Hand rehabilitation exoskeleton based on metamorphic principle and elastic driving in series and motion control method thereof

Abstract

The application discloses a hand rehabilitation exoskeleton based on a variable-cell principle serial elastic driving and a motion control method thereof. The hand rehabilitation exoskeleton comprises a back-of-hand supporting plate member, a thumb coupling module, an index finger coupling module and a three-finger variable-cell mechanism module arranged on the back-of-hand supporting plate member respectively. The application can assist patients in fine grasping training and strength grasping training. The fine grasping training is mainly assisted by the thumb coupling mechanism and the index finger coupling mechanism of the exoskeleton to make the index finger and the thumb of the human body flex and extend at a certain angle relationship, so as to meet the hand biological grasping angle relationship. The remaining three fingers are the three-finger variable-cell mechanism based on the variable-cell principle, which cooperates with the thumb coupling mechanism and the index finger coupling mechanism to grasp the strength, and the three-finger variable-cell mechanism meets the finger motion sequence of the strength grasping training, and solves the problems of single motion mode, poor man-machine coupling, unreasonable structure design and inability to realize accurate grasping of the existing exoskeleton.

Description

Technical Field

[0001] The present invention belongs to the technical field of hand rehabilitation exoskeleton robots, and specifically relates to a hand rehabilitation exoskeleton driven by series elasticity based on the metamorphosis principle and a motion control method thereof. Background Art

[0002] With the increasing aging population, the number of patients experiencing hand motor loss is increasing, creating significant challenges for society, their families, and individuals. Addressing these issues has become a major challenge for society. To restore lost function, hand rehabilitation training is essential. From the patient's perspective, hand grasping rehabilitation is crucial, as it directly impacts their ability to complete daily activities. Traditional rehabilitation therapy suffers from a shortage of trainers, low efficiency, and high costs. New engineering technologies are needed to overcome these challenges. First, patients require long-term rehabilitation exercises, which can last for months or even years. Second, rehabilitation training can be tedious and lacks the motivation and desire to participate independently. These two factors make it difficult for patients to persist in rehabilitation training. Third, the rehabilitation process requires therapists to directly guide and even assist patients in training, necessitating a large number of therapists. However, the current shortage of therapists does not meet demand, and this shortage makes rehabilitation treatment very expensive. Furthermore, treatment and assessment rely on the therapist's experience, resulting in limited objectivity in rehabilitation assessments. Rehabilitation exoskeleton hands, on the other hand, enable precise, repetitive training of patients over a long period of time, achieving training objectives while addressing the shortcomings of traditional rehabilitation therapy.

[0003] Current wearable hand exoskeletons can be categorized into two types: soft hand exoskeleton robots and rigid hand exoskeleton robots. Soft hand exoskeleton robots are lightweight and flexible, conforming to the physiology of the human hand and allowing for easy donning and doffing. While these exoskeletons offer the advantages of lightness and softness, they also have significant drawbacks. Insufficient torque transmitted to the joints can result from insufficient transmission stiffness and inaccurate positioning. Soft exoskeletons present challenges in force generation and control accuracy. Rigid hand exoskeleton robots are also available. While these exoskeletons can provide controllable assistive force / torque, they typically require multiple motors, which increases the size and weight of the exoskeleton. Furthermore, the kinematic compatibility between the exoskeleton joints and the human finger joints must be considered. Misalignment of joint axes can generate parasitic torques, impacting rehabilitation effectiveness. Furthermore, research on grasping training for exoskeletons is lacking. Existing wearable hand exoskeleton robots only grasp common objects, lacking research on objects of varying sizes, and their grasping movements are relatively limited. Summary of the Invention

[0004] In order to solve a series of problems such as the single movement mode of the above exoskeleton, poor human-machine coupling, unreasonable structural design and inability to achieve precise grasping, the present invention designs a hand rehabilitation exoskeleton driven by a series elastic drive based on the metamorphic principle, which can assist patients in fine grasping training and strength grasping training. The fine grasping training mainly relies on the thumb coupling mechanism and index finger coupling mechanism of the exoskeleton to assist the index finger and thumb of the human body to perform flexion and extension movements at a certain angle relationship to conform to the biological grasping angle relationship of the hand. For the remaining three fingers, a three-finger metamorphic mechanism based on the metamorphic principle is used, which can cooperate with the thumb coupling mechanism and the index finger coupling mechanism to perform strength grasping. The three-finger metamorphic mechanism based on the metamorphic principle separates the bending movement and extension movement of the metacarpophalangeal joints and proximal interphalangeal joints of the middle finger, ring finger and little finger, so that the metacarpophalangeal joints of the three fingers are bent first, followed by the bending of the proximal interphalangeal joints of the three fingers, the extension of the proximal interphalangeal joints of the three fingers, and finally the extension of the metacarpophalangeal joints of the three fingers, so as to meet the finger movement sequence of strength grasping training. The hand rehabilitation exoskeleton drives the flexion and extension of the metacarpophalangeal joints and proximal interphalangeal joints of the middle finger, ring finger and little finger through a series elastic actuator, drives the flexion and extension of the metacarpophalangeal joint, proximal interphalangeal joint and distal interphalangeal joint of the index finger through a series elastic actuator, and drives the flexion and extension of the metacarpophalangeal joint and interphalangeal joint of the thumb through a series elastic actuator, thereby reducing the number of required motors, lightening the overall weight of the exoskeleton and improving the comfort of the wearer.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is:

