Bionic manipulator for rehabilitation treatment

Abstract

A bionic manipulator for rehabilitation relates to the technical field of medical manipulators and particularly comprises a main body, a fingerstall is arranged at the front end of the main body, a fixing shell is arranged at the top end of the fingerstall, springs are fixedly mounted at two ends of the bottom of the fingerstall, and a square shell is fixedly mounted at the bottom end of each spring. When a square shell moves, a spring is compressed, then the square shell drives a mounting strip and a contact strip to move upwards, then the surface of the contact strip makes contact with a finger, then the finger can be fixed, and finally a belt is driven by a driving motor to pull the square shell to move; the contact strip is arranged on the finger holder, so that the fitting degree of the contact strip and the finger can be adjusted according to the thickness of the finger, the contact strip can be ensured not to be too tight to cause discomfort or oppression and not to be too loose to cause instability or slipping, and secondary injury to the finger of a patient due to position deviation of the finger in the treatment process is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of medical manipulators, and in particular to a bionic manipulator for rehabilitation treatment. Background Art

[0002] As an indispensable part of modern medicine, rehabilitation therapy is committed to helping patients restore limb functions damaged by disease, trauma or aging, and improving their quality of life and ability to live independently. In this field, bionic manipulator rehabilitation therapy has gradually become one of the most popular rehabilitation methods in clinical practice due to its unique advantages. At present, traditional bionic manipulators for rehabilitation therapy combine precise mechanical design with advanced electronic control technology to simulate the natural movement of the human hand and provide patients with personalized rehabilitation training programs. The medical fixation belt winding method is currently commonly used. Although this method is simple and easy, it is often difficult to accurately control the tightness of the fixation belt in actual operation. If the fixation belt is wrapped too tightly, it will not only cause strong discomfort and pressure to the patient, but may also affect the blood circulation of the fingers, further aggravate the swelling and pain of the fingers, and even cause damage to the nerves. On the contrary, if the fixation belt is wrapped too loosely, it will not be able to effectively fix the fingers, causing the fingers to shift during the treatment process, which will not only reduce the effect of rehabilitation training, but also may cause the risk of secondary injury due to the instability of the fingers, so it needs to be improved. Summary of the invention

[0003] In order to solve the problem in the above background technology that it is difficult to accurately control the tightness of the fixing belt, the present invention provides a bionic manipulator for rehabilitation treatment.

[0004] A bionic manipulator for rehabilitation treatment comprises a main body, wherein a finger sleeve is arranged at the front end of the main body, a fixed shell is arranged at the top end of the finger sleeve, springs are fixedly installed at both ends of the bottom of the finger sleeve, a square shell is fixedly installed at the bottom end of the spring, a mounting groove is opened at the bottom end of the square shell, a square block is arranged inside the mounting groove, a mounting strip is fixedly installed at the bottom end of the square block, and a contact strip located at a side opposite to the square block is fixedly installed at the top end of the mounting strip; A pulling mechanism is arranged at the top of the square shell. The pulling mechanism includes a belt, which is fixedly connected to the top of the square shell. The inside of the spring is rotatably connected to a rotating wheel. There are two belts. The other ends of the two belts extend to the inside of the spring and are fixedly connected to the two rotating wheels. A gear is fixedly installed on the rear side of the rotating wheel. A support seat is fixedly installed on the top of the finger sleeve. A motor is fixedly installed on the top of the support seat. The output end of the motor is fixedly connected to the surface of the right-end gear.

[0005] Preferably, it also includes: a fixing mechanism, which is arranged inside the square shell, the fixing mechanism includes a fixing sleeve, the fixing sleeve is fixedly connected to the inside of the square shell, a limiting groove 1 is provided at the rear end of the square block, a screw rod is slidably connected inside the fixing sleeve, a limiting groove 2 is provided inside the front end of the fixing sleeve, the limiting groove 2 is internally rotatably connected to a limiting ring, a transmission wheel 1 located at the front end of the fixing sleeve is fixedly installed at the front end of the limiting ring, and the transmission wheel 1 is threadedly connected to the screw rod, an insert block located inside the square shell is provided inside the limiting groove 1, the rear end of the insert block is internally rotatably connected to a limiting disk, the screw rod extends to the inside of the insert block and is fixedly connected to the surface of the limiting disk, the top end inside the square shell is rotatably connected to the transmission wheel 2, the transmission wheel 1 and the surface of the transmission wheel 2 are transmission-connected by a synchronous belt, and a connecting rod is fixedly installed at the rear end of the transmission wheel 2, the connecting rod passes through the square shell backwards and is fixedly installed with a rotating block located outside the square shell.

