Finger joint active and passive training system

Abstract

The invention belongs to the technical field of rehabilitation equipment, and provides a finger joint active and passive training system which comprises a base and a thumb joint training mechanism installed on the base, the thumb joint training mechanism comprises a first electric push rod, a second push rod, a first joint piece and a second joint piece, and one end of the first electric push rod is hinged to the base; one end of the second electric push rod is hinged to the base, the other end of the second electric push rod is hinged to the second joint piece, the second joint piece is hinged to the base, and a guide groove in sliding fit with the first joint piece is formed in the second joint piece; according to the training system, through cooperation of the first electric push rod, the second electric push rod, the first joint piece and the second joint piece, training of front-back opening and closing and left-right swinging of the thumb joint can be achieved, richer and more flexible training tracks can be obtained, the training process is more reasonable and more flexible, and the thumb training rehabilitation effect is better.

Description

Technical Field

[0001] The invention relates to the technical field of rehabilitation equipment, and in particular to an active and passive training system for finger joints. Background Art

[0002] There are many stroke patients in China. About 75% of stroke patients will have sequelae of varying degrees after the onset of the disease. Among the many sequelae, hemiplegia has the highest incidence rate. In the rehabilitation of hemiplegia, the rehabilitation of hand function is the most difficult. At present, rehabilitation training for hand function recovery of stroke and hemiplegia patients mainly focuses on achieving hand grasping, hand opening and other movements in daily life. In fact, for real rehabilitation training, the flexibility of the thumb and the coordination between the thumb and other fingers or palms are more conducive to completing finger function rehabilitation.

[0003] In order to reduce the patient's physical burden and improve the efficiency of training, rehabilitation equipment is usually used for training. However, the existing hand rehabilitation training devices are mostly motor plus drive rod structures, and their motion trajectory is a fixed trajectory. The rehabilitation training is relatively mechanized, which is not conducive to the patient's hand rehabilitation training. Especially for the training of the thumb joint, the thumb has greater flexibility and complex movement trajectory than the other four fingers. Obviously, the mechanized movement trajectory of the existing finger rehabilitation training equipment cannot reasonably train the thumb, making it difficult to achieve the ideal recovery effect of the finger joints.

[0004] The technical problem to be solved by the present application is: how to solve the problem that the existing finger joint training equipment cannot provide reasonable training for the fingers. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide an active and passive training system for finger joints, which can provide richer activity trajectories for thumb joint training and make the thumb training rehabilitation effect more ideal.

[0006] The technical solution adopted in the present invention is: a finger joint active and passive training system, including a base and a thumb joint training mechanism installed on the base, the thumb joint training mechanism includes a first electric push rod, a second push rod, a first joint part and a second joint part, one end of the first electric push rod is hinged to the base, and the other end is hinged to the first joint part, a clamping part is provided at the end of the first joint part away from the first electric push rod, one end of the second electric push rod is hinged to the base, and the other end is hinged to the second joint part, the second joint part is hinged to the base, and the second joint part is provided with a guide groove that slides with the first joint part.

[0007] The active and passive training system for the finger joints of the present application can drive the clamping member to slide along the guide groove by extending and retracting the first electric push rod, thereby driving the thumb clamped on the clamping member to open and close forward and backward for training, and can drive the clamping member to swing relative to the base by extending and retracting the second electric push rod, thereby driving the thumb clamped on the clamping member to swing left and right, that is, when the first electric push rod and the second electric push rod are driven separately, a single-dimensional training trajectory can be provided, and when the first electric push rod and the second electric push rod are driven simultaneously, a richer and more flexible training trajectory can be obtained, the training process is more reasonable and flexible, and the effect of thumb training and rehabilitation is better.

[0008] In some embodiments, the second joint component includes a connecting plate, a push-swivel seat and a guide plate. The connecting plate is hinged to the base, the push-swivel seat is installed on the connecting plate, and the push-swivel seat is hinged to the second electric push rod. One end of the guide plate extends with the connecting plate, and the other end extends in a direction away from the connecting plate. The guide groove is opened on the guide plate.

