Finger rehabilitation device and hand rehabilitation device driven by nested elastic member

Abstract

The present invention relates to the field of finger rehabilitation, and discloses a nested elastic member-driven finger rehabilitation device and hand rehabilitation device, comprising: an elastic driving member arranged on a side close to the back of the hand and capable of retracting and bending and stretching, a palm connecting component respectively used to connect with the palm and the elastic driving member, and a finger joint connecting component respectively used to connect with the finger joints and the elastic driving member, wherein the elastic driving member has the following working states: a bending working state and an extending working state, in which the elastic driving member is extended and bends toward the palm of the hand; in the extending working state, the elastic driving member is retracted and stretches away from the palm of the hand. The finger rehabilitation mechanism of the present invention can independently drive the bending of multiple finger joints, and has the advantages of better protection of fingers, stronger compatibility with hand sizes, and multiple degrees of freedom.

Description

Technical Field

[0001] The present invention relates to the technical field of finger rehabilitation, and in particular to a finger rehabilitation device driven by a nested elastic member. Based on this, the present invention also relates to a hand rehabilitation device driven by a nested elastic member. Background Art

[0002] Traditional hand rehabilitation therapy mainly relies on manual operation by physical therapists, but this method is not only time-consuming and labor-intensive, but also difficult to ensure the accuracy and consistency of treatment. Therefore, developing a robotic device that can assist hand rehabilitation and realize the automation and precision of the rehabilitation process has important clinical significance and application value.

[0003] The research on hand exoskeletons was initially applied to the field of master-slave operation, such as the control of robotic hands for astronauts' extravehicular activities. With the continuous advancement of technology, hand exoskeletons have gradually been applied to the field of rehabilitation engineering and have become an important auxiliary tool for hand rehabilitation.

[0004] Hand exoskeleton technology solutions are mainly divided into three categories: soft exoskeletons, soft-hard hybrid hand exoskeletons, and hard hand exoskeletons.

[0005] Soft hand exoskeleton has good flexibility, small structure size, and can fit the hand well, but the fit to the hand makes the force arm of driving the finger joint rotation short, and the ratio of joint rotation torque to driving force is low. There are two main types: wire drive and pneumatic drive. The wire drive type can only provide pulling force. Each joint drive requires 2 drive motors or 1 drive motor and an additional movable pulley combination. The overall wiring is relatively complicated, the hand size compatibility is poor, and it needs to be customized according to the patient's hand size. The overall mass is heavy and the manufacturing cost is high. Compared with wire drive, pneumatic drive has good hand size compatibility, but the ratio of hand joint driving torque to driving force is lower, the gripping force is small, and the servo control accuracy of position and speed is poor.

[0006] The soft-hard hybrid hand exoskeleton cannot independently control the movement of each finger joint. Compared with the physiological structure of the finger, the flexibility of the finger is greatly reduced, and the hand posture that can be controlled is limited, and many rehabilitation movements cannot be achieved; because the driving force drives the distal knuckles of the fingers, the ratio of the rotational torque of the finger joints to the driving force is low, resulting in a small grip force. What is more serious is that since the driving force has a large component in the direction perpendicular to the axis of rotation of the joint, the pressure on the three joints of the finger is high, which can easily cause joint damage. Secondly, the rigidity in the direction perpendicular to the rotation of the joint when the finger is flexed and extended is large, which strictly restricts the opening and closing of the finger. At the same time, when the wear is not aligned, it causes discomfort to the patient.

[0007] Rigid hand exoskeletons, represented by linkage mechanisms, have many components, large size, large motion space, and heavy mass. At the same time, it is difficult to align the kinematic pairs of the mechanism with the joints, which can easily cause dislocation, causing discomfort to the patient and even damage to the patient's joints. The hand size compatibility is poor. When the hand size of different patients changes, it is usually necessary to replace the components in the mechanism to adapt. In addition, since the finger joints have as many as 21 degrees of freedom, the rigid hand exoskeleton mechanism has strict restrictions on the remaining degrees of freedom of the joints except for the controlled joint degrees of freedom. When the patient has a certain degree of movement ability for the degrees of freedom restricted by the mechanism, it is not conducive to hand rehabilitation training. Summary of the invention

[0008] The purpose of the present invention is to overcome at least one of the above-mentioned technical problems existing in the prior art, and to provide a finger rehabilitation device and a hand rehabilitation device driven by a nested elastic part. The nested elastic part-driven finger rehabilitation device has the advantages of better protection for fingers and stronger compatibility with hand sizes.