[0006] Preferably, a circular groove is formed inside the fixing sleeve, and a limiting plate located inside the circular groove is fixedly mounted at the rear end of the fixing sleeve, and the surface of the limiting plate is in contact with the inner wall of the circular groove.

[0007] Preferably, a slide groove is provided at the bottom end of the square shell, a slide plate is slidably connected inside the slide groove, and the top end of the slide plate is fixedly connected to the bottom end of the insert block.

[0008] Preferably, a fixing belt is provided at the bottom end of the main body, and the fixing belt is designed with silicone.

[0009] Preferably, the rotating block is circular in design and has a rough surface.

[0010] Preferably, both left and right sides of the fixed shell are rotatably connected with guide wheels, and the belt can move on the surface of the guide wheels.

[0011] Preferably, the springs are arranged in groups of two at both ends of the bottom of the finger sleeve, and telescopic rods are arranged inside the springs.

[0012] Preferably, the mounting strip and the contact strip are both arc-shaped, and are made of rubber.

[0013] Preferably, the insert block and the limiting groove one are both square in design, and the sizes of the insert block and the limiting groove one are matched.

[0014] Working principle and working process of the present invention: First, the operator can make the patient's palm pass between the fixing belt and the main body, then the fixing belt can fix the palm, then the patient's finger can be passed between the contact strip and the finger sleeve, then the motor can be driven to rotate the two gears, then the gear will drive the rotating wheel to rotate, and then the rotating wheel will wrap the belt around its surface, during the belt wrapping process, the belt will pull the square shell upward, when the square shell moves, the spring will be compressed, and then the square shell will drive the installation strip and the contact strip upward, then the surface of the contact strip will contact the finger, and then the finger can be fixed, after the fixation is completed, according to the patient's rehabilitation needs and exercise ability, appropriate resistance and assistance can be provided to help the patient restore muscle strength and joint mobility; When the mounting strip and the contact strip need to be replaced due to long-term work, the rotating block can be rotated, and the rotating block will drive the connecting rod and the transmission wheel 2 to rotate, and then the transmission wheel 2 will drive the synchronous belt and the transmission wheel 1 to rotate. When the transmission wheel 1 rotates, the screw rod can be retracted to the inside of the fixed sleeve. When the screw rod moves, it will pull the plug block away from the inside of the limit groove 1, so that the limit on the square block can be cancelled, and then the mounting strip and the contact strip can be removed, and then the unused mounting strip and contact strip can be placed on the bottom of the square shell, and the square block can be placed in the inside of the mounting groove, and then the rotating block can be rotated in the opposite direction, and then the transmission wheel 1 will rotate in the opposite direction, and then the screw rod will push the plug block into the inside of the limit groove 1, and then the mounting strip and the contact strip can be fixed again, and then the patient can continue to wear the robot for treatment, and finally complete the operation process.

[0015] Beneficial effects of the present invention: The present invention drives the motor to rotate two gears, which then drive the rotating wheel to rotate, and then the rotating wheel winds the belt around its surface. During the belt winding process, the belt pulls the square shell upward, and when the square shell moves, the spring is compressed, and then the square shell drives the mounting bar and the contact bar upward, and then the surface of the contact bar contacts the finger, thereby fixing the finger. Finally, the belt drives the square shell to move by the motor, and then the fit between the contact bar and the finger can be adjusted according to the thickness of the finger, thereby ensuring that the contact bar is neither too tight to cause discomfort or pressure, nor too loose to cause instability or slipping, thereby avoiding the position of the finger being shifted during the treatment process, thereby causing secondary damage to the patient's finger. The present invention rotates the rotating block, which drives the connecting rod and the second transmission wheel to rotate, and then the second transmission wheel drives the synchronous belt and the first transmission wheel to rotate. When the first transmission wheel rotates, the lead screw can be retracted into the interior of the fixed sleeve. When the lead screw moves, it pulls the plug block away from the interior of the limiting groove 1, thereby canceling the limiting of the square block. Finally, the lead screw drives the plug block to move by rotating the rotating block, thereby facilitating the operator to replace the installation strip and the contact strip, thereby improving the overall convenience of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram showing the bottom of the device of the present invention; Figure 3 It is a schematic diagram of a cross-sectional fixed shell of the present invention; Figure 4 It is a schematic diagram showing the belt of the present invention; Figure 5 Schematic diagram of the cross-section of the finger sleeve of the present invention Figure 6 This is a schematic diagram of a cross-sectional square shell of the present invention; Figure 7 This is a schematic diagram showing the interior of the square shell of the present invention; Figure 8 It is a schematic diagram of a cross-section fixing sleeve of the present invention.

