Rheumatoid arthritis finger rehabilitation training device based on rope driving

Abstract

The invention discloses a finger rehabilitation training device for rheumatoid arthritis based on rope driving, and relates to the technical field of nursing rehabilitation equipment. Lightweight and portability of the finger rehabilitation training glove can be achieved. The rehabilitation trainer comprises a rehabilitation glove structure, an arm wearing structure, a rope driving system and a control system, the rehabilitation glove structure comprises a palm sleeve and adjustable finger sleeves hinged to the end of the palm sleeve. The rope driving system is arranged in the arm wearing structure and is connected with the adjustable finger stall; the rope driving system can drive the adjustable finger stall to bend, extend, extend outwards and retract inwards; the control system is connected with the rope driving system. The performance of the finger rehabilitation training device is improved.

Description

Technical Field

[0001] The present application relates to the technical field of nursing rehabilitation equipment, and in particular to a rope-driven finger rehabilitation trainer for rheumatoid arthritis. Background Art

[0002] With the aging population and the increasing number of patients with chronic diseases, the field of rehabilitation faces unprecedented challenges and opportunities. Rehabilitation is no longer just a treatment for disease or injury, but has evolved into a broader process aimed at helping patients regain function, improve their quality of life, and enable them to better integrate into society. The dexterity and function of the hands are essential to an individual's daily life and affect their independence and quality of life. Therefore, the training of hand function occupies a vital position in the rehabilitation process of rheumatoid arthritis. In addition, due to the characteristics of fitting the hand structure and being easy to wear, glove-type rehabilitation assistive devices have become the research focus in the field of rehabilitation. At present, there are many ways of driving assistive rehabilitation gloves on the market, such as pneumatic, hydraulic, etc. These driving methods are complex and large in size, which is not convenient for patients' daily use. Summary of the invention

[0003] The embodiment of the present application provides a rope-driven finger rehabilitation trainer for rheumatoid arthritis, which realizes the lightweight and portability of the finger rehabilitation training gloves.

[0004] To achieve the above-mentioned objectives, an embodiment of the present application provides a rope-driven finger rehabilitation trainer for rheumatoid arthritis, comprising a rehabilitation glove structure, an arm-wearing structure, a rope-driven system and a control system; the rehabilitation glove structure comprises a palm sleeve and an adjustable finger sleeve hinged at the end of the palm sleeve; the rope-driven system is arranged in the arm-wearing structure and is connected to the adjustable finger sleeve; the rope-driven system can drive the adjustable finger sleeve to bend, extend, abduct and adduct; the control system is connected to the rope-driven system.

[0005] Furthermore, the adjustable finger sleeve includes a thumb sleeve and four four-finger sleeves; the thumb sleeve includes a hinged base joint sleeve and a fingertip joint sleeve; the four-finger sleeve includes a base joint sleeve, a middle joint sleeve and a fingertip joint sleeve hinged in sequence; the base joint sleeve is hinged to the palm sleeve through a base sleeve; the side walls of the base joint sleeve, the middle joint sleeve and the fingertip joint sleeve are all provided with palm side threading holes and back side threading holes; the base sleeve includes a sleeve body and a back side connecting shaft and a palm side connecting shaft arranged on the base sleeve; the back side connecting shaft and the palm side connecting shaft are hinged to the palm side and the palm side of the end of the palm sleeve.

[0006] Furthermore, the arm wearing structure includes an arm sleeve and a control box arranged on the upper part of the arm sleeve; the arm sleeve is in the shape of a hollow frustum; an arm flexible sleeve is provided on the inner side of the arm sleeve, and heat dissipation holes are provided on the side wall.