[0009] In order to achieve the above-mentioned purpose, the first aspect of the present invention provides a nested elastic member-driven finger rehabilitation device, comprising: an elastic driving member arranged on a side close to the back of the hand and capable of retracting and flexing, a palm connecting component respectively used to connect to the palm and the elastic driving member, and a finger joint connecting component respectively used to connect to the finger joints and the elastic driving member, wherein the elastic driving member has the following working states: a bending working state, in which the elastic driving member is extended to increase the length of the curve between the palm connecting component and the finger joint connecting component, and the elastic driving member is bent toward the direction of the palm; and an extending working state, in which the elastic driving member is retracted to shorten the length of the curve between the palm connecting component and the finger joint connecting component, and the elastic driving member is extended away from the direction of the palm.

[0010] Through the above technical solution, the palm connection component is connected to the palm and the elastic drive component respectively, and the finger joint connection component is connected to the finger joint (such as the distal finger joint, the middle finger joint, and the proximal finger joint) and the elastic drive component respectively. When the elastic drive component is extended, the length of the curve between the palm connection component and the finger joint connection component increases, so that the elastic drive component bends toward the palm, drives the finger to bend around the palm, and realizes the bending of the finger. When the elastic drive component retracts, the length of the curve between the palm connection component and the finger joint connection component shortens, so that the elastic drive component bends away from the palm, and drives the finger to stretch around the palm.

[0011] In the finger rehabilitation device of the present invention, the finger joint connection assembly is connected to the finger joint, and does not need to be aligned with the finger joint, which is convenient for wearing; compared with the solution of aligning the connection assembly with the finger joint in the prior art, it is relatively easy to connect the finger joint connection assembly to the finger joint, and it is not easy to be misaligned during use, causing discomfort to the user or even damaging the finger joint; at the same time, it also makes the finger rehabilitation device have good compatibility with different sizes of hands. When the hand sizes of different users change, there is no need to customize or replace the components in the finger rehabilitation device, saving economic costs. Moreover, as mentioned above, the curve length between the palm connection assembly and the finger joint connection assembly is increased by stretching the elastic drive member to achieve the bending of the finger. In this way, by increasing the length of the elastic drive member between the connection assembly corresponding to different finger joints and the palm connection assembly, different finger joints can be bent, thereby adapting to different rehabilitation treatment needs. On this basis, the finger rehabilitation device provided by the present invention can also realize independent control of bending of different finger joints and achieve more hand postures.

[0012] In addition, the prior art generally uses a non-elastic driving member, such as a steel cable, to drive the finger to bend. When the driving member applies too much driving force to the non-elastic member, the non-elastic member applies too much force to the finger when it bends, which can easily cause finger damage. The finger rehabilitation device of the present invention uses an elastic driving member to drive the finger to bend. Since the elastic driving member itself has a certain elasticity, the elastic driving member will buffer part of the excessive driving force during the bending process, thereby protecting the finger joints.

[0013] In some embodiments, the finger joint connection assembly includes a distal finger joint fixing seat respectively connected to the elastic driving member and the distal finger joint, a middle finger joint fixing seat respectively connected to the elastic driving member and the middle finger joint, and a proximal finger joint fixing seat respectively connected to the elastic driving member and the proximal finger joint.

[0014] In some embodiments, the middle segment fixing seat of the finger, the proximal segment fixing seat of the finger and the palm connecting assembly are respectively formed with a middle segment mounting hole, a proximal segment mounting hole and a proximal interphalangeal joint mounting hole for installing the elastic driving member, and the center lines of the middle segment mounting hole, the proximal segment mounting hole and the proximal interphalangeal joint mounting hole are all arc-shaped, and the center of the arc is located on the side close to the back of the hand.

[0015] In some embodiments, the middle section mounting hole, the proximal section mounting hole and the proximal finger joint mounting hole are rotatably connected to the elastic driving member.

[0016] In some embodiments, the elastic driving member includes a first elastic driving member whose end is connected to the distal segment fixing seat of the finger, a second elastic driving member whose end is connected to the middle segment fixing seat of the finger, and a third elastic driving member whose end is connected to the proximal segment fixing seat of the finger.

[0017] In some embodiments, the first elastic driving member is an elastic driving rod, the second elastic driving member is a first elastic driving tube sleeved on the elastic driving rod, and the third elastic driving member is a second elastic driving tube sleeved on the first elastic driving tube.