[0009] By adopting the above technical solution, the connecting plate and the base are hinged by a rotating shaft, and the push-swivel seat is hinged to the second electric push rod. When the second electric push rod is extended or retracted, it can drive the second joint component to rotate around the rotating shaft, thereby driving the clamping component to swing relative to the base, so that the clamping component obtains a larger range of motion. The guide groove is opened on the guide plate, which can limit the trajectory of the first joint component when it slides relative to the second joint component, making the operation trajectory more precise. At the same time, it can also limit the sliding range of the first joint component to avoid straining the patient's joints.

[0010] In some embodiments, there are two guide plates, the two guide plates are arranged opposite to each other with an interval, and the first joint member passes between the two guide plates.

[0011] By adopting the above technical solution, by providing two guide plates and the first joint component passing through the two, the first joint component and the second joint component can be connected more closely, making the structure of the mechanism more reliable.

[0012] In some embodiments, the first joint component includes a universal articulated seat hinged to the first electric push rod and a connecting rod connecting the universal articulated seat and the clamping member, the first electric push rod is provided with a universal ball head that cooperates with the universal articulated seat, and the connecting rod is provided with a guide column that slides with the guide groove.

[0013] By adopting the above technical solution, by setting a universal hinge seat and cooperating with the universal ball head, the first joint component can obtain a greater degree of freedom, and at the same time, the first joint component can be prevented from interfering with the swing of the second joint component. By cooperating with the guide column and the guide groove, the sliding resistance of the first joint component relative to the second joint component can be reduced, making the movement smoother.

[0014] In some embodiments, a four-finger joint training mechanism is also included, which includes four groups of joint telescopic components and four third electric push rods. Each group of joint telescopic components corresponds to a third electric push rod, and one end of each third electric push rod is hinged to the base, and the other end is hinged to the joint telescopic component.

[0015] By adopting the above technical solution, four sets of joint extension and retraction components respectively train the index finger, middle finger, ring finger and little finger, so that each finger can be trained individually, making the rehabilitation training more effective.

[0016] In some embodiments, a detection mechanism for detecting whether a patient has a spasm is also included, the detection mechanism including a controller, a first pull-pressure sensor, a second pull-pressure sensor and a third pull-pressure sensor, the controller and the first pull-pressure sensor, the second pull-pressure sensor, the third pull-pressure sensor, the first electric push rod, the second electric push rod and the third electric push rod are signal-connected, one end of the first pull-pressure sensor is fixedly connected to the first electric push rod, and the other end is hinged to the base, one end of the second pull-pressure sensor is fixedly connected to the second electric push rod, and the other end is hinged to the base, one end of the third pull-pressure sensor is fixedly connected to the third electric push rod, and the other end is hinged to the base.

[0017] By adopting the above technical solution, a pull-pressure sensor is set at the tail of the electric push rod to provide real-time feedback on force changes. When the resistance is greater than the preset threshold, it is judged that the patient has spasm (cramp), and the thumb joint training mechanism and the four-finger joint training mechanism are immediately closed to ensure the patient's safety and make the patient's rehabilitation training safer.

[0018] In some embodiments, it also includes a feedback mechanism installed on the base, the feedback mechanism includes a vibrating member connected to the controller signal, a receiving groove for placing the patient's hand is provided on the base, the vibrating member is arranged at the bottom of the receiving groove, and the vibrating member gives vibration feedback when the patient completes the specified training movement.

[0019] By adopting the above technical solution, the training system of the present application is trained together with the matching game or brain-computer. When the game is successfully completed or the brain-computer imagination is successful, a vibration feedback is given to the patient, so that elderly patients with poor hearing can also clearly and intuitively perceive the feedback, which is more friendly to elderly patients with poor hearing.

[0020] In some embodiments, the inner wall of the receiving groove is paved with a soft cushion.

[0021] By adopting the above technical solution, soft cushions are laid to make patients more comfortable and improve the user experience.

[0022] In some embodiments, the base includes a bottom plate and two side plates arranged on opposite sides of the bottom, the bottom plate and the two side plates form a receiving groove, the thumb joint training mechanism is arranged on one of the side plates, and the four finger joint training mechanism and the vibration member are installed on the bottom plate.

