure 112 and the finger root bottom rope connection structure 122. They first pass through the first wiring bottom hole 513 and the second wiring top hole 521, and then are concentrated near the top along the second wiring groove 522. Then they pass out from the two outermost third wiring top holes 531 and communicate with the back of the hand module 300.

[0058] The two ropes on the back of the hand side of the control finger root sleeve 120 are respectively connected to the lower ends of the two first wiring grooves 512 through the left end rope connection structure 123 and the right end rope connection structure 124 of the finger root, and then converge at the upper end of the two first wiring grooves 512. After passing through the two outermost second wiring top holes 521, they pass through the two third wiring top holes 531 connected to the two second wiring top holes 521 and communicate with the back of the hand module 300; thus, the movement of the fingers in the up and down direction and the left and right direction can be realized.

[0059] Optionally, such as Figure 2 and Figure 3 As shown, the wiring module 500 is connected to the back of the hand module 300.

[0060] Specifically, a boss 532 is provided on the top end of the third wiring ring 530 facing the back of the hand module 300, and a slot is provided on the back of the hand module 300. The boss 532 is inserted into the slot. Furthermore, the boss 532 is provided with the five third wiring top holes 531 mentioned above.

[0061] Thus, the wiring module 500 is connected to the back of the hand module 300, which facilitates the assembly and disassembly of the wiring module 500 and the back of the hand module 300.

[0062] Optionally, the hand exoskeleton for rehabilitation medicine also includes a tubing 600, which connects the back of the hand module 300 and the drive module 400, and a traction rope assembly passes through the tubing 600 and connects to the output end of the drive module 400.

[0063] Specifically, the hose 600 is located between the back of the hand module 300 and the drive module 400, and is connected to both the back of the hand module 300 and the drive module 400 respectively. The traction rope group passes through the hose 600 and is connected to the output end of the drive module 400.

[0064] Thus, the rubber tube 600 connects the back of the hand module 300 and the drive module 400, allowing the back of the hand module 300 to be located away from the drive module 400. The traction rope group passes through the rubber tube 600 and connects to the output end of the drive module 400. In this way, the length of the rubber tube 600 can be modified as needed. It can be bent to a certain extent, but its axial direction is difficult to bend. Therefore, it can be used as a long-distance guide for the traction rope group without affecting the stability of the traction rope group's movement.

[0065] Optionally, combined Figure 4 and Figure 5 As shown, the drive module 400 includes a winch 410, a motor 420, and a housing 430. The housing 430 has a through hole that communicates with the hose 600. The motor 420 is connected inside the housing 430, and the output end of the motor 420 is connected to the winch 410. The winch 410 is connected to the rope end of the traction rope assembly. The motor 420 is used to drive the winch 410 to rotate and wind the traction rope assembly around the winch 410 to realize the movement of the traction rope assembly.

[0066] Specifically, the box body 430 may include a box body, a motor plate 431, two parallel plate walls, and a box cover 432. The motor plate 431 is located on the top of the box body 430, the two parallel plate walls are located on the top of the motor plate 431, and the box cover 432 covers the two parallel plate walls. A through hole is provided on the end face of the box body 430 facing the back of the hand module 300 (or, in other words, a through hole is provided on the plate wall near the back of the hand module 300). The end of the rubber tube 600 is inserted into the through hole, and the through hole communicates with the rubber tube 600. The motor 420 is located between the two plate walls and is connected to the motor plate 431. The output end of the motor 420 is connected to the winch 410. The winch 410 is horizontally arranged and connected to the rope end of the traction rope group. The traction rope group extends out from the through hole and is connected to the winch 410. The motor 420 is used to drive the winch 410 to rotate and wind the traction rope group around the winch 410 to realize the movement of the traction rope group. Only one traction rope is allowed to pass through each through hole, and the number of hoses 600, through holes, winches 410, and motors 420 corresponds, as shown in the attached diagram. Figure 4 As shown, one through hole corresponds to one winch 410 and one motor 420, thus avoiding interference with the movement of the traction rope assembly.