[0018] In some embodiments, the finger rehabilitation device also includes an elastic telescopic component mounted on the elastic driving member, the elastic telescopic component including a first elastic telescopic component arranged between the distal segment of the finger fixing seat and the middle segment of the finger fixing seat, a second elastic telescopic component arranged between the middle segment of the finger fixing seat and the proximal segment of the finger fixing seat, and a third elastic telescopic component arranged between the proximal segment of the finger fixing seat and the palm connection component.

[0019] In some embodiments, the finger rehabilitation device also includes a rope assembly, one end of which is connected to the palm connection assembly or the finger joint connection assembly, and the other end is connected to a side of the elastic telescopic assembly close to the finger surface.

[0020] In some embodiments, the finger rehabilitation device also includes a drive box transmission-connected to the elastic drive member and an elastic connecting tube connected between the drive box and the palm connecting assembly, and the elastic connecting tube is sleeved on the elastic drive member.

[0021] In some embodiments, the elastic driving member is made of polytetrafluoroethylene.

[0022] A second aspect of the present invention provides a nested elastic member-driven hand rehabilitation device, comprising a plurality of the aforementioned nested elastic member-driven finger rehabilitation devices, wherein the plurality of finger rehabilitation devices are correspondingly installed on different fingers.

[0023] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a finger rehabilitation device driven by a nested elastic member disclosed in the present invention;

[0025] Figure 2 yes Figure 1 A cross-sectional view of a finger rehabilitation device;

[0026] Figure 3 It is a schematic diagram of the connection structure of the finger rehabilitation device disclosed in the present invention at the distal part of the finger;

[0027] Figure 4 It is a schematic diagram of the connection structure of the finger rehabilitation device disclosed in the present invention between the middle segment of the finger and the proximal segment of the finger;

[0028] Figure 5 It is a schematic diagram of the connection structure of the finger rehabilitation device disclosed in the present invention on the palm;

[0029] Figure 6 It is a structural schematic diagram of an implementation mode of the finger rehabilitation device disclosed in the present invention;

[0030] Figure 7 It is a structural schematic diagram of another embodiment of the finger rehabilitation device disclosed in the present invention;

[0031] Figure 8 It is a structural schematic diagram of another embodiment of the finger rehabilitation device disclosed in the present invention.

[0032] Description of Reference Numerals

[0033] 1-finger distal joint fixing seat; 101-finger distal joint base; 102-thread; 103-finger distal joint flexible sleeve; 2-elastic driving rod; 3-first rope; 4-first elastic telescopic member; 5-second rope; 6-first elastic driving tube; 7-finger middle joint fixing seat; 701-finger middle joint base; 702-finger middle joint flexible sleeve; 703-middle joint mounting hole; 8-third rope; 9-second elastic telescopic member; 10-fourth rope; 11-second elastic driving tube; 12-finger proximal joint fixing seat; 1201-finger proximal joint base; 1202-finger proximal joint flexible sleeve; 1203-proximal joint mounting hole; 13-fifth rope; 14-third elastic telescopic member; 15-sixth rope; 16-elastic connecting tube; 17-palm connecting assembly; 1701-finger proximal joint fixing seat; 1702-proximal joint mounting hole; 18-glove; 19-driving box. DETAILED DESCRIPTION

[0034] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0035] In the present invention, unless otherwise specified, the directions or positional relationships indicated by terms such as "up, down, left, right, inside, outside, top, bottom" etc. are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0036] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0037] In the present invention, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] A first aspect of the present invention provides a finger rehabilitation device driven by a nested elastic member, referring to Figure 1-Figure 8 As shown, the finger rehabilitation device comprises: an elastic driving member arranged near the back of the hand, a palm connecting component 17 for connecting the elastic driving member and the palm respectively, and a finger joint connecting component for connecting the finger joint and the elastic driving member respectively. The elastic driving member is configured to be retractable and bend and extend, wherein the elastic driving member has the following working states:

[0040] A bending working state, in which the elastic driving member is extended to increase the length of the curve between the palm connecting component 17 and the finger joint connecting component, and the elastic driving member is bent toward the palm; and an extending working state, in which the elastic driving member is retracted to shorten the length of the curve between the palm connecting component 17 and the finger joint connecting component, and the elastic driving member is extended away from the palm.