[0017] In the figure: 1. main body; 2. finger sleeve; 3. fixed shell; 4. spring; 5. square shell; 6. mounting groove; 7. square block; 8. mounting strip; 9. contact strip; 10. belt; 11. rotating wheel; 12. gear; 13. support seat; 14. motor; 15. guide wheel; 16. limit groove 1; 17. fixed sleeve; 18. screw rod; 19. limit groove 2; 20. limit ring; 21. transmission wheel 1; 22. transmission wheel 2; 23. synchronous belt; 24. connecting rod; 25. rotating block; 26. plug-in block; 27. limit plate; 28. circular groove; 29. ​​limit plate; 30. slide groove; 31. slide plate; 32. fixed belt. DETAILED DESCRIPTION

[0018] See also Figures 1 to 8 Shown is an embodiment of the present invention.

[0019] A bionic manipulator for rehabilitation treatment, comprising a main body 1, a finger sleeve 2 is arranged at the front end of the main body 1, a fixed shell 3 is arranged at the top of the finger sleeve 2, springs 4 are fixedly installed at both ends of the bottom of the finger sleeve 2, a square shell 5 is fixedly installed at the bottom end of the spring 4, a mounting groove 6 is opened at the bottom end of the square shell 5, a square block 7 is arranged inside the mounting groove 6, a mounting strip 8 is fixedly installed at the bottom end of the square block 7, and a contact strip 9 located at the opposite side of the square block 7 is fixedly installed at the top end of the mounting strip 8; A pulling mechanism is arranged at the top of the square shell 5, and the pulling mechanism includes a belt 10, which is fixedly connected to the top of the square shell 5. The inside of the spring 4 is rotatably connected to a rotating wheel 11. There are two belts 10, and the other ends of the two belts 10 extend to the inside of the spring 4 and are fixedly connected to the two rotating wheels 11. A gear 12 is fixedly installed on the rear side of the rotating wheel 11. A support seat 13 is fixedly installed on the top of the finger sleeve 2, and a motor 14 is fixedly installed on the top of the support seat 13. The output end of the motor 14 is fixedly connected to the surface of the right end gear 12.

[0020] The above scheme is adopted: the operator wears the main body 1 and the finger sleeve 2 on the injured palm of the patient, and then the patient's finger is passed between the finger sleeve 2 and the contact strip 9, and then the motor 14 can be driven to rotate the gear 12 at the left end. Since the two gears 12 are meshed, the gear 12 at the left end will drive the other gear 12 to rotate, and then the two gears 12 will simultaneously drive the two rotating wheels 11 to rotate. Through the rotation of the rotating wheels 11, the belt 10 will be wrapped around its surface, and then the belt 10 will pull the square shell 5 to move upward. When the square shell 5 moves, the spring 4 will be stretched, and then the square shell 5 will pull the mounting strip 8 and the contact strip 9 to move upward, and then the surface of the contact strip 9 will contact the patient's finger, and then the patient's finger can be fixed, so as to avoid the position of the finger being shifted in the process of helping the patient recover, causing secondary damage to the patient's finger; After the fixation is completed, the robot will be able to achieve precise control of the patient's hand movement through control algorithms and sensor technology; then, according to the patient's rehabilitation needs and motor ability, it will provide appropriate resistance and assistance to help the patient restore muscle strength and joint mobility. After the treatment is completed, the motor 14 can be driven to make the two gears 12 rotate in the opposite direction, and then the gear 12 will drive the rotating wheel 11 to rotate in the opposite direction, and then the compressed spring 4 will push the square shell 5, the mounting bar 8 and the contact bar 9 to drop, and then the fingers will need to be fixed, and then the robot can be removed from the patient's palm.

