A hand rehabilitation robot with adjustable training intensity and its operation method

Abstract

This invention discloses a hand rehabilitation robot with adjustable training intensity and its operating method, relating to the field of hand rehabilitation technology. It includes a finger sleeve assembly and a first elastic structure. First supports are symmetrically mounted on both sides of the front end of the finger sleeve assembly. The first elastic structure is mounted on the front end of a sensor assembly, and a second elastic structure is mounted on the rear end of the sensor assembly. This hand rehabilitation robot with adjustable training intensity and its operating method, through the use of a sensor connecting frame and fixing bolts, allows the first and second elastic structures to be replaced or disassembled as needed, thereby allowing the elastic cords to be replaced with different strengths to meet different rehabilitation requirements. A first washer, a second washer, and a third washer are respectively installed inside the first, second, and third finger sleeves to protect the user's fingers from skin abrasion.

Description

Technical Field

[0001] This invention relates to the field of hand rehabilitation technology, specifically to a hand rehabilitation robot with adjustable training intensity and its operation method. Background Technology

[0002] Hand rehabilitation robots are robots specifically designed for hand rehabilitation training, aiming to assist patients in hand function rehabilitation and promote the recovery of hand function. These robots combine sophisticated mechanical and sensor technologies to capture subtle changes in the patient's hand movements and provide real-time feedback. Feedback can be presented in visual, auditory, or tactile forms, helping patients better conduct their rehabilitation training. Some advanced hand rehabilitation robots are also equipped with artificial intelligence technology, enabling them to design personalized training programs based on the patient's rehabilitation progress. Furthermore, some hand function rehabilitation robots can connect to the internet to adjust and improve their performance based on the latest medical research during the patient's rehabilitation, increasing rehabilitation efficiency and making the rehabilitation process more personalized.

[0003] The elastic structure in conventional hand rehabilitation machines has a relatively fixed strength, making it difficult to adjust it appropriately according to the user's needs. This limits the adaptability of the device and affects its flexibility of use.

[0004] Therefore, in view of this, we have studied and improved the existing structure and its shortcomings, and proposed a hand rehabilitation robot with adjustable training intensity and its operation method. Summary of the Invention

[0005] The purpose of this invention is to provide a hand rehabilitation robot with adjustable training intensity and its operation method, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a hand rehabilitation robot with adjustable training intensity, comprising a finger sleeve assembly and a first elastic structure. A first bracket is symmetrically mounted on both sides of the front end of the finger sleeve assembly, and a second bracket is symmetrically mounted on both sides of the rear end of the finger sleeve assembly. A sensor assembly is mounted on the top of the finger sleeve assembly. The first elastic structure is mounted on the front end of the sensor assembly, and a second elastic structure is mounted on the rear end of the sensor assembly. The first elastic structure includes an elastic rope, a sensor connecting frame, and fixing bolts. Sensor connecting frames are mounted on both ends of the elastic rope, and fixing bolts are horizontally mounted at the four opposite corners of the sensor connecting frame.

[0007] Furthermore, the finger sleeve assembly includes a first finger sleeve, a first washer, a second finger sleeve, a second washer, a third finger sleeve, and a third washer. The first washer is embedded inside the first finger sleeve, and a second finger sleeve is provided at one end of the first finger sleeve. The second washer is embedded inside the second finger sleeve, and a third finger sleeve is provided at the end of the second finger sleeve away from the first finger sleeve. The third washer is embedded inside the third finger sleeve.

[0008] Furthermore, the outer surface structure of the first washer matches the inner surface structure of the first finger sleeve, the outer surface structure of the second washer matches the inner surface structure of the second finger sleeve, and the outer surface structure of the third washer 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. The two ends of the movable shaft are horizontally connected to the support frame, and the end of the support frame away from the movable shaft is equipped with the connecting shaft.