[0067] Thus, the traction rope assembly located inside the hose 600 is connected to the through hole on the housing 430, allowing it to extend from the hose 600 under the guidance of the through hole and connect to the winch 410. The motor 420 is connected to the housing 430, and its output end is connected to the winch 410. The winch 410 is connected to the rope end of the traction rope assembly. The motor 420 and the winch 410 form the drive structure for the traction rope assembly within the housing 430. The motor 420 drives the winch 410 to rotate, winding the traction rope assembly onto the winch 410 to achieve the movement of the traction rope assembly. This allows the rotation of the winch 410 to be converted into linear motion of the traction rope assembly. This not only simplifies the structure of the drive module 400 but also allows the traction rope assembly to be guided by the hose 600, the through hole, and the winch 410, thereby improving the stability of the traction rope assembly's movement.

[0068] Optionally, the winch 410 is provided with a spiral groove, and the traction rope assembly is wound in the spiral groove.

[0069] Specifically, a spiral groove is provided on the outer wall of the winch 410, and the traction rope assembly is wound in the spiral groove.

[0070] Thus, the traction rope assembly is wound into the spiral groove on the winch 410, and the spiral groove guides the winding of the traction rope assembly to improve the winding efficiency of the traction rope assembly.

[0071] Optionally, combined Figure 4 and Figure 5 As shown, the drive module 400 also includes a bearing-coated wheel 440, which is located in the radial direction of the winch 410. The radial end face of the bearing-coated wheel 440 is tangent to the radial end face of the winch 410. The bearing-coated wheel 440 is used to press the traction rope assembly into the spiral groove.

[0072] Specifically, the bearing-coated wheel 440 is located in the radial direction of the winch 410 and is rotatably connected to the motor plate 431 inside the housing 430 via a rotating shaft. The radial end face of the bearing-coated wheel 440 is tangent to the radial end face of the winch 410. The rotation of the bearing-coated wheel 440 presses the traction rope assembly into the spiral groove.

[0073] Thus, with the bearing-coated wheel 440 located in the radial direction of the winch 410 and its radial end face tangent to the radial end face of the winch 410, the bearing-coated wheel 440 can rotate within the housing 430. The bearing-coated wheel 440 is then used to press the traction rope assembly into the spiral groove. In this way, the bearing-coated wheel 440 can press the traction rope assembly tightly into the spiral groove, thereby improving the repeatability accuracy of the traction rope assembly within the spiral groove.

[0074] Optionally, combined Figure 4 and Figure 5As shown, copper sleeves 450 are respectively provided at both ends of the bearing rubber-coated wheel 440 in the axial direction. The copper sleeves 450 are used to adjust the position of the bearing rubber-coated wheel 440 in the axial direction of the winch 410.

[0075] Specifically, two copper sleeves 450 are provided, and the bearing-coated wheel 440 is located between the two copper sleeves 450. The copper sleeves 450 are used to adjust the axial position of the bearing-coated wheel 440 in the winch 410. This means that the axial position of the bearing-coated wheel 440 in the winch 410 is adjusted by adjusting the length of each of the two copper sleeves 450. For example, when the winch 410 and the bearing-coated wheel 440 are horizontal and the bearing-coated wheel 440 is located between the two copper sleeves 450, the axial position of the bearing-coated wheel 440 in the winch 410 is relatively upward. This reduces the contact area between the bearing-coated wheel 440 and the winch 440, resulting in poor clamping effect of the bearing-coated wheel 440 on the traction rope assembly. In this case, by adjusting the length of the copper sleeve 450 below the bearing-coated wheel 440, the bearing-coated wheel 440 is lowered so that the bearing-coated wheel 440 and the winch 410 are at the same height.