[0007] Furthermore, a guide plate is provided on the upper surface of the palm cover; five groups of guide holes are provided on the guide plate; a central hole connected to the threading hole is provided on the back of the hand connecting shaft; the rope drive system includes five groups of rope drive components; the rope drive components include an abduction drive rope, an adduction drive rope, a bending drive rope, an extension drive rope, an abduction and adduction drive motor and a bending and extension drive motor; a first winding wheel is provided at the output end of the abduction and adduction drive motor, and a second winding wheel is provided at the output end of the bending and extension drive motor; one end of the abduction drive rope and the adduction drive rope are both wound on the first winding wheel, and the winding directions are opposite, and the other end passes through the guide hole group and is wound on the back of the hand connecting shaft; one end of the bending drive rope and the extension drive rope are both wound on the second winding wheel The other end of the bending driving rope corresponding to the thumb sleeve is on the wire wheel and is wound in the opposite direction. The other end of the bending driving rope corresponding to the thumb sleeve passes through the guide hole group, the palm side threading hole on the finger joint sleeve and the fingertip joint sleeve in sequence and is fixedly connected to the fingertip joint sleeve; the other end of the bending driving rope corresponding to the four finger sleeves passes through the guide hole group, the finger joint sleeve, the middle joint sleeve, the palm side threading hole on the fingertip joint sleeve in sequence and is fixedly connected to the fingertip joint sleeve; the other end of the stretching driving rope corresponding to the thumb sleeve passes through the guide hole group, the finger joint sleeve, the middle joint sleeve and the hand back threading hole on the fingertip joint sleeve in sequence and is fixedly connected to the fingertip joint sleeve; the other end of the stretching driving rope corresponding to the four finger sleeves passes through the guide hole group, the finger joint sleeve, the middle joint sleeve and the hand back threading hole on the fingertip joint sleeve in sequence and is fixedly connected to the fingertip joint sleeve.

[0008] Furthermore, the base of the finger joint cover includes an upper section and a lower section of the base of the finger joint cover; the middle finger joint cover includes an upper section and a lower section of the middle finger joint cover; the fingertip joint cover includes an upper section and a lower section of the fingertip joint cover; the upper section and the lower section of the base of the finger joint cover, the upper section and the lower section of the middle finger joint cover, and the upper section and the lower section of the fingertip joint cover are all connected by a snap-on telescopic structure.

[0009] Furthermore, the back of the hand of the base finger sleeve, the upper section of the base joint sleeve and the upper section of the middle joint sleeve are all provided with limiting protrusions extending toward the fingertip side.

[0010] Furthermore, the upper surfaces of the base finger sleeve, the upper section of the base finger joint sleeve and the upper section of the middle finger joint sleeve are all provided with a first inclined surface; the lower surfaces of the lower section of the base finger joint sleeve, the lower section of the middle finger joint sleeve and the lower section of the fingertip joint sleeve are all provided with a second inclined surface that is compatible with the first; the first inclined surface and the second inclined surface are both close to the palm side and are arranged facing each other.

[0011] Furthermore, a temperature control module is provided in the palm cover; the temperature control module includes a temperature sensor, an electric heating film and a heat preservation layer.

[0012] Furthermore, it also includes a force control module; the force control module includes a circular film pressure sensor arranged at the fingertip joint cover and an annular film pressure sensor arranged at the palm.

[0013] Furthermore, the control system includes a main control chip, a control signal source and a power supply; the main control chip is connected to the control signal source, the abduction and adduction drive motor, the bending and extension drive motor, the temperature control module and the force control module; the power supply can supply power to the control signal source, the abduction and adduction drive motor, the bending and extension drive motor, the temperature control module and the force control module; the control signal source includes a mobile phone APP Bluetooth control signal source, a voice control signal source and a touch screen; the main control chip, the power supply, the APP Bluetooth control signal source and the voice control signal source are all arranged in the control box; the touch screen is arranged on the upper surface of the control box.

[0014] Compared with the prior art, this application has the following beneficial effects:

[0015] 1. The embodiment of the present application drives the adjustable finger gloves to bend, extend, abduct and adduct through a rope drive system, thereby achieving the lightweight and portability of the finger rehabilitation gloves.

[0016] 2. In the embodiment of the present application, the bending, extension, abduction and adduction movements of a single finger are controlled by four ropes respectively, so the control is more precise.

[0017] 3. The lengths of the base joint sleeves, middle joint sleeves and fingertip joint sleeves in the embodiments of the present application are all adjustable, and can be suitable for patients with different finger lengths, with a wider range of applications.