[0010] Furthermore, the second bracket and the first bracket have the same structure, and the two ends of the first bracket are respectively connected to the rear side of the first finger sleeve and the front side of the second finger sleeve, and the two ends of the second bracket are respectively connected to the rear side of the second finger sleeve and the front 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 mounted opposite to the front end of the wire, and the first movable frame is mounted at the bottom of the first six-dimensional torque sensor. The second six-dimensional torque sensor is mounted at the rear end of the wire, and the second movable frame is mounted at the bottom of the second six-dimensional torque sensor.

[0012] Furthermore, two sets of the first six-dimensional torque sensors are arranged opposite each other, and the first six-dimensional torque sensors are respectively connected and fixed to the top of the first finger sleeve and the second finger sleeve by the first movable frame and bolts. Two sets of the second six-dimensional torque sensors are arranged opposite 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 the second movable frame and bolts.

[0013] Furthermore, the second elastic structure and the first elastic structure have the same 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 for a hand rehabilitation robot with adjustable training intensity is applied to the aforementioned hand rehabilitation robot. The operation method is as follows: First, the first elastic structure and the second elastic structure are structurally connected and fixed to the first and second six-dimensional torque sensors in the sensor assembly using the sensor connecting brackets at both ends of the elastic rope and the fixing bolts. Then, the first movable bracket at the bottom of the first six-dimensional torque sensor is connected and fixed to the top of the first and second finger sleeves using bolts. Next, the second movable bracket at the bottom of the second six-dimensional torque sensor is connected and fixed to the second and third finger sleeves using 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 embedded and installed inside the first finger sleeve, the second finger sleeve and the third finger sleeve respectively. The user can pass a finger through the inside of the third finger sleeve and the second finger sleeve in sequence and finally insert it into the inside of the first finger sleeve. Then, the connector at one end of the wire is used to make an electrical connection with the rehabilitation detection device. With the assistance of the elastic rope, the user repeatedly bends the finger to perform rehabilitation training.

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

[0016] 1. This invention, by providing a first elastic structure and a second elastic structure, with the second elastic structure and the first elastic structure having identical structures, and the first six-dimensional torque sensor and the second six-dimensional torque sensor also having identical structures, allows for quick disconnection and disconnection of the first elastic structure and the second elastic structure from the first six-dimensional torque sensor and the second six-dimensional torque sensor, respectively, using a sensor connecting bracket and a fixing bolt. Utilizing this structure, the elastic rope can be replaced with different strengths according to usage needs to meet different levels of rehabilitation training, thereby ensuring the convenience and flexibility of the device. Furthermore, since a first movable bracket and a second movable bracket are respectively installed at the bottom of the first six-dimensional torque sensor and the second six-dimensional torque sensor, structural mobility is provided while structurally connecting to the finger sleeve assembly, ensuring flexible structural bending after the user's finger is inserted into the finger sleeve assembly, thus ensuring the flexibility of the device and avoiding structural interference.

[0017] 2. This invention, by embedding a first washer, a second washer, and a third washer respectively inside the first, second, and third finger sleeves, effectively ensures that the finger sleeve assembly, when fitted onto the finger surface, avoids finger wear caused by reciprocating bending during the entire use of the device. It also ensures a tight contact between the device and the finger, preventing unnecessary loosening during rehabilitation training. A first bracket and a second bracket are installed and connected to the front and rear ends of the side of the finger sleeve assembly. The first and second brackets have identical structures and are interconnected to the sides of the first, second, and third finger sleeves via connecting shafts. The movable shaft allows for vertical swing adjustment within a certain angle for the support frames connected to both sides. This structure connects the entire finger sleeve assembly, giving it structural integrity and stability. It also ensures structural support, protecting the user's fingers. Furthermore, the rotational nature of the movable shaft prevents interference with structural movement, ensuring structural flexibility. Attached Figure Description

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

[0020] Figure 3 This is a three-dimensional structural diagram of the first support of a hand rehabilitation robot with adjustable training intensity according to the present invention.