[0076] Thus, by setting copper sleeves 450 at both ends of the bearing-coated wheel 440 in the axial direction, and using the copper sleeves 450 to adjust the position of the bearing-coated wheel 440 in the axial direction of the winch 410, the two copper sleeves 450 adjust the contact area between the bearing-coated wheel 440 and the winch 410, thereby maximizing the contact area between the bearing-coated wheel 440 and the winch 410 and improving the clamping effect of the bearing-coated wheel 440 on the traction rope assembly.

[0077] Optionally, both the fingertip sleeve 110 and the finger root sleeve 120 are made by 3D printing.

[0078] Thus, by making both the fingertip sleeve 110 and the finger root sleeve 120 by 3D printing, the cost of the fingertip sleeve 110 and the finger root sleeve 120 is reduced, and the fingertip sleeve 110 and the finger root sleeve 120 are lightweight, reducing the burden on patients.

[0079] While the disclosure is as stated above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A hand exoskeleton for rehabilitation medicine, characterized in that, The device includes a finger module (100), a spring assembly (200), a back-of-hand module (300), a traction rope assembly, and a drive module (400). The joints of the finger module (100) are connected via the spring assembly (200), and the finger module (100) and the back-of-hand module (300) are connected via the spring assembly (200). One end of the traction rope assembly is connected to the radial end of the finger module (100), and the other end passes through the back-of-hand module (300) and connects to the drive module (400). The drive module (400) is located on the side of the back-of-hand module (300) away from the finger module (100), and the drive module (400) is used to drive the finger via the traction rope assembly. The module (100) moves relative to the back of the hand module (300) to bend the spring assembly (200); the finger module (100) includes a fingertip sleeve (110) and a finger root sleeve (120) both for wearing on the patient's fingers; the spring assembly (200) includes a fingertip joint spring (210) and a metacarpophalangeal joint spring (220); the inner walls of the fingertip sleeve (110) and the finger root sleeve (120) are respectively provided with first spiral grooves (130); the two ends of the fingertip joint spring (210) are respectively screwed into the first spiral grooves (130) of the fingertip sleeve (110) and the first spiral grooves (130) of the finger root sleeve (120); the finger root sleeve (110) is also provided with first spiral grooves (130) of the fingertip sleeve (110) and the finger root sleeve (120). 20) A second spiral groove (140) is provided on the inner wall away from the fingertip sleeve (110). One end of the metacarpophalangeal joint spring (220) is screwed into the second spiral groove (140), and the other end is connected to the back of the hand module (300). It also includes a wiring module (500), which is a ring structure. The wiring module (500) is connected axially between the metacarpophalangeal joint spring (220) and the back of the hand module (300). The wiring module (500) is provided with a wiring structure. The traction rope group passes through the wiring structure and the back of the hand module (300) in sequence. The wiring module (500) includes a first wiring ring (510) and a second wiring ring (520). The fingertip sleeve (110) includes a fingertip top cord connection structure (111) and a fingertip bottom cord connection structure (112), and the finger root sleeve (120) includes a finger root top cord connection structure (121), a finger root left end cord connection structure (123), a finger root bottom end cord connection structure (122), and a finger root right end cord connection structure (124) arranged sequentially along its circumference. The fingertip top cord connection structure (111) and the finger root top cord connection structure (121) are aligned along the axial direction of the fingertip joint spring (210); the fingertip bottom cord connection structure (112) and the finger root bottom cord connection structure (122) are aligned along the axial direction of the fingertip joint spring (210). The first wiring ring (510) is provided with a first wiring top hole (511), a first wiring groove (512) and a first wiring bottom hole (513); the first wiring groove (512) is located at one end of the first wiring ring (510) facing the second wiring ring (520), the first wiring top hole (511) is collinear with the finger root top rope connection structure (121), the two first wiring grooves (512) are located on both sides of the first wiring top hole (511), and the lower ends of the two first wiring grooves (512) are respectively connected to the finger root left end rope connection structure (123) and the finger root right end rope connection structure (124), and the first wiring bottom hole (513) is coaxial with the finger root bottom end rope connection structure (122); The second wiring ring (520) is provided with a second wiring top hole (521), a second wiring groove (522), and a second wiring bottom hole (523); the second wiring groove (522) is located at one end of the second wiring ring (520) facing the third wiring ring (530); there are three second wiring top holes (521), the middle second wiring top hole (521) is coaxial with the first wiring top hole (511), the two second wiring top holes (521) at both ends are respectively connected to the top ends of the two first wiring grooves (512), and the second wiring bottom hole (523) is coaxial with the first wiring bottom hole (513); the upper ends of the two second wiring grooves (522) are respectively spaced apart from the two second wiring top holes (521) at both ends, and the lower end of the second wiring groove (522) is connected to the second wiring bottom hole (523); The third wiring ring (530) is provided with five third wiring top holes (531) arranged in sequence. The three third wiring top holes (531) in the middle are coaxial with the three second wiring top holes (521), and the two third wiring top holes (531) at both ends are connected to the upper ends of the two second wiring grooves (522). The five third wiring top holes (531) are connected to the back of the hand module (300). The traction rope assembly includes a first rope line that pulls the back side of the fingertip sleeve (110), a second rope line that pulls the palm side of the fingertip sleeve (110), two third rope lines that pull the palm side of the finger root sleeve (120), and two fourth rope lines that pull the back side of the finger root sleeve (120). The first cord is connected to the back of the hand module (300) after passing through the finger root top cord connection structure (121), the first wiring top hole (511), the second wiring top hole (521), and the third wiring top hole (531) in sequence from the fingertip top cord connection structure (111). The second cord and the two third cords pass through the first wiring bottom hole (513) and the second wiring bottom hole (523) respectively through the fingertip bottom cord connection structure (112) and the finger root bottom cord connection structure (122), and then pass through the top of the two second wiring grooves (522) and out of the two third wiring top holes (531) located at both ends to communicate with the back of the hand module (300). The two fourth ropes pass through the lower ends of the two first wiring grooves (512) via the left end rope connection structure (123) and the right end rope connection structure (124) of the finger root, respectively, and pass through the upper ends of the two first wiring grooves (512) via the two second wiring top holes (521) located at both ends. They then pass through the two third wiring top holes (531) connected to the two second wiring top holes (521) and communicate with the back of the hand module (300).