[0023] By adopting the above technical solution, the four finger joint training mechanism is set on the base plate, and the thumb joint training mechanism is set on the side plate, so that the structure of the training system can be more ergonomic and more comfortable for patients to wear. The vibration part is installed on the base plate, which can better transmit the vibration to the patient's hand, making it easier for the patient to feel the vibration feedback.

[0024] In some embodiments, the guide groove is an arc-shaped groove.

[0025] By adopting the above technical solution, the arc-shaped guide groove can better fit the physiological curve of the finger joint movement, thereby making the rehabilitation training effect better and the training process relatively comfortable. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a finger joint active and passive training system according to a preferred embodiment of the present invention;

[0027] Figure 2 for Figure 1 The structural schematic diagram of the thumb joint training mechanism in the finger joint active and passive training system shown;

[0028] Figure 3 for Figure 1 The structural schematic diagram of the four finger joint training mechanism in the finger joint active and passive training system shown;

[0029] Figure 4 for Figure 1 The schematic diagram of the structure of the thumb joint training mechanism driving the thumb joint to bend backwards;

[0030] Figure 5 for Figure 1 The schematic diagram of the structure of the thumb joint training mechanism driving the thumb joint to extend forward is shown;

[0031] Figure 6 for Figure 1 The schematic diagram of the structure of the thumb joint training mechanism driving the thumb joint to swing to the right;

[0032] Figure 7 for Figure 1 The schematic diagram of the structure of the thumb joint training mechanism driving the thumb joint to swing to the left;

[0033] Figure 8 for Figure 1The structural schematic diagram of the base in the finger joint active and passive training system shown;

[0034] Fig. 9 for Figure 8 The cross-sectional structure diagram of the base along the central axis is shown.

[0035] In the figure: 100, finger joint active and passive training system; 10, base; 11, receiving groove; 12, bottom plate; 13, side plate; 20, thumb joint training mechanism; 21, first electric push rod; 211, universal ball head; 22, second electric push rod; 23, first joint part; 231, clamping part; 232, universal hinge seat; 233, connecting rod; 234, guide column; 24, second joint part; 241, guide groove; 242, connecting plate; 243, push and turn seat; 244, guide plate; 30, four-finger joint training mechanism; 31, joint telescopic assembly; 32, third electric push rod; 40, detection mechanism; 41, first pull pressure sensor; 42, second pull pressure sensor; 43, third pull pressure sensor; 50, feedback mechanism; 51, vibration member; 52, cushion. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. When the number of an element is referred to as "plurality", it may be any number of two or more. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0039] See also Figures 1 to 9, which is a finger joint active and passive training system 100 of a preferred embodiment of the present invention, includes a base 10 and a thumb joint training mechanism 20 installed on the base 10, the thumb joint training mechanism 20 includes a first electric push rod 21, a second push rod, a first joint part 23 and a second joint part 24, one end of the first electric push rod 21 is hinged to the base 10, and the other end is hinged to the first joint part 23, the end of the first joint part 23 away from the first electric push rod 21 is provided with a clamping member 231, one end of the second electric push rod 22 is hinged to the base 10, and the other end is hinged to the second joint part 24, the second joint part 24 is hinged to the base 10, and the second joint part 24 is provided with a guide groove 241 that slides with the first joint part 23. The finger joint active and passive training system 100 of the present application can drive the clamping member 231 to slide along the guide groove 241 through the extension and retraction of the first electric push rod 21, thereby driving the thumb clamped on the clamping member 231 to open and close forward and backward training, and can drive the clamping member 231 to swing relative to the base 10 through the extension and retraction of the second electric push rod 22, thereby driving the thumb clamped on the clamping member 231 to swing left and right, that is, when the first electric push rod 21 and the second electric push rod 22 are driven separately, a single-dimensional training trajectory can be provided, and when the first electric push rod 21 and the second electric push rod 22 are driven at the same time, a richer and more flexible training trajectory can be obtained, the training process is more reasonable and flexible, and the effect of thumb training and rehabilitation is better.