[0006] A hand rehabilitation exoskeleton based on the metamorphosis principle and serial elastic drive, comprising a back-of-hand support plate and a thumb coupling module, an index finger coupling module and a three-finger metamorphosis mechanism module respectively arranged on the back-of-hand support plate;

[0007] The thumb coupling module includes a thumb metacarpophalangeal cuff and a thumb interphalangeal cuff sequentially located on the front side of a back-of-hand support plate; a first series elastic driver is fixedly provided on the back-of-hand support plate; an output shaft end of the first series elastic driver is connected to an input long rod rotatably connected to the back-of-hand support plate; a middle portion of the input long rod is rotatably connected to a thumb metacarpophalangeal rod; a bottom end of the thumb metacarpophalangeal rod is rotatably connected to a top end of the thumb metacarpophalangeal cuff; a distal end of the input long rod is rotatably connected to a thumb interphalangeal rod; a bottom end of the thumb interphalangeal rod is rotatably connected to a top end of the thumb interphalangeal cuff;

[0008] The cam is secured to the rear of the user's hand and is secured to a location on the rear of the user's hand where it can be moved in an unsteady motion.

[0009] The three-finger metamorphosis mechanism module includes a metacarpophalangeal phalanx finger cuff and a proximal interphalangeal phalanx finger cuff located in sequence on the front side of the back of the hand support plate. A third series elastic driver is fixedly arranged on the back of the hand support plate. The output shaft end of the third series elastic driver is connected to the three-finger metamorphosis mechanism. The primary power output end of the three-finger metamorphosis mechanism is connected to a rotatable gear connecting rod. The top end of the gear connecting rod is rotatably connected to the metacarpophalangeal phalanx rod. The bottom end of the metacarpophalangeal phalanx rod is rotatably connected to the top end of the proximal interphalangeal phalanx finger cuff. The secondary power output end of the three-finger metamorphosis mechanism is connected to a rod groove rod. The top end of the rod groove rod is rotatably connected to the proximal interphalangeal phalanx rod. The bottom end of the proximal interphalangeal phalanx rod is rotatably connected to the top end of the proximal interphalangeal phalanx finger cuff.

[0010] Furthermore, the first serial elastic driver, the second serial elastic driver and the third serial elastic driver each include a motor, a driving bevel gear fixedly mounted on an output shaft of the motor, a driven bevel gear meshing with the driving bevel gear, a fixed shaft coaxially sleeved in the driven bevel gear and a rotating sleeve movably sleeved on the outside of the fixed shaft, a plurality of driving push plates are fixedly provided on the inner wall of the driven bevel gear, a driven push plate paired with the driving push plate is fixedly provided on the outer wall of the rotating sleeve, and a spring is connected between each pair of the driving push plate and the driven push plate.

[0011] Furthermore, the three-finger metamorphosis mechanism includes a metamorphosis mechanism mounting frame fixedly provided on the back-of-the-hand support plate, a turning handle shaft rotatably provided on the metamorphosis mechanism mounting frame, a three-finger turning handle rotatably connected to the bottom end of the turning handle shaft, a push rod rotatably sleeved on the outside of the bottom turning shaft of the three-finger turning handle, and a three-finger push rod shaft rotatably connected to the other end of the push rod. A forward rack is fixedly connected to the upper inner end of the three-finger push rod shaft, and a gear rotatably provided on the metamorphosis mechanism mounting frame is meshed with the lower inner end of the forward rack. One side shaft end of the gear is the primary power output end of the three-finger metamorphosis mechanism, and the bottom turning shaft of the three-finger turning handle is the secondary power output end of the three-finger metamorphosis mechanism.