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

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

[0023] In the diagram: 1. Finger sleeve assembly; 101. First finger sleeve; 102. First washer; 103. Second finger sleeve; 104. Second washer; 105. Third finger sleeve; 106. Third washer; 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 Implementation

[0024] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the 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. First supports 2 are symmetrically mounted on both sides of the front end of the finger sleeve assembly 1, and second supports 3 are symmetrically mounted on both sides of the rear end of the finger sleeve assembly 1. A 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 a second elastic structure 6 is mounted on 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. Sensor connecting frames 502 are mounted on both ends of the elastic rope 501. Furthermore, fixing bolts 503 are horizontally installed at the four diagonal points of the sensor connection bracket 502. The sensor assembly 4 includes a wire 401, a first six-dimensional torque sensor 402, a first movable bracket 403, a second six-dimensional torque sensor 404, and a second movable bracket 405. The first six-dimensional torque sensor 402 is installed opposite the front end of the wire 401, and the first movable bracket 403 is installed at the bottom of the first six-dimensional torque sensor 402. The second six-dimensional torque sensor 404 is installed at the rear end of the wire 401, and the second movable bracket 405 is installed at the bottom of the second six-dimensional torque sensor 404. Two sets of six-dimensional torque sensors 402 are arranged opposite each other. 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 the first movable frame 403 and bolts. Two sets of second six-dimensional torque sensors 404 are arranged opposite each other. 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 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. The two 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 first elastic structure 5 and the second elastic structure 6 can be quickly disconnected or separated from the first six-dimensional torque sensor 402 and the second six-dimensional torque sensor 404 by using the sensor connecting bracket 502 and the fixing bolt 503.

[0026] like Figures 1 to 5As shown, the finger sleeve assembly 1 includes a first finger sleeve 101, a first washer 102, a second finger sleeve 103, a second washer 104, a third finger sleeve 105, and a third washer 106. The first washer 102 is embedded inside the first finger sleeve 101, and the second finger sleeve 103 is located at one end of the first finger sleeve 101. The second washer 104 is embedded inside the second finger sleeve 103, and the third finger sleeve 105 is located at the end of the second finger sleeve 103 away from the first finger sleeve 101. The third washer 106 is embedded inside the third finger sleeve 105. The outer surface structure of the first washer 102 matches the inner surface structure of the first finger sleeve 101, the outer surface structure of the second washer 104 matches the inner surface structure of the second finger sleeve 103, and the outer surface structure of the third washer 106 matches the inner surface structure of the third finger sleeve 105. The first bracket 2 includes a movable shaft 201 and a support. The frame 202 and the connecting shaft 203 are connected. The two ends of the movable shaft 201 are horizontally connected to the support frame 202, and the connecting shaft 203 is installed at the end of the support frame 202 away from the movable shaft 201. The second bracket 3 and the first bracket 2 have the same structure. The two ends of the first bracket 2 are respectively connected to the rear side of the first finger sleeve 101 and the front side of the second finger sleeve 103. The two ends of the second bracket 3 are respectively connected to the rear side of the second finger sleeve 103 and the front side of the third finger sleeve 105. The first bracket 2 and the second bracket 3 are installed and connected at the front and rear ends of the side of the finger sleeve assembly 1. The first bracket 2 and the second bracket 3 have the same structure. They are connected to the sides of the first finger sleeve 101, the second finger sleeve 103 and the third finger sleeve 105 by the connecting shaft 203. The structural mobility of the movable shaft 201 can provide the support frame 202 connected on both sides with a certain angle of up and down swing adjustment.

[0027] In summary, as Figures 1 to 5 As shown, the adjustable training intensity hand rehabilitation robot and its operation method are as follows: First, 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 means of the sensor connecting brackets 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 means of bolts. Next, 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 means of bolts.