[0040] like Figure 2 As shown, the tail ends of the first electric push rod 21 and the second electric push rod 22 are hinged to the base 10, and the tail ends of the first electric push rod 21 and the second electric push rod 22 are close to each other. The telescopic end of the first electric push rod 21 is hinged to the first joint 23, and the telescopic end of the second electric push rod 22 is hinged to the second joint 24.

[0041] Specifically, the second joint 24 includes a connecting plate 242, a push-swivel seat 243 and a guide plate 244. The connecting plate 242 is hinged to the base 10, the push-swivel seat 243 is installed on the connecting plate 242, and the push-swivel seat 243 is hinged to the second electric push rod 22. One end of the guide plate 244 extends from the connecting plate 242, and the other end extends in a direction away from the connecting plate 242. The guide groove 241 is opened on the guide plate 244. The connecting plate 242 is hinged to the base 10 via a rotating shaft, and the push-swivel seat 243 is hinged to the telescopic end of the second electric push rod 22. When the second electric push rod 22 is extended or retracted, the second joint component 24 can be driven to rotate around the rotating shaft, thereby driving the clamping component 231 to swing relative to the base 10, so that the clamping component 231 has a larger range of motion. The guide groove 241 is opened on the guide plate 244, which can limit the trajectory of the first joint component 23 when it slides relative to the second joint component 24, making the running trajectory more precise. At the same time, it can also limit the sliding range of the first joint component 23 to avoid straining the patient's joints.

[0042] Preferably, the guide groove 241 is an arc-shaped groove. The arc-shaped guide groove 241 can better fit the physiological curve of the finger joint movement, so that the rehabilitation training effect is better and the training process is relatively comfortable.

[0043] As a further improvement of the above technical solution, there are two guide plates 244, the two guide plates 244 are arranged opposite to each other at a distance, and the first joint part 23 passes between the two guide plates 244. By providing two guide plates 244 and the first joint part 23 passing between the two, the first joint part 23 and the second joint part 24 can be connected more closely, making the structure of the mechanism more reliable.

[0044] Specifically, the first joint 23 includes a universal hinge seat 232 hinged to the first electric push rod 21 and a connecting rod 233 connecting the universal hinge seat 232 and the clamping member 231. The telescopic end of the first electric push rod 21 is provided with a universal ball head 211 matched with the universal hinge seat 232, and the connecting rod 233 is provided with a guide column 234 slidably matched with the guide groove 241. By providing the universal hinge seat 232 to cooperate with the universal ball head 211, the first joint 23 can obtain a greater degree of freedom, and at the same time, the first joint 23 can be prevented from interfering with the swing of the second joint 24. The cooperation of the guide column 234 and the guide groove 241 can reduce the resistance of the first joint 23 to the sliding of the second joint 24, making the movement smoother.

[0045] Preferably, in order to reduce the resistance between the guide column 234 and the guide groove 241, a roller is provided on the surface of the guide column 234. By providing the roller, the sliding friction between the guide column 234 and the guide groove 241 can be converted into rolling friction, which has smaller resistance and lower noise, making the first joint component 23 and the second joint component 24 run more smoothly, which is beneficial to improving the patient's usage experience.

[0046] The finger joint active and passive training system 100 of the present application also includes a four-finger joint training mechanism 30 installed on the base 10. The four-finger joint training mechanism 30 includes four sets of joint telescopic components 31 and four third electric push rods 32. Each set of joint telescopic components 31 corresponds to a third electric push rod 32. One end of each third electric push rod 32 is hinged to the base 10, and the other end is hinged to the joint telescopic component 31. The four sets of joint telescopic components 31 correspond to the training of the index finger, middle finger, ring finger and little finger, respectively, so that each finger can be trained separately, so that the effect of rehabilitation training is better.

[0047] The specific structure and function of the joint telescopic assembly 31 can be referred to the previously applied Chinese invention patent with publication number CN 110141461A, which will not be repeated here.