[0012] Furthermore, a track changing groove is provided at the bottom of the side wall of the cell-changing mechanism mounting frame, and the track changing groove includes a horizontal groove and an arc-shaped groove that is arranged at the top of the horizontal groove and bends forward. The bottom end of the rod groove rod is provided with a waist-shaped groove located on the inner side of the horizontal groove, and an arc-shaped fixed groove located on the front side of the bottom end of the rod groove rod is fixed on the inner side wall of the cell-changing mechanism mounting frame. The three-finger push rod shaft and the bottom end rotating shaft of the three-finger turning handle are both slidably provided in the horizontal groove. When the three-finger push rod shaft slides horizontally to the front end of the horizontal groove, the front bottom end of the rod groove rod is against the arc-shaped fixed groove, the bottom end rotating shaft of the three-finger turning handle can slide along the arc-shaped groove, and the rod groove rod can rotate relative to the arc-shaped fixed groove.

[0013] Furthermore, straps are provided below the thumb metacarpophalangeal cuff, thumb interphalangeal cuff, index finger proximal phalanx cuff, index finger middle phalanx cuff, index finger distal phalanx cuff, metacarpophalangeal phalanx cuff and proximal interphalangeal phalanx cuff.

[0014] Furthermore, the hand rehabilitation exoskeleton also includes a control system, which includes a single-chip microcomputer, an angle sensor, a pressure sensor and a human-computer interaction screen. The single-chip microcomputer is connected to the motor drivers of each series elastic driver through a CAN bus communication, the motor driver is connected to the encoder of each motor, the single-chip microcomputer is connected to the human-computer interaction screen through an I2C bus communication, and the single-chip microcomputer is connected to the angle sensor and pressure sensor respectively through a serial port.

[0015] Furthermore, at least one pressure sensor is provided on the inner side surface of each of the straps, and angle sensors are provided at the transition between the input long rod and the back of the hand support plate, the transition between the index finger metacarpophalangeal rod and the back of the hand support plate, the transition between the index finger long rod and the index finger proximal phalanx finger sleeve, the transition between the index finger long rod and the index finger distal phalanx rod, the transition between the gear connecting rod and the metacarpophalangeal rod, and the transition between the rod slot rod and the proximal interphalangeal rod.

[0016] Furthermore, the control system also includes a WIFI module connected to the single-chip microcomputer via serial port communication, and the WIFI module is wirelessly connected to the cloud server.

[0017] A motion control method for a hand rehabilitation exoskeleton driven by series elasticity based on the metamorphosis principle is also provided, comprising the following steps:

[0018] S1. The wearer wears the hand rehabilitation exoskeleton on both the healthy and affected hand sides, respectively, so that all joints of the hand are in an initial straight position;

[0019] S2. Turn on the power of the hand rehabilitation exoskeleton and reset and initialize the control system;

[0020] S3, starting the hand rehabilitation exoskeleton and initializing the motor of the series elastic actuator;

[0021] S4: The healthy hand bends, and the hand rehabilitation exoskeleton on the corresponding side collects the angle information of the healthy hand and adjusts the position feedback of each motor on the affected hand to drive the affected hand to the target position with the same angle;

[0022] S5. After the affected hand moves to the target position, the hand rehabilitation exoskeleton on the healthy hand grasps the object. The pressure sensor on the exoskeleton begins to change and obtains the target pressure value. The affected hand will then perform grasping training.

[0023] S6. The pressure sensor on the hand rehabilitation exoskeleton of the healthy hand collects the contact pressure between the healthy hand and the object, and feeds it back to the control system. The control system controls the hand rehabilitation exoskeleton of the affected hand to adjust synchronously.

[0024] The three-finger metamorphosis mechanism of the hand rehabilitation exoskeleton on the affected hand drives the proximal interphalangeal joints and metacarpophalangeal joints of the little finger, ring finger, and middle finger to bend in sequence, and the thumb coupling mechanism and index finger coupling mechanism drive the index finger and thumb to bend for power grasping, or the thumb coupling mechanism and index finger coupling mechanism drive the index finger and thumb to bend for fine grasping, so that the contact pressure between the affected hand and the object reaches the target pressure value;

[0025] S7. After the contact pressure collected by the pressure sensor on the hand rehabilitation exoskeleton of the healthy hand disappears, the pressure is fed back to the control system. The control system controls the three-finger metacarpophalangeal mechanism of the hand rehabilitation exoskeleton of the affected hand to drive the proximal interphalangeal joints and metacarpophalangeal joints of the little finger, ring finger, and middle finger to extend in sequence. The thumb coupling mechanism and the index finger coupling mechanism drive the index finger and thumb to extend.

[0026] S8, repeating the above steps S3 to S7, repeatedly performing strength grip and fine grasp training on the hands to achieve the effect of rehabilitation training;

[0027] S9. After the wearer completes rehabilitation training, turn off the power supply in time and take off the hand rehabilitation exoskeleton

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] 1. The hand rehabilitation exoskeleton designed in the present invention can achieve good cooperation with the human hand joints, has good alignment ability, can avoid the generation of parasitic torque, ensure the comfort of the exoskeleton during wearing, and meet the requirements of patients' daily rehabilitation training. The use of a series elastic driver to drive the hand rehabilitation exoskeleton can better and accurately apply the driving force of the motor to the exoskeleton, improve the flexibility of the exoskeleton, and help patients recover better.