[0021] like Figure 6 , Figure 7 and Figure 8As shown, it also includes: a fixing mechanism, which is arranged inside the square shell 5, the fixing mechanism includes a fixing sleeve 17, the fixing sleeve 17 is fixedly connected to the inside of the square shell 5, the rear end of the square block 7 is provided with a limiting groove 16, the inside of the fixing sleeve 17 is slidably connected with a screw rod 18, the front end of the fixing sleeve 17 is provided with a limiting groove 29, the inside of the limiting groove 29 is rotatably connected with a limiting ring 20, the front end of the limiting ring 20 is fixedly installed with a transmission wheel 11 located at the front end of the fixing sleeve 17, and the transmission wheel 11 is threadedly connected with the screw rod 18, The interior of the limiting groove 16 is provided with an insert block 26 located inside the square shell 5, and the interior of the rear end of the insert block 26 is rotatably connected to the limiting disk 27, the screw rod 18 extends to the interior of the insert block 26, and is fixedly connected to the surface of the limiting disk 27, the top of the interior of the square shell 5 is rotatably connected to the transmission wheel 22, the transmission wheel 1 21 and the surface of the transmission wheel 22 are transmission-connected by a synchronous belt 23, and the rear end of the transmission wheel 22 is fixedly installed with a connecting rod 24, the connecting rod 24 penetrates the square shell 5 backwards and is fixedly installed with a rotating block 25 located outside the square shell 5.

[0022] The above scheme is adopted: through the design of the fixing mechanism, when the installation strip 8 and the contact strip 9 need to be replaced, the rotating block 25 can be rotated, the rotating block 25 will drive the connecting rod 24 to rotate, and the connecting rod 24 will drive the transmission wheel 22 to rotate. Since the transmission wheel 22 and the surface of the transmission wheel 1 21 are connected by the synchronous belt 23, the transmission wheel 22 will drive the transmission wheel 1 21 and the synchronous belt 23 to rotate. Since the transmission wheel 1 21 is threadedly connected with the screw rod 18, when the transmission wheel 1 21 rotates, the screw rod 18 will shrink into the inside of the fixing sleeve 17, and then the screw rod 18 will pull the insert block 26 and the limit plate 27 to move backward, and then the insert block 26 will move away from the inside of the limit groove 16, and then the limit of the square block 7 will be cancelled, and then the installation strip 8 and the contact strip 9 can be removed; Then the unused mounting strip 8 and contact strip 9 can be placed at the bottom end of the square shell 5, and the square block 7 can be put into the inside of the mounting groove 6 again. When the top of the square block 7 contacts the top of the inside of the mounting groove 6, the limit groove 16 and the plug block 26 will be aligned again. Then the rotating block 25 can be rotated in the opposite direction. The rotating block 25 will drive the connecting rod 24 and the transmission wheel 2 22 to rotate in the opposite direction. Then the transmission wheel 22 will drive the transmission wheel 1 21 to rotate in the opposite direction. Then the screw rod 18 will push the plug block 26 forward. Then the plug block 26 will enter the inside of the limit groove 16 again, and then the square block 7, the mounting strip 8 and the contact strip 9 can be fixed. Then the patient can continue to wear the manipulator for treatment.

[0023] like Figure 8As shown, a circular groove 28 is provided inside the fixing sleeve 17, and a limiting plate 29 located inside the circular groove 28 is fixedly installed at the rear end of the fixing sleeve 17, and the surface of the limiting plate 29 is in contact with the inner wall of the circular groove 28. A sliding groove 30 is provided at the bottom end of the inside of the square shell 5, and a slide plate 31 is slidably connected inside the sliding groove 30, and the top end of the slide plate 31 is fixedly connected to the bottom end of the plug block 26.

[0024] The above scheme is adopted: through the design of the circular groove 28 and the limit plate 29, when the screw rod 18 moves, the limit plate 29 will be driven to move inside the circular groove 28. Since the size of the limit plate 29 is larger than the screw rod 18, when it can move to the specified position, it can block the movement of the screw rod 18 and prevent the screw rod 18 from moving out of the fixed sleeve 17. Through the design of the slide groove 30 and the slide plate 31, when the plug block 26 moves, the plug block 26 will drive the slide plate 31 to move inside the slide groove 30. Since the surface of the slide plate 31 fits with the inner wall of the slide groove 30, the plug block 26 can be limited, thereby increasing the stability of the movement of the plug block 26.

[0025] like Figure 1 and Figure 7 As shown, a fixing belt 32 is provided at the bottom end of the main body 1, and the fixing belt 32 is designed with silicone, and the rotating block 25 is designed to be circular, and the surface is designed to be rough.