[0048] In order to improve the safety during finger joint rehabilitation training, the finger joint active and passive training system 100 also includes a detection mechanism 40 for detecting whether the patient has spasm. The detection mechanism 40 includes a controller (not shown), a first pull pressure sensor 41, a second pull pressure sensor 42 and a third pull pressure sensor 43. The controller and the first pull pressure sensor 41, the second pull pressure sensor 42, the third pull pressure sensor 43, the first electric push rod 21, the second electric push rod 22 and the third electric push rod 32 are signal-connected. One end of the first pull pressure sensor 41 is fixed to the first electric push rod 21, and the other end is hinged to the base 10. One end of the second pull pressure sensor 42 is fixed to the second electric push rod 22, and the other end is hinged to the base 10. One end of the third pull pressure sensor 43 is fixed to the third electric push rod 32, and the other end is hinged to the base 10. By setting a tension pressure sensor at the tail of the electric push rod, the change of force can be fed back in real time. When the resistance is greater than the preset threshold, it is judged that the patient has spasm (cramp), and the thumb joint training mechanism 20 and the four-finger joint training mechanism 30 are immediately closed to ensure the safety of the patient and make the patient's rehabilitation training safer.

[0049] The principle of the detection mechanism 40 to detect whether the patient has spasm is as follows:

[0050] A resistance threshold is set in advance for the controller. When the resistance fed back by the pulling pressure sensor is greater than the resistance threshold, it can be determined that the patient has a spasm. When using this training system to perform rehabilitation training on the patient's finger joints, each pulling pressure sensor will feed back a resistance value to the controller in real time. The controller compares the fed back resistance value with the resistance threshold. When the fed back resistance value is less than the resistance threshold, it can be determined that the patient's joint is in a normal state. When the fed back resistance value is greater than the resistance threshold, it can be determined that the patient's joint has a spasm. When the patient has a spasm, the controller issues an instruction to stop joint training and sends a relevant signal to the medical staff to ensure the safety of the patient. Furthermore, in order to facilitate the medical staff to analyze the specific situation of the patient's spasm, the parameters of each level of spasm can be set in the controller. When the patient has a spasm, the controller compares the fed back resistance value with the spasm level parameter to confirm the level of the patient's spasm, which is convenient for the medical staff to understand and analyze the patient's spasm.

[0051] In one embodiment, the finger joint active and passive training system 100 of the present application also includes a feedback mechanism 50 installed on the base 10, and the feedback mechanism 50 includes a vibration member 51 connected to the controller signal. The base 10 is provided with a receiving groove 11 for placing the patient's hand, and the vibration member 51 is arranged at the bottom of the receiving groove 11. The vibration member 51 gives vibration feedback when the patient completes the specified training action. Usually, when patients are doing hand function rehabilitation treatment, they will use supporting games or brain-computer training together. When the game is successfully completed or the brain-computer imagination is successful, a clear feedback needs to be given to the patient to facilitate the patient to understand the completion of the action. The present application sends vibration feedback through the vibration member 51, so that elderly patients with poor hearing can also clearly and intuitively perceive the feedback. It is more friendly to elderly patients with poor hearing, and is more suitable for use in noisy centralized treatment training places such as hospitals and rehabilitation institutions, so that patients can feel the feedback more intuitively.

[0052] Preferably, the vibration member 51 is a vibration motor.

[0053] like Figure 8 and Fig. 9 As shown, in order to improve comfort, a cushion 52 is laid on the inner wall of the receiving groove 11. The cushion 52 makes the patient more comfortable and improves the user experience.

[0054] In one embodiment, the base 10 includes a bottom plate 12 and two side plates 13 disposed on opposite sides of the bottom, the bottom plate 12 and the two side plates 13 constitute a receiving groove 11, the thumb joint training mechanism 20 is disposed on one of the side plates 13, and the four-finger joint training mechanism 30 and the vibration member 51 are installed on the bottom plate 12. The four-finger joint training mechanism 30 is disposed on the bottom plate 12, and the thumb joint training mechanism 20 is disposed on the side plates 13, so that the structure of the training system is more ergonomic and more comfortable for patients to wear, and the vibration member 51 is installed on the bottom plate 12, so that the vibration can be better transmitted to the patient's hand, so that the patient can feel the vibration feedback.

