Hand rehabilitation robot with adjustable training intensity and operation method thereof

Abstract

The invention discloses a training-intensity-adjustable hand rehabilitation robot and an operation method thereof, and relates to the technical field of hand rehabilitation, the training-intensity-adjustable hand rehabilitation robot comprises a fingerstall assembly and a first elastic structure, first supports are symmetrically installed on the two sides of the front end of the fingerstall assembly, and the first elastic structure is installed at the front end of a sensor assembly; and a second elastic structure is mounted at the rear end of the sensor assembly. According to the hand rehabilitation robot with the adjustable training intensity and the operation method of the hand rehabilitation robot, through use of a sensor connecting frame and a fixing bolt, a first elastic structure and a second elastic structure can be replaced or disassembled according to use requirements, so that elastic ropes with different intensities are replaced, and different rehabilitation use requirements are met; and a first gasket, a second gasket and a third gasket are respectively arranged in the first fingerstall, the second fingerstall and the third fingerstall, so that the fingers of the user are protected from skin abrasion.

Description

Technical Field

[0001] The present invention relates to the technical field of hand rehabilitation, and in particular to a hand rehabilitation robot with adjustable training intensity and an operation method thereof. Background Art

[0002] A hand rehabilitation robot is a robot designed specifically for hand rehabilitation training, which aims to help patients with hand function rehabilitation training and promote the recovery of hand function. These robots combine sophisticated mechanical and sensor technology to capture tiny changes in the patient's hand movements and provide real-time feedback to the patient. The feedback can be presented in the form of vision, hearing or touch to help patients better perform rehabilitation training. Some advanced hand rehabilitation robots are also equipped with artificial intelligence technology, which can design personalized training programs based on the patient's rehabilitation situation. In addition, some hand function rehabilitation robots can also be connected to the Internet so that they can be adjusted and improved according to the latest medical research during the patient's rehabilitation, improve rehabilitation efficiency, and make the rehabilitation process more personalized.

[0003] The strength of the elastic structure in a conventional hand rehabilitation machine is relatively fixed, making it difficult to properly adjust it according to the needs of the user, thereby making the adaptability of the device relatively limited, resulting in affected flexibility of use.

[0004] Therefore, in view of this, the existing structure and defects are studied and improved, and a hand rehabilitation robot with adjustable training intensity and an operation method thereof are proposed. Summary of the invention

[0005] The object of the present invention is to provide a hand rehabilitation robot with adjustable training intensity and an operation method thereof, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a hand rehabilitation robot with adjustable training intensity, comprising a finger sleeve assembly and a first elastic structure, wherein a first bracket is symmetrically installed on both sides of the front end of the finger sleeve assembly, and a second bracket is symmetrically installed on both sides of the rear end of the finger sleeve assembly, and a sensor assembly is installed on the top of the finger sleeve assembly, the first elastic structure is installed at the front end of the sensor assembly, and the second elastic structure is installed at the rear end of the sensor assembly, the first elastic structure comprises an elastic rope, a sensor connecting frame and a fixing bolt, the sensor connecting frames are installed at both ends of the elastic rope, and fixing bolts are horizontally installed at the four diagonals of the sensor connecting frame.

[0007] Further, the finger sleeve assembly includes a first finger sleeve, a first gasket, a second finger sleeve, a second gasket, a third finger sleeve and a third gasket, the first finger sleeve is embedded with the first gasket, and one end of the first finger sleeve is provided with the second gasket, and the second finger sleeve is embedded with the second gasket, and the end of the second finger sleeve away from the first finger sleeve is provided with the third finger sleeve, and the third gasket is embedded with the third finger sleeve.

[0008] Furthermore, the outer surface structure of the first gasket matches the inner surface structure of the first finger sleeve, the outer surface structure of the second gasket matches the inner surface structure of the second finger sleeve, and the outer surface structure of the third gasket matches the inner surface structure of the third finger sleeve.

[0009] Furthermore, the first bracket includes a movable shaft, a support frame and a connecting shaft, both ends of the movable shaft are horizontally connected to the support frame, and the connecting shaft is installed at one end of the support frame away from the movable shaft.

[0010] Furthermore, the second bracket has the same structure as the first bracket, and the two ends of the first bracket are respectively connected to the rear end side of the first finger sleeve and the front end side of the second finger sleeve, and the two ends of the second bracket are respectively connected to the rear end side of the second finger sleeve and the front end side of the third finger sleeve.