[0041] Through the above technical solution, the palm connection component 17 is respectively connected to the palm and the elastic driving member, and the finger joint connection component is respectively connected to the finger joint (such as the distal joint of the finger, the middle joint of the finger, and the proximal joint of the finger) and the elastic driving member. When the elastic driving member is extended, the length of the curve between the palm connection component 17 and the finger joint connection component increases, so that the elastic driving member bends toward the palm, driving the finger to bend around the palm, thereby achieving the bending of the finger. When the elastic driving member is retracted, the length of the curve between the palm connection component 17 and the finger joint connection component is shortened, so that the elastic driving member bends away from the palm, driving the finger to stretch around the palm.

[0042] In the finger rehabilitation device of the present invention, the finger joint connection component is connected to the finger joint, and does not need to be aligned with the finger joint, which is convenient for wearing; compared with the solution of aligning the connection component with the finger joint in the prior art, it is relatively easy to connect the finger joint connection component with the finger joint, and it is not easy to be misaligned during use, causing discomfort to the user or even damaging the finger joint; at the same time, it also makes the finger rehabilitation device have good compatibility with different sizes of hands. When the hand sizes of different users change, there is no need to customize or replace the components in the finger rehabilitation device, saving economic costs. Moreover, as mentioned above, the elastic driving member is extended to increase the length of the curve between the palm connection component 17 and the finger joint connection component to achieve the bending of the finger. In this way, by increasing the length of the elastic driving member between the connection component corresponding to different finger joints and the palm connection component 17, different finger joints can be bent, thereby adapting to different rehabilitation treatment needs. On this basis, the finger rehabilitation device provided by the present invention can also realize independent control of bending of different finger joints and achieve more hand postures.

[0043] In addition, the prior art generally uses a non-elastic driving member, such as a steel cable, to drive the finger to bend. When the driving member applies too much driving force to the non-elastic member, the non-elastic member applies too much force to the finger when it bends, which can easily cause finger damage. The finger rehabilitation device of the present invention uses an elastic driving member to drive the finger to bend. Since the elastic driving member itself has a certain elasticity, the elastic driving member will buffer part of the excessive driving force during the bending process, thereby protecting the finger joints.

[0044] In some embodiments, the finger joint connection assembly includes a distal finger joint fixing seat 1 respectively connected to the elastic driving member and the distal finger joint, a middle finger joint fixing seat 7 respectively connected to the elastic driving member and the middle finger joint, and a proximal finger joint fixing seat 12 respectively connected to the elastic driving member and the proximal finger joint.

[0045] In some embodiments, the elastic driving member includes a first elastic driving member whose end is connected to the distal segment fixing seat 1 of the finger, a second elastic driving member whose end is connected to the middle segment fixing seat 7 of the finger, and a third elastic driving member whose end is connected to the proximal segment fixing seat 12 of the finger.

[0046] In some embodiments, a variety of connection structures can be used between the first elastic driving member, the second elastic driving member and the third elastic driving member, such as a parallel connection structure, that is, the first elastic driving member, the second elastic driving member and the third elastic driving member are arranged in parallel above the finger surface. Or according to an embodiment of the finger rehabilitation device driven by a nested elastic member of the present invention, a nested connection structure is used between the first elastic driving member, the second elastic driving member and the third elastic driving member, referring to Figure 1 and Figure 2 As shown, the first elastic driving member is an elastic driving rod 2, the second elastic driving member is a first elastic driving tube 6 sleeved on the elastic driving rod 2, and the third elastic driving member is a second elastic driving tube 11 sleeved on the first elastic driving tube 6. In this way, on the one hand, the structure of the finger rehabilitation device can be simplified and made compact; on the other hand, the second elastic driving member and the third elastic driving member are configured as hollow tubes, which is conducive to reducing the driving force of the second elastic driving member and the third elastic driving member to extend and bend.

[0047] In some embodiments, the middle segment fixing seat 7, the proximal segment fixing seat 12 and the palm connecting assembly 17 are respectively formed with a middle segment mounting hole 703, a proximal segment mounting hole 1203 and a proximal finger joint mounting hole 1702 for mounting the elastic driving member, and the center lines of the middle segment mounting hole 703, the proximal segment mounting hole 1203 and the proximal finger joint mounting hole 1702 are all arc-shaped, and the center of the arc is located on the side close to the back of the hand. In this way, when the elastic driving member is extended toward the distal segment of the finger, the elastic driving member is bent and rotated in the direction away from the back of the hand at the exit of the middle segment mounting hole 703, the proximal segment mounting hole 1203 and the proximal finger joint mounting hole 1702, so as to avoid deformation toward the finger surface and damage to the finger, and also increase the driving torque of the finger joint.