[0018] 4. The back of the hand of the base finger sleeve, the upper section of the finger base joint sleeve and the upper section of the middle finger joint sleeve in the embodiment of the present application are all provided with a limiting protrusion extending toward the fingertip side to avoid damage caused by reverse bending of the fingers; at the same time, the upper surfaces of the base finger sleeve, the upper section of the finger base joint sleeve and the upper section of the middle finger joint sleeve are all provided with a first inclined surface; the lower surfaces of the lower section of the finger base joint sleeve, the lower section of the middle finger joint sleeve and the lower section of the fingertip joint sleeve are all provided with a second inclined surface matched with the first one, so that the fingers have a larger bending angle.

[0019] 5. The temperature control module in the embodiment of the present application is used to adjust the temperature inside the palm cover, and the force control module is used to monitor the force data when grasping an object to avoid injuries to the user's hand due to excessive control. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0022] Figure 2 This is a schematic diagram of the structure of the rehabilitation gloves in the embodiment of the present application;

[0023] Figure 3 This is a schematic diagram of the structure of the four-finger sleeve in the embodiment of the present application in the extended state;

[0024] Figure 4 This is a schematic diagram of the structure of the four-finger sleeve in the embodiment of the present application in a bent state;

[0025] Figure 5 This is a schematic diagram of the structure of the arm wearing structure in the embodiment of the present application;

[0026] Figure 6 This is a schematic diagram of the structure of the rope drive system in the embodiment of the present application;

[0027] Figure 7 It is a schematic diagram of the structure of the temperature control module and the force control module in the embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0030] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, they can understand the specific meanings of the above terms in this application according to specific circumstances.

[0031] The terms "first" and "second" 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. Thus, a feature defined as "first" or "second" can explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0032] Reference Figures 1 to 7 An embodiment of the present application provides a rope-driven finger rehabilitation trainer for rheumatoid arthritis, comprising a rehabilitation glove structure 1, an arm wearing structure 2, a rope driving system 3, a temperature control module 4, a force control module 5 and a control system 6.

[0033] The rehabilitation glove structure 1 includes a palm glove 101 and an adjustable finger glove 102 hinged at the end of the palm glove 101. The rope drive system 3 is arranged in the arm wear structure 2 and connected to the adjustable finger glove 102. The rope drive system 3 can drive the adjustable finger glove 102 to bend, extend, abduct and adduct. The control system 6 is connected to the rope drive system 3, the temperature control module 4, and the force control module 5.

[0034] The adjustable finger sleeve 102 includes four four-finger sleeves (index finger, middle finger, ring finger and little finger) and a thumb sleeve.

[0035] The four-finger sleeves include a base joint sleeve, a middle joint sleeve and a fingertip joint sleeve which are hinged in sequence by screws and nuts. The thumb sleeve includes a base joint sleeve and a fingertip joint sleeve which are hinged by screws and nuts. The base joint sleeve is hinged to the end of the palm sleeve 101 through a base sleeve 103. The side walls of the base joint sleeve, the middle joint sleeve and the fingertip joint sleeve are provided with palm side threading holes and back side threading holes, and the palm side threading holes and the back side threading holes are distributed at 180 degrees. Each joint sleeve is provided with a joint flexible bushing 104 to adapt to users with different finger thicknesses.

[0036] Reference Figure 3 and Figure 4 The base of the finger joint sleeve includes an upper section 105 and a lower section 106 of the base of the finger joint sleeve. The middle finger joint sleeve includes an upper section 107 and a lower section 108 of the middle finger joint sleeve. The fingertip joint sleeve includes an upper section 109 and a lower section 1010 of the fingertip joint sleeve. The upper section 105 and the lower section 106 of the base of the finger joint sleeve, the upper section 107 and the lower section 108 of the middle finger joint sleeve, and the upper section 109 and the lower section 1010 of the fingertip joint sleeve are all connected by a clamping telescopic structure 1011. The clamping telescopic structure 1011 includes a protrusion arranged at the joint between the two and a multi-stage groove adapted to the protrusion. In this way, the telescopic fixation of the two can be achieved, so that the length of each joint sleeve can be adjusted.