[0011] Furthermore, the sensor assembly includes a wire, a first six-dimensional torque sensor, a first movable frame, a second six-dimensional torque sensor and a second movable frame, the first six-dimensional torque sensor is installed relatively to the front end of the wire, and the first movable frame is installed at the bottom of the first six-dimensional torque sensor, the second six-dimensional torque sensor is installed at the rear end of the wire, and the second movable frame is installed at the bottom of the second six-dimensional torque sensor.

[0012] Furthermore, the first six-dimensional torque sensor is arranged in two groups front and back relative to each other, and the first six-dimensional torque sensor is respectively connected and fixed to the top of the first finger sleeve and the second finger sleeve by using a first movable frame and bolts, and the second six-dimensional torque sensor is arranged in two groups front and back relative to each other, and the first movable frame is respectively connected and fixed to the top of the second finger sleeve and the third finger sleeve by using a second movable frame and bolts.

[0013] Furthermore, the second elastic structure has the same structure as the first elastic structure, and the front and rear ends of the first elastic structure are connected to the first six-dimensional torque sensor by bolts, and the front and rear ends of the second elastic structure are connected to the second six-dimensional torque sensor by bolts.

[0014] Furthermore, an operation method of a hand rehabilitation robot with adjustable training intensity is applied to the hand rehabilitation robot with adjustable training intensity, and the operation method is as follows: first, the first elastic structure and the second elastic structure are structurally docked and fixed with the first six-dimensional torque sensor and the second six-dimensional torque sensor in the sensor assembly by using the sensor connecting frames at both ends of the elastic rope in cooperation with the use of fixing bolts, and then the first movable frame at the bottom of the first six-dimensional torque sensor is respectively connected and fixed with the top of the first finger sleeve and the second finger sleeve by bolts, and then the second movable frame at the bottom of the second six-dimensional torque sensor is respectively connected and fixed with the second finger sleeve and the third finger sleeve by bolts; after the sensor assembly, the first elastic structure, the second elastic structure and the finger sleeve assembly are combined and connected, the first washer, the second washer and the third washer are respectively embedded and installed in the interior of the first finger sleeve, the second finger sleeve and the third finger sleeve; the user can pass a finger through the interior of the third finger sleeve and the second finger sleeve in turn and finally insert it into the interior of the first finger sleeve, and then use the connector at one end of the wire to electrically connect it to the rehabilitation detection equipment, and with the assistance of the elastic rope, the user repeatedly bends his fingers for rehabilitation training.

[0015] The present invention provides a hand rehabilitation robot with adjustable training intensity and an operation method thereof, which has the following beneficial effects:

[0016] 1. The present invention is provided with a first elastic structure and a second elastic structure, and the second elastic structure and the first elastic structure have the same structure, and the first six-dimensional torque sensor and the second six-dimensional torque sensor have the same structure. Therefore, the first elastic structure and the second elastic structure can be quickly disconnected, docked or separated with the first six-dimensional torque sensor and the second six-dimensional torque sensor respectively by using a sensor connecting frame and a fixing bolt. By using the above structure, the elastic rope can be replaced with different strengths according to the needs of use to meet different degrees of rehabilitation training, thereby ensuring the convenience of use and the flexibility of disconnection of the device. In addition, since the first six-dimensional torque sensor and the second six-dimensional torque sensor are respectively installed at the bottom of the first six-dimensional torque sensor and the second six-dimensional torque sensor, while being structurally connected to the finger sleeve assembly, it can also provide structural mobility to ensure that the user's finger can be flexibly bent after being inserted into the finger sleeve assembly, so as to ensure the flexibility of the device and avoid structural interference.

[0017] 2. The present invention, by respectively embedding the first gasket, the second gasket and the third gasket inside the first finger sleeve, the second finger sleeve and the third finger sleeve, can effectively ensure that when the finger sleeve assembly is sleeved on the surface of the finger, the finger is prevented from being worn due to reciprocating bending during the use of the device. In addition, the contact tightness between the device and the finger can be ensured to avoid unnecessary loosening during rehabilitation training. The first bracket and the second bracket are installed and connected at the front and rear ends of the side of the finger sleeve assembly, wherein the first bracket and the second bracket have the same structure and are respectively connected to the side of the first finger sleeve, the second finger sleeve and the third finger sleeve by a connecting shaft, and the structural activity of the movable shaft can provide the support frames connected on both sides with up and down swing adjustment within a certain angle. By using the above structure, on the one hand, the entire finger sleeve assembly can be structurally connected, so that it has structural integrity and maintains structural stability, and on the other hand, the structural support of the finger sleeve assembly can be ensured, thereby protecting the user's fingers. At the same time, the rotatability of the movable shaft is utilized so that there will be no interference with the structural activity, so as to ensure the flexibility of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the side view of the body axis of a hand rehabilitation robot with adjustable training intensity according to the present invention;