[0026] The above scheme is adopted: through the design of the fixing belt 32, the palm can be passed through the fixing belt 32 during the wearing of the robot arm. Since the fixing belt 32 is designed with silicone, the fixing belt 32 will fit the palm during the wearing process, so that the fixing belt 32 will be deformed, and the robot arm can be fixed on the palm. Through the design of the rotating block 25, since the rotating block 25 is round and the surface is rough, the friction between the fingers can be increased, which makes it convenient for the operator to rotate the rotating block 25.

[0027] like Figure 4 and Figure 5 As shown, the left and right sides of the fixed shell 3 are rotatably connected with guide wheels 15, the belt 10 can move on the surface of the guide wheel 15, and the springs 4 are located at both ends of the bottom of the finger sleeve 2 in groups of two, and a telescopic rod is arranged inside the spring 4.

[0028] The above scheme is adopted: through the design of the guide wheel 15, since the belt 10 can move on the surface of the guide wheel 15, when the belt 10 moves, the friction between the belt 10 and the guide wheel 15 can drive the guide wheel 15 to rotate, so that the belt 10 can move more smoothly, and the belt 10 can be limited. Through the design of the spring 4, since the springs 4 are grouped in two at both ends of the bottom of the finger sleeve 2, the square shell 5 can be moved smoothly, and a telescopic rod is provided inside the spring 4, so that when the spring 4 is compressed, the telescopic rod will shrink, so that the spring 4 can be limited to avoid deformation during the compression process.

[0029] like Figure 6 As shown, the mounting strip 8 and the contact strip 9 are both arc-shaped, and are made of rubber material. The insert block 26 and the limiting groove 16 are both square-shaped, and the sizes of the insert block 26 and the limiting groove 16 are matched.

[0030] The above scheme is adopted: through the design of the mounting strip 8 and the contact strip 9, since both the mounting strip 8 and the contact strip 9 are arc-shaped, it is convenient for the contact strip 9 to fit the patient's fingers, and since they are made of rubber material, the contact strip 9 will deform during the process of contacting the fingers, thereby reducing the discomfort of the finger fixation. Through the design of the insert block 26 and the limiting groove 16, after the insert block 26 enters the interior of the limiting groove 16, the insert block 26 is adapted to the size of the limiting groove 16, thereby increasing the fixing effect of the mounting strip 8 and the contact strip 9.

[0031] The working principle and working process of this embodiment: First, the operator can make the patient's palm pass between the fixing belt 32 and the main body 1, and then the fixing belt 32 can fix the palm, and then the patient's finger can be passed between the contact strip 9 and the finger sleeve 2, and then the motor 14 can be driven to rotate the two gears 12, and then the gear 12 will drive the rotating wheel 11 to rotate, and then the rotating wheel 11 will wrap the belt 10 around its surface, and in the process of the belt 10 being wrapped, the belt 10 will pull the square shell 5 to move up, and when the square shell 5 moves, the spring 4 will be compressed, and then the square shell 5 will drive the installation strip 8 and the contact strip 9 to move up, and then the surface of the contact strip 9 will contact the finger, and then the finger can be fixed, and after the fixation is completed, appropriate resistance and assistance can be provided according to the patient's rehabilitation needs and exercise ability to help the patient restore muscle strength and joint mobility; When the mounting strip 8 and the contact strip 9 need to be replaced after a long period of work, the rotating block 25 can be rotated, and the rotating block 25 will drive the connecting rod 24 and the transmission wheel 22 to rotate, and then the transmission wheel 22 will drive the synchronous belt 23 and the transmission wheel 1 21 to rotate. When the transmission wheel 1 21 rotates, the screw rod 18 can be retracted into the interior of the fixed sleeve 17. When the screw rod 18 moves, it will pull the plug block 26 away from the interior of the limiting groove 16, so that the limit on the square block 7 can be cancelled, and then the mounting strip 8 and the contact strip 9 can be removed, and then the unused mounting strip 8 and the contact strip 9 can be placed on the bottom end of the square shell 5, and the square block 7 can be entered into the interior of the mounting groove 6, and then the rotating block 25 can be rotated in the opposite direction, and then the transmission wheel 1 21 will rotate in the opposite direction, and then the screw rod 18 will push the plug block 26 into the interior of the limiting groove 16, and then the mounting strip 8 and the contact strip 9 can be fixed again, and then the patient can continue to wear the manipulator for treatment, and finally the operation process is completed.