[0037] The base finger sleeve 103 includes a finger sleeve body 1031 and a back-hand side connecting shaft 1032 and a palm side connecting shaft 1033 arranged on the base finger sleeve 103. The back-hand side connecting shaft 1032 and the palm side connecting shaft 1033 are hinged to the palm side and the palm side of the end of the palm sleeve 101. The back-hand side connecting shaft 1032 has a thread for fixing the rope routing, and has two center holes at the center for the rope layout.

[0038] The upper surfaces of the base finger sleeve 103, the upper section 105 of the finger joint sleeve and the upper section 107 of the middle finger joint sleeve are all provided with a first inclined surface 1012, and the lower surfaces of the lower section 106 of the finger joint sleeve, the lower section 108 of the middle finger joint sleeve and the lower section 1010 of the fingertip joint sleeve are all provided with a second inclined surface 1013 adapted to the first inclined surface 1012. The first inclined surface 1012 and the second inclined surface 1013 are both 45-degree inclined surfaces close to the palm side and are arranged opposite to each other. Thus, the fingers have a larger bending angle.

[0039] The back of the hand of the base finger sleeve 103, the upper section of the finger joint sleeve 105 and the upper section of the middle finger joint sleeve 107 are all provided with a limiting protrusion 1014 extending toward the finger tip side. This ensures that the finger sleeve can only be bent toward the palm side, and when stretched, it can only move to a vertical state due to the limitation of the limiting protrusion 1014, thus avoiding damage caused by reverse bending of the finger.

[0040] Reference Figure 5 The arm-wearing structure 2 includes an arm sleeve 201 and a control box 202 disposed on the upper part of the arm sleeve 201. The arm sleeve 201 is in the shape of a hollow truncated cone, and an arm flexible sleeve 203 is disposed inside the arm sleeve 201. The arm flexible sleeve 203 is made of a flexible material such as sponge. A heat dissipation hole 204 is disposed on the side wall of the arm sleeve 201. The arm-wearing structure 2 is integrally formed by 3D printing.

[0041] A guide plate 1015 is provided on the upper surface of the palm cover 101. Five guide hole groups 1016 are provided on the guide plate 1015. The center hole on the back of the hand connecting shaft 1032 is connected to the threading hole.

[0042] Reference Figure 6The rope drive system 3 includes five rope drive components. The rope drive components include an abduction drive rope 301, an adduction drive rope 302, a bending drive rope 303, an extension drive rope 304, an abduction and adduction drive motor 305, and a bending and extension drive motor 306. Every two motors (four ropes) control the bending, extension, abduction and adduction movements of a finger sleeve. In addition, a lasso 307 and a sleeve 308 are sleeved on the abduction drive rope 301, the adduction drive rope 302, the bending drive rope 303, and the extension drive rope 304. The two ends of the lasso 307 are respectively fixed to the guide plate 1015 and the control box 202 on the palm sleeve 101 for rope routing. The sleeve 308 is used to gather the lasso 307 between the palm sleeve 101 and the control box 202.

[0043] The ten motors are all arranged in the control box 202, and the ten motors are installed in layers in sequence to avoid mutual interference between the ropes.

[0044] The output end of the abduction and adduction driving motor 305 is provided with a first winding wheel 309, and the output end of the bending and stretching driving motor 306 is provided with a second winding wheel 3010. One end of the abduction driving rope 301 and the adduction driving rope 302 are both wound on the first winding wheel 309, and the winding directions are opposite, and the other ends are passed through the corresponding guide hole group 1016 and then wound on the back of the hand connecting shaft 1032. When one rope contracts, the other rope extends, which can control the abduction and adduction movements of the finger sleeve.

[0045] One end of the bending drive rope 303 and the extension drive rope 304 are both wound on the second winding wheel 3010, and the winding directions are opposite. The other end of the bending drive rope 303 corresponding to the thumb sleeve passes through the guide hole group 1016, the palm side threading holes on the base joint sleeve and the fingertip joint sleeve in sequence, and is then fixed to the fingertip joint sleeve. The other end of the bending drive rope 303 corresponding to the four finger sleeves passes through the guide hole group 1016, the base joint sleeve, the middle joint sleeve, and the palm side threading holes on the fingertip joint sleeve in sequence, and is then fixed to the fingertip joint sleeve.