[0019] Figure 2 This is a schematic diagram of the exploded structure of a hand rehabilitation robot with adjustable training intensity according to the present invention;

[0020] Figure 3 This is a schematic diagram of the three-dimensional structure of a first bracket of a hand rehabilitation robot with adjustable training intensity according to the present invention;

[0021] Figure 4 This is a schematic diagram of the three-dimensional structure of a sensor assembly of a hand rehabilitation robot with adjustable training intensity according to the present invention;

[0022] Figure 5 This is a schematic diagram of the three-dimensional structure of a first elastic force structure of a hand rehabilitation robot with adjustable training intensity according to the present invention.

[0023] In the figure: 1. finger sleeve assembly; 101. first finger sleeve; 102. first gasket; 103. second finger sleeve; 104. second gasket; 105. third finger sleeve; 106. third gasket; 2. first bracket; 201. movable shaft; 202. support frame; 203. connecting shaft; 3. second bracket; 4. sensor assembly; 401. wire; 402. first six-dimensional torque sensor; 403. first movable frame; 404. second six-dimensional torque sensor; 405. second movable frame; 5. first elastic structure; 501. elastic rope; 502. sensor connecting frame; 503. fixing bolt; 6. second elastic structure. DETAILED DESCRIPTION

[0024] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0025] like Figures 1 to 5 As shown, a hand rehabilitation robot with adjustable training intensity includes a finger sleeve assembly 1 and a first elastic structure 5, a first bracket 2 is symmetrically installed on both sides of the front end of the finger sleeve assembly 1, and a second bracket 3 is symmetrically installed on both sides of the rear end of the finger sleeve assembly 1, and a sensor assembly 4 is installed on the top of the finger sleeve assembly 1, the first elastic structure 5 is installed at the front end of the sensor assembly 4, and the second elastic structure 6 is installed at the rear end of the sensor assembly 4, the first elastic structure 5 includes an elastic rope 501, a sensor connecting frame 502 and a fixing bolt 503, and the sensor connecting frame 502 is installed at both ends of the elastic rope 501 , and fixing bolts 503 are horizontally installed at the four diagonal positions of the sensor connecting frame 502, the sensor assembly 4 includes a wire 401, a first six-dimensional torque sensor 402, a first movable frame 403, a second six-dimensional torque sensor 404 and a second movable frame 405, the front end of the wire 401 is relatively installed with the first six-dimensional torque sensor 402, and the bottom of the first six-dimensional torque sensor 402 is installed with the first movable frame 403, the rear end of the wire 401 is installed with the second six-dimensional torque sensor 404, and the bottom of the second six-dimensional torque sensor 404 is installed with the second movable frame 405, the first Two groups of six-dimensional torque sensors 402 are arranged relatively front and back, and the first six-dimensional torque sensor 402 is connected and fixed to the top of the first finger sleeve 101 and the second finger sleeve 103 by using the first movable frame 403 and bolts, and the second six-dimensional torque sensor 404 is arranged relatively front and back. Two groups, and the first movable frame 403 is connected and fixed to the top of the second finger sleeve 103 and the third finger sleeve 105 by using the second movable frame 405 and bolts, the second elastic structure 6 has the same structure as the first elastic structure 5, and the front and rear ends of the first elastic structure 5 are connected to the first six-dimensional torque sensor 402 by bolts. They are connected to each other, and the front and rear ends of the second elastic structure 6 are connected to the second six-dimensional torque sensor 404 by bolts. The first elastic structure 5 and the second elastic structure 6 are provided, and the second elastic structure 6 and the first elastic structure 5 have the same structure. At the same time, the first six-dimensional torque sensor 402 and the second six-dimensional torque sensor 404 have the same structure. Therefore, the sensor connecting frame 502 and the fixing bolt 503 can be used to quickly disconnect the first elastic structure 5 and the second elastic structure 6 from the first six-dimensional torque sensor 402 and the second six-dimensional torque sensor 404, respectively, for docking or splitting.