[0030] 2. The design of the coupling mechanism in the thumb coupling mechanism and the index finger coupling mechanism can realize the bending and extension of the metacarpophalangeal joint, interphalangeal joint of the thumb and the metacarpophalangeal joint, proximal interphalangeal joint, and distal interphalangeal joint of the index finger according to a certain angle relationship, thereby achieving fine grasping; the use of a series elastic actuator to drive the three-finger metamorphic mechanism can realize the mutual transformation between the moving pair and the rotational pair, separate the flexion and extension movement of the metacarpophalangeal joint and the proximal interphalangeal joint, and realize the flexion and extension movement of the three fingers with six degrees of freedom for power grasping; it can realize different modes of rehabilitation training for fine grasping and power grasping, which can not only achieve better rehabilitation training effects, but also better cooperate with the patient's hand movements;

[0031] 3. The three-finger metamorphic mechanism module of the hand rehabilitation exoskeleton uses a series elastic actuator to drive the bending and extension movements of the three fingers, reducing the number of required motors, reducing the weight of the entire exoskeleton, and improving the wearer's comfort. At the same time, its compact structure and light weight can provide effective rehabilitation training for patients.

[0032] 4. The bilateral control method proposed in the present invention, that is, controlling the affected hand with the healthy hand, performing position control in the grasping preparation stage, and performing pressure control during the grasping process, can achieve stable grasping, coordinate the bilateral synchronous operation of the affected hand and the healthy hand, and achieve bilateral balance training, which helps to improve the effect of rehabilitation training and help patients adapt to daily life faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the overall structure of the hand rehabilitation exoskeleton of the present invention;

[0034] Figure 2 is a structural diagram of the thumb coupling module;

[0035] Figure 3 is a structural diagram of the index finger coupling module;

[0036] Figure 4 Schematic diagram of the structure of the three-finger metamorphosis mechanism module;

[0037] Figure 5 Schematic diagram of the structure of the three-finger metamorphosis mechanism;

[0038] Figure 6 This is a structural block diagram of the control system of the hand rehabilitation exoskeleton of the present invention;

[0039] Figure 7 This is a flow chart of the motion control method of the hand rehabilitation exoskeleton of the present invention;

[0040] Figure 8 Schematic diagram of the information feedback process of motion control of the hand rehabilitation exoskeleton of the present invention. DETAILED DESCRIPTION

[0041] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0042] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component. When a component is considered to be "fixed to" another component, it may be directly fixed to the other component or there may be a central component.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0044] The hand rehabilitation exoskeleton of the present invention is designed for rehabilitation training of patients during daily grasping processes. This requires precise control of the thumb and index finger, as well as power gripping with all five fingers. During power gripping, the metacarpophalangeal joints of the pinky, ring, and middle fingers are first flexed, followed by flexion of the proximal interphalangeal joints, followed by extension of the proximal interphalangeal joints, and finally extension of the metacarpophalangeal joints. This sequential actuation ensures a consistent grasping sequence and facilitates better power grip training.

[0045] For ease of understanding, it should be noted that the four fingers, namely the little finger, ring finger, middle finger and index finger, are composed of three phalanges. From the base to the tip, they are the proximal phalanx, middle phalanx and distal phalanx. Finger joints are mainly divided into three categories. The first category is the metacarpophalangeal joint, which is the joint between the metacarpal bone and the proximal phalanx. It is located at the base of the finger and only allows the finger to flex and extend, as well as a certain degree of adduction and abduction. The second category is the proximal interphalangeal joint, which is the joint between the proximal phalanx and the middle phalanx. It is mainly responsible for flexion and extension of the finger. The third category is the distal interphalangeal joint, which is the joint between the middle phalanx and the distal phalanx. It is mainly responsible for bending and flexion and extension of the finger. The thumb is composed of two phalanges. From the base to the middle, they are the metacarpophalangeal and interphalangeal bones. The joint between the metacarpal bone and the metacarpophalangeal bone is the metacarpophalangeal joint, and the joint between the metacarpophalangeal bone and the interphalangeal bone is the interphalangeal joint.