[0046] The other end of the extension drive rope 304 corresponding to the thumb sleeve passes through the guide hole group 1016, the back of the hand threading holes on the base joint sleeve and the fingertip joint sleeve in sequence and is fixedly connected to the fingertip joint sleeve. The other end of the extension drive rope 304 corresponding to the four finger sleeves passes through the guide hole group 1016, the back of the hand threading holes on the base joint sleeve, the middle joint sleeve and the fingertip joint sleeve in sequence and is fixedly connected to the fingertip joint sleeve for controlling the bending and extension movements of the finger sleeves.

[0047] The palm cover 101 is provided with a temperature control module 4 for adjusting the temperature in the palm cover 101. The temperature control module 4 includes a temperature sensor 401, an electric heating film 402 and a heat preservation layer 403. The temperature sensor 401 and the electric heating film 402 are both connected to the control system 6. The electric heating film 402 is installed on the inner wall of the palm and the back of the hand of the palm cover 101, and the heat preservation layer 403 is installed on the electric heating film 402 and adopts a sponge sheet to avoid excessive temperature and keep warm. The temperature sensor 401 is installed on the sponge sheet to monitor the real-time temperature of the palm and control the opening and closing of the electric heating film 402 through the control system 6.

[0048] The force control module 5 includes circular film pressure sensors 501 arranged at the five fingertip joint covers and an annular film pressure sensor 502 arranged at the palm. The circular film pressure sensor 501 and the annular film pressure sensor 502 are both connected to the control system 6 for monitoring the force data when grasping objects, so as to control the movement of each motor through the control system 6 to avoid injury to the user's hand due to excessive control.

[0049] The control system 6 includes a main control chip, a control signal source and a power supply. The main control chip is connected to the control signal source, the abduction and retraction drive motor 305, the bending and stretching drive motor 306, the temperature control module 4 and the force control module 5. The power supply can supply power to the control signal source, the abduction and retraction drive motor 305, the bending and stretching drive motor 306, the temperature control module 4 and the force control module 5. The control signal source includes a mobile phone APP Bluetooth control signal source, a voice control signal source and a touch screen. The main control chip, the power supply, the APP Bluetooth control signal source and the voice control signal source are all arranged in the control box 202. The touch screen is arranged on the upper surface of the control box 202. An emergency stop button is installed on the side of the control box 202 for emergency braking in case of emergencies.

[0050] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A rope-driven finger rehabilitation trainer for rheumatoid arthritis, characterized in that: It includes a rehabilitation glove structure, an arm wearing structure, a rope drive system and a control system; the rehabilitation glove structure includes a palm cover and an adjustable finger cover hinged at the end of the palm cover; the rope drive system is arranged in the arm wearing structure and connected to the adjustable finger cover; the rope drive system can drive the adjustable finger cover to bend, extend, abduct and adduct; the control system is connected to the rope drive system.

2. The rope-driven finger rehabilitation trainer for rheumatoid arthritis according to claim 1, characterized in that: The adjustable finger sleeve comprises a thumb sleeve and four four-finger sleeves; the thumb sleeve comprises a hinged base joint sleeve and a fingertip joint sleeve; the four-finger sleeve comprises a base joint sleeve, a middle joint sleeve and a fingertip joint sleeve hinged in sequence; the base joint sleeve is hinged to the palm sleeve through a base sleeve; the side walls of the base joint sleeve, the middle joint sleeve and the fingertip joint sleeve are all provided with palm side threading holes and back side threading holes; the base sleeve comprises a sleeve body and a back side connecting shaft and a palm side connecting shaft arranged on the base sleeve; the back side connecting shaft and the palm side connecting shaft are hinged to the palm side and the palm side of the end of the palm sleeve.

3. The rope-driven finger rehabilitation trainer for rheumatoid arthritis according to claim 2, characterized in that: The arm wearing structure comprises an arm sleeve and a control box arranged on the upper part of the arm sleeve; the arm sleeve is in the shape of a hollow frustum; a flexible arm sleeve is arranged on the inner side of the arm sleeve, and heat dissipation holes are arranged on the side wall.