[0026] like Figures 1 to 5As shown, the finger sleeve assembly 1 includes a first finger sleeve 101, a first gasket 102, a second finger sleeve 103, a second gasket 104, a third finger sleeve 105 and a third gasket 106. The first gasket 102 is embedded in the first finger sleeve 101, and the second gasket 103 is arranged at one end of the first finger sleeve 101, and the second gasket 104 is embedded in the second finger sleeve 103, and the third gasket 105 is arranged at one end of the second finger sleeve 103 away from the first finger sleeve 101, and the third gasket 106 is embedded in the third finger sleeve 105. The outer surface structure of the first gasket 102 matches the inner surface structure of the first finger sleeve 101, the outer surface structure of the second gasket 104 matches the inner surface structure of the second finger sleeve 103, and the outer surface structure of the third gasket 106 matches the inner surface structure of the third finger sleeve 105. The first bracket 2 includes a movable shaft 201, a support The movable shaft 201 has two ends, the first end of the support frame 202 and the second end of the support frame 202. The second end of the support frame 202 is connected to the first end of the support frame 202 and the third end of the support frame 205. The first end of the support frame 202 is connected to the first end of the support frame 202 and the third end of the support frame 205. The first end of the support frame 202 is connected to the first end of the support frame 201 and the third end of the support frame 205. The first end of the support frame 202 is connected to the first end of the support frame 201 and the third end of the support frame 205. The first end of the support frame 202 is connected to the first end of the support frame 201 and the third end of the support frame 105. The first end of the support frame 202 is connected to the first end of the support frame 202 and the third end of the support frame 105. The first end of the support frame 202 is connected to the first end of the support frame 201 and the third end of the support frame 105. The first end of the support frame 202 is connected to the first end of the support frame 202 and the third end of the support frame 105.

[0027] In summary, if Figures 1 to 5 As shown, the hand rehabilitation robot with adjustable training intensity and the operation method thereof, when in use, firstly, the first elastic structure 5 and the second elastic structure 6, using the sensor connecting frames 502 at both ends of the elastic rope 501, cooperate with the use of the fixing bolts 503, are structurally docked and fixed with the first six-dimensional torque sensor 402 and the second six-dimensional torque sensor 404 in the sensor assembly 4, and then the first movable frame 403 at the bottom of the first six-dimensional torque sensor 402 is connected and fixed with the top of the first finger sleeve 101 and the second finger sleeve 103 by bolts, and then the second movable frame 405 at the bottom of the second six-dimensional torque sensor 404 is connected and fixed with the second finger sleeve 103 and the third finger sleeve 105 by bolts;

[0028] After the sensor assembly 4, the first elastic structure 5, the second elastic structure 6 and the finger sleeve assembly 1 are assembled and connected, the first gasket 102, the second gasket 104 and the third gasket 106 are respectively embedded and installed in the first finger sleeve 101, the second finger sleeve 103 and the third finger sleeve 105;

[0029] The user can pass a finger through the third finger cuff 105, the second finger cuff 103 and finally insert it into the first finger cuff 101, and then use the connector at one end of the wire 401 to electrically connect it to the rehabilitation detection equipment. With the assistance of the elastic rope 501, the user can repeatedly bend the finger for rehabilitation training. During this process, the movable shaft 201 in the first bracket 2 and the second bracket 3 provides structural mobility for the entire device, and the support frame 202 provides structural support for the device to ensure the stability of the overall structure.

[0030] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A hand rehabilitation robot with adjustable training intensity, comprising a finger sleeve assembly (1) and a first elastic structure (5), characterized in that: The first bracket (2) is symmetrically mounted on both sides of the front end of the finger sleeve assembly (1), and the second bracket (3) is symmetrically mounted on both sides of the rear end of the finger sleeve assembly (1), and the sensor assembly (4) is mounted on the top of the finger sleeve assembly (1), the first elastic structure (5) is mounted on the front end of the sensor assembly (4), and the second elastic structure (6) is mounted on the rear end of the sensor assembly (4), the first elastic structure (5) comprises an elastic rope (501), a sensor connecting frame (502) and a fixing bolt (503), the sensor connecting frame (502) is mounted on both ends of the elastic rope (501), and the fixing bolts (503) are horizontally mounted at four diagonal positions of the sensor connecting frame (502).

2. The hand rehabilitation robot with adjustable training intensity according to claim 1, characterized in that: The finger sleeve assembly (1) comprises a first finger sleeve (101), a first gasket (102), a second finger sleeve (103), a second gasket (104), a third finger sleeve (105) and a third gasket (106); the first gasket (102) is embedded in the interior of the first finger sleeve (101), one end of the first finger sleeve (101) is provided with the second finger sleeve (103), the second gasket (104) is embedded in the interior of the second finger sleeve (103), the third finger sleeve (105) is provided at one end of the second finger sleeve (103) away from the first finger sleeve (101), and the third gasket (106) is embedded in the interior of the third finger sleeve (105).