[0048] In some embodiments, the middle section mounting hole 703, the proximal section mounting hole 1203, and the proximal finger joint mounting hole 1702 are rotatably connected to the elastic driving member. This facilitates adjustment of the position of the elastic driving member during installation or telescopic movement. For example, if the elastic driving member is twisted and spiraled during installation, the elastic driving member can be rotated to eliminate the twisted spiral and ensure the installation quality of the elastic driving member.

[0049] In some embodiments, the finger rehabilitation device further includes an elastic telescopic component sleeved on the elastic driving member, the elastic telescopic component including a first elastic telescopic component 4 disposed between the distal finger fixing seat 1 and the middle finger fixing seat 7, a second elastic telescopic component 9 disposed between the middle finger fixing seat 7 and the proximal finger fixing seat 12, and a third elastic telescopic component 14 disposed between the proximal finger fixing seat 12 and the palm connecting component 17. The elastic telescopic component has a certain telescopic amount, and the elastic telescopic component can limit the length of the elastic driving member to be extended or shortened to prevent the elastic driving member from being extended or shortened too much, thereby causing finger injuries.

[0050] In some embodiments, the finger rehabilitation device further includes a rope assembly, one end of which is connected to the palm connection assembly 17 or the finger joint connection assembly, and the other end is connected to the side of the elastic expansion assembly close to the finger surface. The rope assembly further limits the length of the elastic drive member to extend or shorten, thereby further protecting the finger.

[0051] In some embodiments, the finger rehabilitation device further comprises a drive box 19 connected to the elastic drive member and an elastic connection tube 16 connected between the drive box 19 and the palm connection assembly 17, and the elastic connection tube 16 is sleeved on the elastic drive member. In other embodiments, the user's fingers have a certain degree of mobility, and the elastic drive member can be driven to extend and bend by the fingers themselves; or the elastic drive member can be driven to extend and bend manually. The drive box 19 may include one or a combination of an electric motor, a hydraulic press, or a pneumatic motor.

[0052] In some embodiments, the elastic driving member and the elastic connecting tube 16 are made of polytetrafluoroethylene, which reduces the resistance of the elastic driving member to bending and rotation, thereby reducing the required driving torque. At the same time, the elastic driving member made of polytetrafluoroethylene makes the resulting finger rehabilitation device light in weight and low in manufacturing cost.

[0053] It should be noted that the elastic driving member can bend and deform around the finger joint axis, such as bending and rotating toward or away from the palm, and can also deform perpendicular to the joint rotation direction, such as driving the fingers to open and close, that is, wearing the finger rehabilitation device provided by the present invention can allow a certain degree of opening and closing between the fingers of the hand.

[0054] Refer to the following Figure 1-Figure 5An embodiment of the finger rehabilitation device driven by an elastic member provided by the present invention is described in detail. The elastic driving member includes an elastic driving rod 2, a first elastic driving tube 6, and a second elastic driving tube 11, which are nested from the inside to the outside. One end of the elastic driving rod 2, the first elastic driving tube 6, and the second elastic driving tube 11 are all connected to the driving box 19 in a transmission manner. The driving box 19 is used to drive the extension and retraction of the elastic driving rod 2, the first elastic driving tube 6, and the second elastic driving tube 11. An elastic connecting tube 16 is provided between the driving box 19 and the palm connecting component 17. The elastic connecting tube 16 is sleeved on the second elastic driving tube 11 to connect the driving box 19 with the palm connecting component 17. Refer to Figure 5 As shown, the palm connection assembly 17 includes a glove 18 for connecting to the palm and a finger proximal joint fixing seat 1701 connected to the top of the glove 18, and the finger proximal joint fixing seat 1701 is formed with a proximal joint mounting hole 1702, which is sleeved on the outer peripheral wall of the elastic connecting tube 16, and the proximal joint mounting hole 1702 can be connected by bonding.