[0055] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A finger joint active and passive training system, comprising a base (10) and a thumb joint training mechanism (20) mounted on the base (10), characterized in that: The thumb joint training mechanism (20) comprises a first electric push rod (21), a second push rod, a first joint component (23) and a second joint component (24); one end of the first electric push rod (21) is hinged to the base (10), and the other end is hinged to the first joint component (23); a clamping component (231) is provided at one end of the first joint component (23) away from the first electric push rod (21); one end of the second electric push rod (22) is hinged to the base (10), and the other end is hinged to the second joint component (24); the second joint component (24) is hinged to the base (10); and a guide groove (241) is provided on the second joint component (24) for sliding cooperation with the first joint component (23).

2. The finger joint active and passive training system according to claim 1, characterized in that: The second joint component (24) includes a connecting plate (242), a push-turn seat (243) and a guide plate (244); the connecting plate (242) is hinged to the base (10); the push-turn seat (243) is installed on the connecting plate (242); and the push-turn seat (243) is hinged to the second electric push rod (22); one end of the guide plate (244) extends from the connecting plate (242) and the other end extends in a direction away from the connecting plate (242); and the guide groove (241) is provided on the guide plate (244).

3. The finger joint active and passive training system according to claim 2, characterized in that: There are two guide plates (244), the two guide plates (244) are arranged opposite to each other at an interval, and the first joint component (23) passes between the two guide plates (244).

4. The finger joint active and passive training system according to claim 1, characterized in that: The first joint component (23) comprises a universal hinge seat (232) hinged to the first electric push rod (21) and a connecting rod (233) connecting the universal hinge seat (232) and the clamping member (231); the first electric push rod (21) is provided with a universal ball head (211) matched with the universal hinge seat (232); the connecting rod (233) is provided with a guide column (234) slidably matched with the guide groove (241).

5. The finger joint active and passive training system according to claim 1, characterized in that: The invention also comprises a four-finger joint training mechanism (30) installed on the base (10), wherein the four-finger joint training mechanism (30) comprises four groups of joint telescopic components (31) and four third electric push rods (32), each group of the joint telescopic components (31) corresponds to a third electric push rod (32), and one end of each of the third electric push rods (32) is hinged to the base (10), and the other end is hinged to the joint telescopic component (31).

6. The finger joint active and passive training system according to claim 5, characterized in that: The invention also includes a detection mechanism (40) for detecting whether a patient has a spasm. The detection mechanism (40) includes a controller, a first tension and pressure sensor (41), a second tension and pressure sensor (42) and a third tension and pressure sensor (43). The controller is signal-connected to the first tension and pressure sensor (41), the second tension and pressure sensor (42), the third tension and pressure sensor (43), the first electric push rod (21), the second electric push rod (22) and the third electric push rod (32). One end of the first tension and pressure sensor (41) is fixedly connected to the first electric push rod (21), and the other end is hinged to the base (10). One end of the second tension and pressure sensor (42) is fixedly connected to the second electric push rod (22), and the other end is hinged to the base (10). One end of the third tension and pressure sensor (43) is fixedly connected to the third electric push rod (32), and the other end is hinged to the base (10).

7. The finger joint active and passive training system according to claim 6, characterized in that: The invention also comprises a feedback mechanism (50) mounted on the base (10), the feedback mechanism (50) comprising a vibration member (51) connected to a controller signal, the base (10) being provided with a receiving groove (11) for placing a patient's hand, the vibration member (51) being arranged at the bottom of the receiving groove (11), and the vibration member (51) giving vibration feedback when the patient completes a designated training action.

8. The finger joint active and passive training system according to claim 7, characterized in that: The inner wall of the containing groove (11) is paved with a soft cushion (52).

9. The finger joint active and passive training system according to claim 7, characterized in that: The base (10) comprises a bottom plate (12) and two side plates (13) arranged at opposite sides of the bottom, the bottom plate (12) and the two side plates (13) forming a receiving groove (11), the thumb joint training mechanism (20) being arranged on one of the side plates (13), and the four-finger joint training mechanism (30) and the vibration member (51) being mounted on the bottom plate (12).

10. The finger joint active and passive training system according to claim 1, characterized in that: The guide groove (241) is an arc-shaped groove.

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