[0028] After the sensor assembly 4, the first elastic structure 5, the second elastic structure 6 and the finger sleeve assembly 1 are combined and connected, the first washer 102, the second washer 104 and the third washer 106 are respectively embedded and installed inside 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 inside of the third finger sleeve 105 and the second finger sleeve 103 in sequence and finally insert it into the inside of the first finger sleeve 101. Then, the user can make an electrical connection with the rehabilitation testing device using the connector at one end of the wire 401. With the assistance of the elastic rope 501, the user can repeatedly bend the finger to perform rehabilitation training. During this process, the movable shaft 201 in the first support 2 and the second support 3 provides structural mobility for the entire device, while 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 illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

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 finger sleeve assembly (1) has first brackets (2) symmetrically installed on both sides of its front end, and second brackets (3) symmetrically installed on both sides of its rear end. A sensor assembly (4) is installed on the top of the finger sleeve assembly (1). A first elastic structure (5) is installed at the front end of the sensor assembly (4), and a 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). Sensor connecting frames (502) are installed at both ends of the elastic rope (501), and the four ends of the sensor connecting frame (502) are... A fixing bolt (503) is horizontally installed at the diagonal. 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 first six-dimensional torque sensor (402) is installed opposite to the front end of the wire (401), and the first movable frame (403) is installed at the bottom of the first six-dimensional torque sensor (402). The second six-dimensional torque sensor (404) is installed at the rear end of the wire (401), and the second movable frame (405) is installed at the bottom of the second six-dimensional torque sensor (404).

2. The hand rehabilitation robot with adjustable training intensity according to claim 1, characterized in that, The finger sleeve assembly (1) includes a first finger sleeve (101), a first washer (102), a second finger sleeve (103), a second washer (104), a third finger sleeve (105), and a third washer (106). The first finger sleeve (101) has the first washer (102) embedded inside, and the second finger sleeve (103) is provided at one end of the first finger sleeve (101). The second washer (104) is embedded inside the second finger sleeve (103), and the third finger sleeve (105) is provided at the end of the second finger sleeve (103) away from the first finger sleeve (101). The third washer (106) is embedded inside 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 washer (102) matches the inner surface structure of the first finger sleeve (101), the outer surface structure of the second washer (104) matches the inner surface structure of the second finger sleeve (103), and the outer surface structure of the third washer (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) includes 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 end of the support frame (202) away from the movable shaft (201) is equipped with the connecting shaft (203).

5. A 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. The two ends of the first bracket (2) are connected to the rear side of the first finger sleeve (101) and the front side of the second finger sleeve (103) respectively. The two ends of the second bracket (3) are connected to the rear side of the second finger sleeve (103) and the front side of the third finger sleeve (105) respectively.

6. The hand rehabilitation robot with adjustable training intensity according to claim 5, characterized in that, Two sets of the first six-dimensional torque sensors (402) are arranged opposite each other in front and back. The first six-dimensional torque sensors (402) are respectively connected and fixed to the top of the first finger sleeve (101) and the second finger sleeve (103) by the first movable frame (403) and bolts. Two sets of the second six-dimensional torque sensors (404) are arranged opposite each other in front and back. 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 the second movable frame (405) and bolts.

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

8. A 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 bolts.

9. A method for operating a hand rehabilitation robot with adjustable training intensity, applied to the hand rehabilitation robot with adjustable training intensity as described in claim 8, characterized in that, The operation method is as follows: First, 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 brackets (502) at both ends of the elastic rope (501) and the fixing bolts (503). Then, the first movable bracket (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 bracket (405) at the bottom of the second six-dimensional torque sensor (404) is connected to the second finger sleeve (103) and the third finger sleeve (105) by bolts. ) are connected and fixed; after the sensor assembly (4), the first elastic structure (5), the second elastic structure (6) and the finger sleeve assembly (1) are combined and connected, the first washer (102), the second washer (104) and the third washer (106) are respectively embedded and installed in the inside of the first finger sleeve (101), the second finger sleeve (103) and the third finger sleeve (105); the user can pass a finger through the inside of the third finger sleeve (105) and the second finger sleeve (103) in turn and finally insert it into the inside of the first finger sleeve (101), and then use the connector at one end of the wire (401) to make an electrical connection with the rehabilitation detection device. With the assistance of the elastic rope (501), the user repeatedly bends the finger to perform rehabilitation training.

Images