[0055] Reference Figure 1-Figure 4 As shown, the finger joint connection assembly includes a distal finger joint fixing seat 1, a middle finger joint fixing seat 7 and a proximal finger joint fixing seat 12. The distal finger joint fixing seat 1 includes a distal finger joint base 101 and a distal finger joint flexible sleeve 103 bonded to the bottom of the distal finger joint base 101. The distal finger joint flexible sleeve 103 is used to be sleeved on the distal finger joint. The distal finger joint base 101 is formed with a mounting hole connected to the end of the elastic drive rod 2. The wall surface of the mounting hole is provided with a thread 102 to achieve a threaded connection between the distal finger joint base 101 and the elastic drive rod 2. The middle finger joint fixing seat 7 includes a middle finger joint base 701 and a middle finger joint flexible sleeve 702 connected to the bottom of the middle finger joint base 701. The middle finger joint flexible sleeve 702 is used to be sleeved on the middle finger joint. The middle finger joint base 701 is formed with a middle joint mounting hole 703 connected to the end of the first elastic drive tube 6. The end of the first elastic drive tube 6 can be bonded to the middle joint mounting hole 703. The finger proximal section fixing seat 12 includes a finger proximal section base 1201 and a finger proximal section flexible sleeve 1202 connected to the bottom of the finger proximal section base 1201, the finger proximal section flexible sleeve 1202 is used to be sleeved on the finger proximal section, the finger proximal section base 1201 is formed with a proximal section mounting hole 1203 connected to the end of the second elastic driving tube 11, and the end of the second elastic driving tube 11 can be adhesively connected to the proximal section mounting hole 1203.

[0056] Reference Figure 1-Figure 5As shown, the elastic telescopic component includes a first elastic telescopic member 4, a second elastic telescopic member 9 and a third elastic telescopic member 14, and the rope component includes a first rope 3, a second rope 5, a third rope 8, a fourth rope 10, a fifth rope 13 and a sixth rope 15. The first elastic telescopic member 4 is sleeved on the outer peripheral wall of the elastic driving rod 2 between the distal finger fixing seat 1 and the middle finger fixing seat 7, the two ends of the first rope 3 are respectively connected to the distal finger base 101 and the first elastic telescopic member 4, the two ends of the second rope 5 are respectively connected to the middle finger base 701 and the first elastic telescopic member 4, specifically, the first rope 3 is connected to the end of the first elastic telescopic member 4 close to the distal finger base 101 and close to the finger surface, and the second rope 5 is connected to the end of the first elastic telescopic member 4 close to the middle finger base 701 and close to the finger surface. The second elastic telescopic member 9 is sleeved on the outer peripheral wall of the first elastic driving tube 6 between the middle section of the finger fixing seat 7 and the proximal section of the finger fixing seat 12, the two ends of the third rope 8 are respectively connected to the middle section of the finger base 701 and the second elastic telescopic member 9, the two ends of the fourth rope 10 are respectively connected to the proximal section of the finger base 1201 and the second elastic telescopic member 9, specifically, the third rope 8 is connected to the end of the second elastic telescopic member 9 close to the middle section of the finger base 701 and close to the finger surface, and the fourth rope 10 is connected to the end of the second elastic telescopic member 9 close to the proximal section of the finger base 1201 and close to the finger surface. The third elastic telescopic member 14 is sleeved on the outer peripheral wall of the second elastic driving tube 11 between the proximal finger joint fixing seat 12 and the palm connecting assembly 17, the two ends of the fifth rope 13 are respectively connected to the proximal finger joint base 1201 and the third elastic telescopic member 14, the two ends of the sixth rope 15 are respectively connected to the proximal finger joint fixing seat 1701 and the third elastic telescopic member 14, specifically, the fifth rope 13 is connected to the end of the third elastic telescopic member 14 close to the proximal finger joint fixing seat 1201 and close to the finger surface, and the sixth rope 15 is connected to the end of the third elastic telescopic member 14 close to the proximal finger joint fixing seat 1701 and close to the finger surface.

[0057] In some embodiments, the elastic drive member may include one or a combination of the elastic drive rod 2, the first elastic drive tube 6 and the second elastic drive tube 11, for example, Figure 6 As shown, the elastic driving member only includes an elastic driving rod 2, which drives the distal segment of the finger to bend, thereby driving the entire finger to bend. Figure 7 As shown, the elastic drive member does not include the elastic drive rod 2. In this case, the first elastic drive tube 6 is replaced with a solid elastic drive rod to facilitate driving and controlling the flexion and extension of the middle segment and the proximal segment of the finger. Figure 8 As shown, the elastic driving member does not include the elastic driving rod 2 and the first elastic driving tube 6. At this time, the second elastic driving tube 11 is replaced by a solid elastic driving rod to facilitate driving and controlling the flexion and extension of the proximal segment of the finger.

[0058] The specific process of driving the finger to bend and stretch by the finger rehabilitation device provided by the present invention is described in detail below with reference to the accompanying drawings:

[0059] First, the drive box 19 synchronously drives the elastic drive rod 2, the first elastic drive tube 6 and the second elastic drive tube 11 to extend respectively, so that the length of the curve between the palm connecting component 17 and the proximal segment of the finger fixing seat 12 increases, so that the elastic drive rod 2, the first elastic drive tube 6 and the second elastic drive tube 11 are deformed, bend and rotate toward the palm direction, and drive the proximal segment of the finger to bend and rotate around the palm.