[0046] See attached Figure 1A hand rehabilitation exoskeleton based on the metamorphosis principle and serial elastic drive includes a back-of-hand support plate 4 and a thumb coupling module 1, an index finger coupling module 2, and a three-finger metamorphosis mechanism module 3 respectively arranged on the back-of-hand support plate 4. The shape of the back-of-hand support plate 4 matches the surface contour of the back of the human hand to enable it to be worn on the human hand, while also improving the wearing comfort. The thumb coupling module 1 and the index finger coupling module 2 use a serial elastic driver to drive the gear mechanism, quadrilateral linkage mechanism, etc. in the thumb coupling mechanism and the index finger coupling mechanism, which can achieve the bending and extension of the metacarpophalangeal joint, interphalangeal joint of the thumb and the metacarpophalangeal joint, proximal interphalangeal joint, and distal interphalangeal joint of the index finger according to a certain angle relationship, thereby achieving fine grasping. The three-finger metamorphosis mechanism module 3 uses a serial elastic driver to drive the three-finger metamorphosis mechanism to achieve mutual conversion between the moving pair and the rotating pair, separate the flexion and extension movement of the metacarpophalangeal joint and the proximal interphalangeal joint, and achieve flexion and extension movement of the little finger, ring finger, and middle finger with six degrees of freedom for power grasping.

[0047] To facilitate the display and explanation of the local structure, the back of the hand support plate 4 is divided into three local blocks according to three functional modules for description below, and named respectively: the first back of the hand support plate 1-17, the second back of the hand support plate 2-23 and the third back of the hand support plate 3-17; the names of the same structural parts in the three modules (such as the series elastic drive) are also named first, second and third respectively, for the convenience of description and distinction.

[0048] The following details the specific structure and working principle of each functional module of the finger rehabilitation exoskeleton.

[0049] like Figure 2 As shown, the thumb coupling module 1 includes a thumb metacarpophalangeal finger sleeve 1-13 and a thumb interphalangeal finger sleeve 1-9, which are sequentially located on the front side of the first back-of-hand support plate 1-17. The bottom ends of the thumb metacarpophalangeal finger sleeve 1-13 and the thumb interphalangeal finger sleeve 1-9 are both arched arc structures, which are respectively buckled on the top of the metacarpophalangeal and interphalangeal bones of the thumb, and the bottoms of the thumb metacarpophalangeal finger sleeve 1-13 and the thumb interphalangeal finger sleeve 1-9 are respectively provided with a thumb metacarpophalangeal strap 1-12 and a thumb interphalangeal strap 1-11, so that the thumb metacarpophalangeal finger sleeve 1-13 can be fixed on the metacarpophalangeal bone of the thumb, and the thumb interphalangeal bone finger sleeve 1-9 can be fixed on the interphalangeal bone of the thumb, thereby realizing the binding and fixation of the thumb coupling module 1 as a whole on the thumb.

[0050] A first serial elastic actuator is fixedly mounted on the first back-of-the-hand support plate 1-17. The output shaft end of the first serial elastic actuator is connected to an input rod 1-5, which is rotatably connected to the first back-of-the-hand support plate 1-17. Specifically, the first serial elastic actuator includes a first motor 1-1 fixedly mounted on the first back-of-the-hand support plate 1-17, a first driving bevel gear fixedly mounted on the output shaft of the first motor 1-1, a first driven bevel gear meshing with the first driving bevel gear, a first fixed shaft 1-16 coaxially sleeved within the first driven bevel gear, and a first rotating sleeve movably sleeved around the outside of the first fixed shaft 1-16. In this embodiment, a first bevel gear pair 1-2, comprising the first driving bevel gear and the first driven bevel gear, is used to achieve a change in transmission direction, resulting in a more rational and compact component layout. The first driven bevel gear is a hollow structure, with several (four in this embodiment) active push plates fixedly mounted on its inner wall. A driven push plate paired with the active push plates is fixedly mounted on the outer wall of the first rotating sleeve. A first spring 1-15 is connected between each pair of active and driven push plates. A first rotating shaft support is fixedly mounted on the top surface of the first back-of-hand support plate 1-17. A first fixed shaft 1-16 is horizontally fixedly mounted on the top side of the first rotating shaft support. The bottom end of the input rod 1-5 is fixedly sleeved on the outside of the first rotating sleeve. In this way, the first motor 1-1 can drive the first bevel gear pair 1-2 to rotate forward / reverse, thereby applying a forward / reverse rotation torque to the first rotating sleeve by compressing / pulling the first spring 1-15, thereby achieving downward (counterclockwise) / upward (clockwise) swing of the input rod 1-5. A first angle sensor 1-3 is provided at the rotational connection between the input long axis 1-5 and the back of the hand support plate 1-17 (specifically, the rotational pair between the first rotating sleeve and the first fixed axis 1-16) for detecting the angle change of the metacarpophalangeal joint of the thumb in real time.