4. The rope-driven finger rehabilitation trainer for rheumatoid arthritis according to claim 3 is characterized in that: A guide plate is provided on the upper surface of the palm cover; five groups of guide holes are provided on the guide plate; a central hole connected to the threading hole is provided on the back-of-hand connecting shaft; the rope drive system includes five groups of rope drive components; the rope drive components include an abduction drive rope, an adduction drive rope, a bending drive rope, an extension drive rope, an abduction-adduction drive motor and a bending-extension drive motor; a first winding wheel is provided at the output end of the abduction-adduction drive motor, and a second winding wheel is provided at the output end of the bending-extension drive motor; One end of the abduction drive rope and the adduction drive rope are both wound on the first winding wheel in opposite directions, and the other end passes through the guide hole group and is wound on the connecting shaft on the back of the hand; One end of the bending drive rope and the stretching drive rope are both wound on the second winding wheel in opposite directions. The other end of the bending drive rope corresponding to the thumb sleeve passes through the guide hole group, the palm side threading hole on the finger joint sleeve and the fingertip joint sleeve in sequence and is then fixedly connected to the fingertip joint sleeve; the other end of the bending drive rope corresponding to the four finger sleeves passes through the guide hole group, the finger joint sleeve, the middle joint sleeve, the palm side threading hole on the fingertip joint sleeve in sequence and is then fixedly connected to the fingertip joint sleeve; The other end of the stretching driving rope corresponding to the thumb sleeve passes through the guide hole group, the back of hand threading holes on the finger joint sleeve and the fingertip joint sleeve in sequence and is fixedly connected to the fingertip joint sleeve; the other end of the stretching driving rope corresponding to the four finger sleeves passes through the guide hole group, the finger joint sleeve, the middle finger joint sleeve and the back of hand threading holes on the fingertip joint sleeve in sequence and is fixedly connected to the fingertip joint sleeve.

5. The rope-driven finger rehabilitation trainer for rheumatoid arthritis according to claim 4, characterized in that: The base joint cover includes an upper section and a lower section of the base joint cover; the middle finger joint cover includes an upper section and a lower section of the middle finger joint cover; the fingertip joint cover includes an upper section and a lower section of the fingertip joint cover; the upper section and the lower section of the base joint cover, the upper section and the lower section of the middle finger joint cover, and the upper section and the lower section of the fingertip joint cover are all connected by a clamping telescopic structure.

6. The rope-driven finger rehabilitation trainer for rheumatoid arthritis according to claim 5, characterized in that: The back of the hand of the base finger sleeve, the upper section of the base joint sleeve and the upper section of the middle joint sleeve are all provided with limiting protrusions extending toward the fingertip side.

7. The rope-driven finger rehabilitation trainer for rheumatoid arthritis according to claim 6, characterized in that: The upper surfaces of the base finger sleeve, the upper section of the base joint sleeve and the upper section of the middle finger joint sleeve are all provided with a first inclined surface; the lower surfaces of the lower section of the base joint sleeve, the lower section of the middle finger joint sleeve and the lower section of the fingertip joint sleeve are all provided with a second inclined surface that is compatible with the first; the first inclined surface and the second inclined surface are both close to the palm side and are arranged facing each other.

8. The rope-driven finger rehabilitation trainer for rheumatoid arthritis according to claim 7, characterized in that: A temperature control module is arranged in the palm cover; the temperature control module comprises a temperature sensor, an electric heating film and a heat preservation layer.

9. The rope-driven finger rehabilitation trainer for rheumatoid arthritis according to claim 8, characterized in that: It also includes a force control module; the force control module includes a circular film pressure sensor arranged at the fingertip joint cover and an annular film pressure sensor arranged at the palm.

10. The rope-driven finger rehabilitation trainer for rheumatoid arthritis according to claim 9, characterized in that: The control system includes a main control chip, a control signal source and a power supply; the main control chip is connected to the control signal source, the abduction and adduction drive motor, the bending and extension drive motor, the temperature control module and the force control module; the power supply can supply power to the control signal source, the abduction and adduction drive motor, the bending and extension drive motor, the temperature control module and the force control module; the control signal source includes a mobile phone APP Bluetooth control signal source, a voice control signal source and a touch screen; the main control chip, the power supply, the APP Bluetooth control signal source and the voice control signal source are all arranged in the control box; the touch screen is arranged on the upper surface of the control box.

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