2. The hand exoskeleton for rehabilitation medicine according to claim 1, characterized in that, It also includes a hose (600) that connects the back of the hand module (300) and the drive module (400), and the traction rope group passes through the hose (600) and is connected to the output end of the drive module (400).

3. The hand exoskeleton for rehabilitation medicine according to claim 2, characterized in that, The drive module (400) includes a winch (410), a motor (420), and a housing (430). The housing (430) has a through hole that communicates with the hose (600). The motor (420) is connected inside the housing (430). The output end of the motor (420) is connected to the winch (410). The winch (410) is connected to the rope end of the traction rope group. The motor (420) is used to drive the winch (410) to rotate and wind the traction rope group around the winch (410) to realize the movement of the traction rope group.

4. The hand exoskeleton for rehabilitation medicine according to claim 3, characterized in that, The winch (410) is provided with a spiral groove, and the traction rope group is wound in the spiral groove.

5. The hand exoskeleton for rehabilitation medicine according to claim 4, characterized in that, The drive module (400) also includes a bearing-coated wheel (440), which is located in the radial direction of the winch (410). The radial end face of the bearing-coated wheel (440) is tangent to the radial end face of the winch (410). The bearing-coated wheel (440) is used to press the traction rope assembly into the spiral groove.

6. The hand exoskeleton for rehabilitation medicine according to claim 5, characterized in that, The bearing-coated wheel (440) has copper sleeves (450) at both ends in the axial direction. The copper sleeves (450) are used to adjust the position of the bearing-coated wheel (440) in the axial direction of the winch (410).

7. The hand exoskeleton for rehabilitation medicine according to claim 1, characterized in that, Both the fingertip sleeve (110) and the finger root sleeve (120) are made by 3D printing.

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