Claims

1. A bionic manipulator for rehabilitation treatment, comprising a main body (1), characterized in that: The front end of the main body (1) is provided with a finger sleeve (2), the top end of the finger sleeve (2) is provided with a fixed shell (3), both ends of the bottom of the finger sleeve (2) are fixedly mounted with springs (4), the bottom end of the spring (4) is fixedly mounted with a square shell (5), the bottom end of the square shell (5) is provided with a mounting groove (6), a square block (7) is provided inside the mounting groove (6), a mounting strip (8) is fixedly mounted on the bottom end of the square block (7), and a contact strip (9) located on the opposite side of the square block (7) is fixedly mounted on the top end of the mounting strip (8); A pulling mechanism is arranged at the top of the square shell (5), and comprises a belt (10), the belt (10) is fixedly connected to the top of the square shell (5), the inside of the spring (4) is rotatably connected to a rotating wheel (11), the number of the belts (10) is two, the other ends of the two belts (10) extend to the inside of the spring (4), and are fixedly connected to the two rotating wheels (11), a gear (12) is fixedly installed on the rear side of the rotating wheel (11), a support seat (13) is fixedly installed on the top of the finger sleeve (2), a motor (14) is fixedly installed on the top of the support seat (13), and the output end of the motor (14) is fixedly connected to the surface of the right end gear (12).

2. A bionic manipulator for rehabilitation treatment according to claim 1, characterized in that: The invention also comprises: a fixing mechanism, which is arranged inside the square shell (5), the fixing mechanism comprising a fixing sleeve (17), the fixing sleeve (17) being fixedly connected to the inside of the square shell (5), a limiting groove (16) being provided at the rear end of the square block (7), a screw rod (18) being slidably connected inside the fixing sleeve (17), a limiting groove (19) being provided inside the front end of the fixing sleeve (17), a limiting ring (20) being rotatably connected inside the limiting groove (19), a transmission wheel (21) located at the front end of the fixing sleeve (17) being fixedly installed at the front end of the limiting ring (20), and the transmission wheel (21) being threadedly connected to the screw rod (18), and the limiting ring (20) being fixedly installed at the front end of the fixing sleeve (17). An insert block (26) located inside the square shell (5) is arranged inside the groove (16), the rear end of the insert block (26) is internally rotatably connected to a limit plate (27), the screw rod (18) extends into the inside of the insert block (26) and is fixedly connected to the surface of the limit plate (27), the top end inside the square shell (5) is rotatably connected to a transmission wheel (22), the transmission wheel (21) and the surface of the transmission wheel (22) are transmission-connected by a synchronous belt (23), the rear end of the transmission wheel (22) is fixedly installed with a connecting rod (24), the connecting rod (24) penetrates the square shell (5) backwards and is fixedly installed with a rotating block (25) located outside the square shell (5).

3. A bionic manipulator for rehabilitation treatment according to claim 2, characterized in that: A circular groove (28) is provided inside the fixing sleeve (17), and a limiting plate (29) located inside the circular groove (28) is fixedly mounted at the rear end of the fixing sleeve (17), wherein the surface of the limiting plate (29) is in contact with the inner wall of the circular groove (28).

4. The bionic manipulator for rehabilitation treatment according to claim 1, characterized in that: A slide groove (30) is provided at the bottom end of the square shell (5), a slide plate (31) is slidably connected inside the slide groove (30), and the top end of the slide plate (31) is fixedly connected to the bottom end of the insert block (26).

5. The bionic manipulator for rehabilitation treatment according to claim 1, characterized in that: A fixing belt (32) is provided at the bottom end of the main body (1), and the fixing belt (32) is designed to be made of silicone.

6. The bionic manipulator for rehabilitation treatment according to claim 2, characterized in that: The rotating block (25) is circular in design and has a rough surface.

7. The bionic manipulator for rehabilitation treatment according to claim 1, characterized in that: The left and right sides of the fixed shell (3) are both rotatably connected to guide wheels (15), and the belt (10) can move on the surface of the guide wheels (15).

8. The bionic manipulator for rehabilitation treatment according to claim 1, characterized in that: The springs (4) are arranged in groups of two each and are located at both ends of the bottom of the finger sleeve (2), and telescopic rods are arranged inside the springs (4).

9. The bionic manipulator for rehabilitation treatment according to claim 1, characterized in that: The mounting strip (8) and the contact strip (9) are both of arc-shaped design, and the mounting strip (8) and the contact strip (9) are both made of rubber material.

10. The bionic manipulator for rehabilitation treatment according to claim 2, characterized in that: The insert block (26) and the limiting groove (16) are both square in design, and the sizes of the insert block (26) and the limiting groove (16) are compatible.

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