[0060] Then, the drive box 19 synchronously drives the elastic drive rod 2 and the first elastic drive tube 6 to extend, thereby increasing the length of the curve between the proximal finger fixing seat 12 and the middle finger fixing seat 7, causing the elastic drive rod 2 and the first elastic drive tube 6 to deform, bend and rotate toward the palm direction, and drive the middle finger to bend and rotate around the proximal finger.

[0061] Then, the drive box 19 drives the elastic drive rod 2 to extend, so that the length of the curve between the middle segment of the finger fixing seat 7 and the distal segment of the finger fixing seat 1 increases, so that the elastic drive rod 2 deforms, bends and rotates toward the palm direction, and drives the distal segment of the finger to bend and rotate around the middle segment of the finger.

[0062] The finger extension driving process of the finger rehabilitation device provided by the present invention is opposite to the above-mentioned finger bending process. First, the driving box 19 synchronously drives the elastic driving rod 2, the first elastic driving tube 6 and the second elastic driving tube 11 to retract, so that the length of the curve between the palm connecting component 17 and the proximal segment of the finger fixing seat 12 is reduced, and the driving elastic driving rod 2, the first elastic driving tube 6 and the second elastic driving tube 11 are deformed, bent and rotated away from the palm direction, and the proximal segment of the finger is driven to extend and rotate around the palm.

[0063] Then, the drive box 19 synchronously drives the elastic drive rod 2 and the first elastic drive tube 6 to retract, so that the length of the curve between the proximal segment of the finger fixing seat 12 and the middle segment of the finger fixing seat 7 is reduced, and the elastic drive rod 2 and the first elastic drive tube 6 are deformed, bent and rotated away from the palm direction, and the middle segment of the finger is driven to extend and rotate around the proximal segment of the finger.

[0064] Then, the drive box 19 drives the elastic drive rod 2 to retract, so that the length of the curve between the middle segment of the finger fixing seat 7 and the distal segment of the finger fixing seat 1 is reduced, so that the elastic drive rod 2 is deformed, bent and rotated away from the palm direction, and the distal segment of the finger is driven to extend and rotate around the middle segment of the finger.

[0065] The second aspect of the present invention provides a nested elastic member driven hand rehabilitation device, comprising a plurality of the aforementioned nested elastic member driven finger rehabilitation devices, wherein the plurality of finger rehabilitation devices are correspondingly installed on different fingers. The number of finger rehabilitation devices can be adjusted according to the patient's treatment needs, for example, the number of finger rehabilitation devices is two, which are respectively worn on the patient's index finger and middle finger, or the number of finger rehabilitation devices is five, which are respectively worn on the patient's five fingers.

[0066] The finger rehabilitation device and hand rehabilitation device provided by the present invention have the following beneficial effects:

[0067] (1) The finger rehabilitation device of the present invention has a compact structure and light weight, and a number of the devices can be selected and combined into different hand rehabilitation devices according to the needs of the patient;

[0068] (2) The finger rehabilitation device of the present invention has multiple degrees of freedom and can realize full bending of the three joints of the finger, and the bending of each joint can be independently controlled;

[0069] (3) The finger rehabilitation device of the present invention is driven by a nested elastic member. The nested structure further makes the structure of the finger rehabilitation device compact and the movement space small. The same elastic driving member is used to achieve the extension and retraction of the finger joints. The driving displacement of the elastic driving member is the same, so the number of driving motors is small and the control is simple. At the same time, the two fixing seats of the finger are completely connected by elastic members, which can generate corresponding deformation around the finger joint and deformation perpendicular to the rotation direction. Therefore, a certain opening and closing ability is allowed between the fingers, which reduces the wearing requirements and increases the comfort during exercise.

[0070] (4) The elastic driving rod, the first elastic driving tube and the second elastic driving tube of the present invention are all made of polytetrafluoroethylene with low cost and low friction coefficient. The material has the advantages of light weight, good elasticity, low friction coefficient, easy shaping, good fatigue strength, etc., and is easy to connect. Therefore, the finger rehabilitation device obtained according to the mechanism is light in weight and has low manufacturing cost.