[0051] The middle part of the input long rod 1-5 is rotationally connected to the thumb metacarpophalangeal rod 1-6 through the metacarpophalangeal input shaft 1-4, the bottom end of the thumb metacarpophalangeal rod 1-6 and the top end of the thumb metacarpophalangeal finger sleeve 1-13 are rotationally connected through the metacarpophalangeal output shaft 1-14, the end of the input long rod 1-5 is rotationally connected to the thumb interphalangeal bone rod 1-8 through the interphalangeal input shaft 1-7, the bottom end of the thumb interphalangeal bone rod 1-8 and the top end of the thumb interphalangeal bone finger sleeve 1-9 are rotationally connected through the interphalangeal output shaft 1-10. The length of the thumb interphalangeal bone rod 1-8 is slightly larger than the length of the thumb metacarpophalangeal bone rod 1-6. Thus, the lower section of the input long rod 1-5, the first rotating shaft support, the metacarpophalangeal joint of the thumb and the thumb metacarpophalangeal bone rod 1-6 form a parallelogram linkage mechanism, and the upper section of the input long rod 1-5, the thumb metacarpophalangeal bone rod 1-6, the interphalangeal joint of the thumb and the thumb interphalangeal bone rod 1-8 form a non-parallelogram linkage mechanism. During the downward swinging of the input long rod 1-5, the thumb metacarpophalangeal bone rod 1-6 presses down the thumb metacarpophalangeal finger sleeve 1-13 to achieve the bending of the thumb metacarpophalangeal joint, and the thumb interphalangeal bone rod 1-8 presses down the thumb interphalangeal bone sleeve 1-9 to achieve the bending of the thumb interphalangeal joint, thereby achieving the overall bending process of each joint of the thumb according to a certain angle relationship. On the contrary, when the input rods 1-5 swing upward, the interphalangeal joints and the metacarpophalangeal joints of the thumb can be stretched respectively, thereby achieving the overall stretching process of the thumb.

[0052] like Figure 3 As shown, the index finger coupling module 2 includes an index finger proximal phalanx finger sleeve 2-18, an index finger middle phalanx finger sleeve 2-14 and an index finger distal phalanx finger sleeve 2-12 which are sequentially located on the front side of the second back of the hand support plate 2-23. The bottom ends of the index finger proximal phalanx finger sleeve 2-18, the index finger middle phalanx finger sleeve 2-14 and the index finger distal phalanx finger sleeve 2-12 are also arched arc structures to respectively buckle on the proximal phalanx, middle phalanx and distal phalanx of the index finger, and the index finger proximal phalanx finger sleeve 2-18, the index finger middle phalanx finger sleeve 2-14 and the index finger distal phalanx finger sleeve 2-12 are also arched arc structures. The bottom of the sleeve 2-14 and the index finger distal phalanx sleeve 2-12 are respectively provided with the index finger proximal phalanx strap 2-17, the index finger middle phalanx strap 2-15 and the index finger distal phalanx strap 2-13, so that the index finger proximal phalanx sleeve 2-18 can be fixed on the proximal phalanx of the index finger, the index finger middle phalanx sleeve 2-14 can be fixed on the middle phalanx of the index finger, and the index finger distal phalanx sleeve 2-12 can be fixed on the distal phalanx of the index finger, so as to realize the binding and fixation of the index finger coupling module 2 as a whole on the index finger.

[0053] A second series elastic actuator is fixedly mounted on the second back-of-the-hand support plate 2-23. The output shaft end of the second series elastic actuator is connected to the index finger metacarpophalangeal rod 2-3, which is rotatably connected to the back-of-the-hand support plate. Specifically, the second series elastic actuator includes a second motor 2-1 fixedly mounted on the second back-of-the-hand support plate 2-23, a second driving bevel gear fixedly mounted on the output shaft of the first motor 2-1, a second driven bevel gear meshing with the second driving bevel gear, a second fixed shaft 2-21 coaxially sleeved within the second driven bevel gear, and a second rotating sleeve movably sleeved around the outside of the second fixed shaft 2-21. In this embodiment, a second bevel gear pair 2-2, consisting of the second driving bevel gear and the second driven bevel gear, is used to achieve a change in transmission direction, making the component layout more reasonable and compact. The second driven bevel gear is a hollow structure, with several (four in this embodiment) active push plates fixedly mounted on its inner wall. A second driven push plate paired with the active push plate is fixedly mounted on the outer wall of the second rotating sleeve. A second spring 2-22 is connected between each pair of active and driven push plates. A second rotating shaft support is fixedly mounted on the top surface of the second back-of-hand support plate 2-23. A second fixed shaft 2-21 is horizontally fixedly mounted on the top side of the first rotating shaft support. The bottom end of the index finger metacarpophalangeal bone rod 2-3 is fixedly sleeved on the outside of the second rotating sleeve. In this way, the second motor 2-1 can drive the second bevel gear pair 2-2 to rotate forward / reverse, thereby applying a forward / reverse rotation torque to the second rotating sleeve by compressing / pulling the second spring 2-22, thereby achieving downward (counterclockwise) / upward (clockwise) swing of the index finger metacarpophalangeal bone rod 2-3.