3. The hand rehabilitation robot with adjustable training intensity according to claim 2, characterized in that: The outer surface structure of the first gasket (102) matches the inner surface structure of the first finger sleeve (101), the outer surface structure of the second gasket (104) matches the inner surface structure of the second finger sleeve (103), and the outer surface structure of the third gasket (106) matches the inner surface structure of the third finger sleeve (105).

4. The hand rehabilitation robot with adjustable training intensity according to claim 3, characterized in that: The first bracket (2) comprises a movable shaft (201), a support frame (202) and a connecting shaft (203); the two ends of the movable shaft (201) are horizontally connected to the support frame (202), and the connecting shaft (203) is installed at one end of the support frame (202) away from the movable shaft (201).

5. The hand rehabilitation robot with adjustable training intensity according to claim 4, characterized in that: The second bracket (3) and the first bracket (2) have the same structure, and the two ends of the first bracket (2) are respectively connected to the rear end side edge of the first finger sleeve (101) and the front end side edge of the second finger sleeve (103), and the two ends of the second bracket (3) are respectively connected to the rear end side edge of the second finger sleeve (103) and the front end side edge of the third finger sleeve (105).

6. The hand rehabilitation robot with adjustable training intensity according to claim 5, characterized in that: The sensor assembly (4) comprises a wire (401), a first six-dimensional torque sensor (402), a first movable frame (403), a second six-dimensional torque sensor (404) and a second movable frame (405); the first six-dimensional torque sensor (402) is mounted on the front end of the wire (401), and the first movable frame (403) is mounted on the bottom of the first six-dimensional torque sensor (402); the second six-dimensional torque sensor (404) is mounted on the rear end of the wire (401), and the second movable frame (405) is mounted on the bottom of the second six-dimensional torque sensor (404).

7. The hand rehabilitation robot with adjustable training intensity according to claim 6, characterized in that: The first six-dimensional torque sensor (402) is arranged in two groups front and back relative to each other, and the first six-dimensional torque sensor (402) is respectively connected and fixed to the top of the first finger sleeve (101) and the second finger sleeve (103) by using a first movable frame (403) and bolts, and the second six-dimensional torque sensor (404) is arranged in two groups front and back relative to each other, and the first movable frame (403) is respectively connected and fixed to the top of the second finger sleeve (103) and the third finger sleeve (105) by using a second movable frame (405) and bolts.

8. The hand rehabilitation robot with adjustable training intensity according to claim 7, characterized in that: The second elastic structure (6) has the same structure as the first elastic structure (5), and the front and rear ends of the first elastic structure (5) are connected to the first six-dimensional torque sensor (402) by bolts.

9. The hand rehabilitation robot with adjustable training intensity according to claim 7, characterized in that: The front and rear ends of the second elastic structure (6) are connected to the second six-dimensional torque sensor (404) by means of bolts.

10. An operating method of a hand rehabilitation robot with adjustable training intensity, applied to the hand rehabilitation robot with adjustable training intensity as claimed in claim 9, characterized in that: The operation method is as follows: firstly, the first elastic structure (5) and the second elastic structure (6) are connected and fixed to the first six-dimensional torque sensor (402) and the second six-dimensional torque sensor (404) in the sensor assembly (4) by using the sensor connecting frames (502) at both ends of the elastic rope (501) and the fixing bolts (503); then, the first movable frame (403) at the bottom of the first six-dimensional torque sensor (402) is connected and fixed to the top of the first finger sleeve (101) and the second finger sleeve (103) by bolts; then, the second movable frame (405) at the bottom of the second six-dimensional torque sensor (404) is connected and fixed to the second finger sleeve (103) and the third finger sleeve (105) by bolts. ) are connected and fixed; after the sensor component (4), the first elastic structure (5), the second elastic structure (6) and the finger sleeve component (1) are assembled and connected, the first gasket (102), the second gasket (104) and the third gasket (106) are respectively embedded and installed in the first finger sleeve (101), the second finger sleeve (103) and the third finger sleeve (105); the user can sequentially pass a finger through the third finger sleeve (105), the second finger sleeve (103) and finally insert it into the first finger sleeve (101), and then use the connector at one end of the wire (401) to electrically connect it to the rehabilitation detection equipment. With the assistance of the elastic rope (501), the user repeatedly bends the finger to perform rehabilitation training.

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