[0071] (5) The finger rehabilitation device of the present invention has a small movement space, and because of the small number of components and simple connection, the five finger rehabilitation devices of the hand can be arranged on the hand to achieve independent control movement of the five fingers. Therefore, the hand rehabilitation device composed of the five finger rehabilitation devices can achieve more hand postures compared with the existing technology;

[0072] (6) The center lines of the middle segment mounting hole, the proximal segment mounting hole, and the proximal finger joint mounting hole are arcs, and the center of the arc is located on the side close to the back of the hand, thereby preventing the elastic driving member from deforming toward the back of the finger and squeezing the finger.

[0073] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, including the combination of various specific technical features in any appropriate manner. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

Claims

1. A finger rehabilitation device driven by a nested elastic member, characterized in that: include: An elastic driving member, which is arranged on a side close to the back of the hand and can stretch and bend; a palm connection component (17), the palm connection component (17) being used to connect to the palm and the elastic driving member respectively; and A finger joint connection assembly, the finger joint connection assembly is used to connect with the finger joint and the elastic driving member respectively; Wherein, the elastic driving member has the following working states: a bending working state, in which the elastic driving member is stretched, so that the length of the curve between the palm connecting component (17) and the finger joint connecting component increases, and the elastic driving member is bent toward the palm of the hand; as well as, an extended working state, in which the elastic driving member is retracted, so that the length of the curve between the palm connecting component (17) and the finger joint connecting component is shortened, and the elastic driving member stretches away from the palm of the hand; The finger joint connection assembly comprises a distal finger joint fixing seat (1) respectively connected to the elastic driving member and the distal finger joint, a middle finger joint fixing seat (7) respectively connected to the elastic driving member and the middle finger joint, and a proximal finger joint fixing seat (12) respectively connected to the elastic driving member and the proximal finger joint; The elastic driving member comprises a first elastic driving member whose end is connected to the distal finger fixing seat (1), a second elastic driving member whose end is connected to the middle finger fixing seat (7), and a third elastic driving member whose end is connected to the proximal finger fixing seat (12); The first elastic driving member is an elastic driving rod (2), the second elastic driving member is a first elastic driving tube (6) sleeved on the elastic driving rod (2), and the third elastic driving member is a second elastic driving tube (11) sleeved on the first elastic driving tube (6); The middle segment fixing seat (7), the proximal segment fixing seat (12) and the palm connecting assembly (17) are respectively formed with a middle segment mounting hole (703), a proximal segment mounting hole (1203) and a proximal finger joint mounting hole (1702) for mounting the elastic driving member, and the center lines of the middle segment mounting hole (703), the proximal segment mounting hole (1203) and the proximal finger joint mounting hole (1702) are all arc-shaped, and the center of the arc is located on a side close to the back of the hand.

2. The finger rehabilitation device driven by nested elastic members according to claim 1, characterized in that: The middle section mounting hole (703), the proximal section mounting hole (1203) and the proximal finger joint mounting hole (1702) are rotatably connected to the elastic driving member.

3. The finger rehabilitation device driven by nested elastic members according to claim 1, characterized in that: The finger rehabilitation device also includes an elastic telescopic component sleeved on the elastic driving member, the elastic telescopic component including a first elastic telescopic component (4) arranged between the distal segment fixing seat (1) and the middle segment fixing seat (7), a second elastic telescopic component (9) arranged between the middle segment fixing seat (7) and the proximal segment fixing seat (12), and a third elastic telescopic component (14) arranged between the proximal segment fixing seat (12) and the palm connecting component (17).

4. The finger rehabilitation device driven by nested elastic members according to claim 3, characterized in that: The finger rehabilitation device also includes a rope assembly, one end of which is connected to the palm connection assembly (17) or the finger joint connection assembly, and the other end of which is connected to a side of the elastic telescopic assembly close to the finger surface.

5. The finger rehabilitation device driven by nested elastic members according to claim 1, characterized in that: The finger rehabilitation device further comprises a drive box (19) drivingly connected to the elastic drive member, and an elastic connection tube (16) connected between the drive box (19) and the palm connection assembly (17), wherein the elastic connection tube (16) is sleeved on the elastic drive member.

6. The finger rehabilitation device driven by a nested elastic member according to any one of claims 1 to 5, characterized in that: The elastic driving member is made of polytetrafluoroethylene.

7. A hand rehabilitation device driven by a nested elastic member, characterized in that: It comprises a plurality of finger rehabilitation devices driven by nested elastic members according to any one of claims 1 to 6, wherein the plurality of finger rehabilitation devices are correspondingly installed on different fingers.

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