[0054] The top end of the index finger metacarpal bone rod 2-3 is rotatably connected to the index finger proximal phalanx rod 2-5 through the index finger input shaft 2-4, and the top end of the index finger proximal phalanx finger sleeve 2-18 is integrally provided with a rotating frame plate, and the incomplete gear pair 2-7 is rotatably connected in the rotating frame plate. The bottom end of the index finger proximal phalanx rod 2-5 is fixedly connected to the input end of the incomplete gear pair, and the output end of the incomplete gear pair 2-7 is fixedly connected to the index finger long rod. The middle part of the index finger long rod is rotatably connected to the index finger middle phalanx rod 2-9 through the middle phalanx input shaft, the bottom end of the index finger middle phalanx rod 2-9 and the top end of the index finger middle phalanx finger sleeve 2-14 are rotatably connected through the middle phalanx output shaft 2-16, the end of the index finger long rod is rotatably connected to the index finger distal phalanx rod 2-10 through the distal phalanx input shaft 2-8, and the bottom end of the index finger distal phalanx rod 2-10 and the bottom end of the index finger distal phalanx finger sleeve 2-12 are rotatably connected through the distal phalanx output shaft 2-11.

[0055] A non-parallelogram linkage structure is formed between the index finger metacarpophalangeal rod 2-3, the second pivot support, the index finger metacarpophalangeal joint, and the index finger proximal phalanx rod 2-5. A non-parallelogram linkage mechanism is formed between the lower half of the index finger long rod, the rotating frame plate, the index finger proximal interphalangeal joint, and the index finger middle phalanx rod 2-9. A non-parallelogram mechanism is also formed between the upper half of the index finger long rod, the index finger middle phalanx rod 2-9, the index finger distal interphalangeal joint, and the index finger distal phalanx rod 2-10. As the index finger metacarpophalangeal rod 2-3 swings downward, the index finger proximal phalanx rod 2-5 presses down on the index finger proximal phalanx cuff 2-18, thereby achieving bending of the index finger metacarpophalangeal joint. At the same time, the proximal phalanx rod 2-5 of the index finger rotates clockwise around the active incomplete gear shaft 2-6 at the bottom end. The meshing transmission of the incomplete gear pair 2-7 causes the long rod of the index finger to rotate counterclockwise and swing forward and downward. This in turn causes the middle phalanx rod 2-9 of the index finger to press down on the middle phalanx cuff 2-14 of the index finger, thereby bending the proximal interphalangeal joint of the index finger. Simultaneously, the distal phalanx rod 2-10 of the index finger is longer than the middle phalanx rod 2-9 of the index finger. Therefore, the top end of the long rod of the index finger presses down on the distal phalanx cuff 2-12 of the index finger through the distal phalanx rod 2-10, thereby bending the distal interphalangeal joint of the index finger. This achieves overall bending of the various joints of the index finger at specific angles. Conversely, as the metacarpophalangeal rod 2-3 of the index finger swings upward, the distal interphalangeal joint, proximal interphalangeal joint, and metacarpophalangeal joint of the index finger can be extended, respectively.

[0056] The rotational connection between the index finger metacarpophalangeal rod 2-3 and the second back of the hand support plate 2-23 (specifically, the rotational pair between the second rotating sleeve and the second fixed axis 2-21), the rotational connection between the index finger long rod and the index finger proximal phalanx finger sleeve (specifically, the rotating frame plate), and the rotational connection between the index finger long rod and the index finger distal phalanx rod 2-10 are all provided with a second angle sensor 2-20, which is used to detect the angle changes of the metacarpophalangeal joint, proximal interphalangeal joint and distal interphalangeal joint of the index finger in real time.

[0057] like Figure 4 and Figure 5 As shown, the three-finger transformation mechanism module 3 includes a metacarpophalangeal phalangeal finger sleeve 3-10 and a proximal interphalangeal finger sleeve 3-9 which are located in sequence on the front side of the third back of the hand support plate 3-17. The metacarpophalangeal phalangeal finger sleeve 3-10 and the proximal interphalangeal finger sleeve 3-9 are both long arched structures, which are respectively buckled on the proximal phalanges and middle phalanges of the three fingers (middle finger, ring finger and little finger), and the bottoms of the metacarpophalangeal phalangeal finger sleeve 3-10 and the proximal interphalangeal finger sleeve 3-9 are also respectively provided with straps, so that the metacarpophalangeal phalangeal finger sleeve 3-10 can be fixed on the proximal phalanges of the three fingers at the same time, and the proximal interphalangeal finger sleeve 3-9 can be fixed on the middle phalanges of the three fingers at the same time, thereby realizing the binding and fixation of the three-finger transformation mechanism module 3 as a whole on the three fingers.

[0058] A third series elastic actuator is fixedly mounted on the third back-of-hand support plate 3-17, and the output shaft end of the third series elastic actuator is connected to a three-finger cell-changing mechanism. Specifically, the third series elastic actuator includes a third motor 3-1 fixedly mounted on the third back-of-hand support plate 3-17, a third active bevel gear fixedly mounted on the output shaft of the first motor 3-1, a third driven bevel gear meshing with the third active bevel gear, and a third fixed shaft 3-19 coaxially sleeved within the third driven bevel gear. In this embodiment, a third bevel gear pair 3-2 consisting of the third active bevel gear and the third driven bevel gear is used to achieve a change in transmission direction, making the position layout of the components more reasonable and compact. The third driven bevel gear is a hollow structure, and a plurality of (in this embodiment, four) active push plates are fixedly mounted on its inner wall. A driven push plate paired with the active push plate is fixedly mounted on the outer wall of the third rotating sleeve, and a third spring 3-21 is connected between each pair of active and driven push plates. A metamorphic mechanism mounting frame 3-11 is fixedly mounted on the top surface of the third back-of-hand support plate 2-23. A third fixed shaft 3-19 is horizontally rotatably mounted on the top of the metamorphic mechanism mounting frame 3-11 via a bearing. Thus, the third motor 3-1 can drive the third bevel gear pair 3-2 to rotate in the forward / reverse direction. This, by compressing / pulling the third spring 3-21, applies a forward / reverse rotation torque to the third fixed shaft 3-19, thereby causing the handle 3-18, to which its outer end is fixedly connected, to swing in the clockwise / counterclockwise direction.

[0059] The three-finger transmogrifier mechanism includes a transmogrifier mechanism mounting frame 3-11 fixedly mounted on the third back-of-hand support plate 3-17, a handle shaft 3-18 rotatably mounted on the transmogrifier mechanism mounting frame 3-11, a three-finger rotating handle 3-15 rotatably connected to the bottom end of the handle shaft 3-18, a push rod 3-13 rotatably sleeved on the outer side of the bottom end rotation shaft of the three-finger rotating handle 3-15, and a three-finger push rod shaft 3-14 rotatably connected to the other end of the push rod 3-13. A track change groove 3-12 is provided at the bottom of the side wall of the transmogrifier mechanism mounting frame 3-11. The track change groove 3-12 includes a horizontal groove and an arc-shaped groove extending through the top of the horizontal groove and curving forward. The bottom rotating shaft of the three-finger push rod shaft 3-14 and the three-finger turning handle 3-15 are both slidably set in the horizontal groove. When the turning handle 3-18 rotates clockwise, its bottom end pushes the push rod 3-13 to move horizontally forward through the three-finger turning handle 3-15 (at this time, the three-finger push rod shaft 3-14 and the bottom rotating shaft of the three-finger turning handle 3-15 can only slide horizontally in the horizontal groove); when the three-finger push rod shaft 3-14 slides horizontally to the front end of the horizontal groove, it stops moving and remains in place. At this time, the bottom rotating shaft of the three-finger turning handle 3-15 is exactly located at the bottom end of the arc groove, and the turning handle 3-18 continues to rotate clockwise, and the bottom rotating shaft of the three-finger turning handle 3-15 drives the push rod 3-13 to rotate counterclockwise around the axis of the three-finger push rod shaft 3-14, so that the bottom rotating shaft of the three-finger turning handle 3-15 enters the arc groove upward and slides toward the upper front side along the arc groove. In this way, the three-finger metamorphic mechanism can realize the mutual conversion between the moving pair and the rotating pair, and achieve two-level power output.

[0060] The inner end of the three-finger push rod shaft 3-14 is fixedly provided with a connecting block 3-24. A forward rack 3-25 is fixedly connected above the connecting block 3-24. A gear rotatably mounted on the metamorphic mechanism mounting frame 3-11 is meshed below the forward rack 3-25. A horizontally mounted three-finger gear shaft 3-23 is rotatably mounted on the inner side of the metamorphic mechanism mounting frame 3-11. The gear is fixedly mounted on the three-finger gear shaft 3-23. The three-finger gear shaft 3-23 serves as the primary power output for the three-finger metamorphic mechanism, while the bottom end of the three-finger rotating handle 3-15 serves as the secondary power output for the three-finger metamorphic mechanism. A gear connecting rod 3-22 is fixedly connected to the three-finger gear shaft 3-23. The top end of the gear connecting rod 3-22 is rotatably connected to the metamorphic phalanx rod 3-5 via the metamorphic input shaft 3-3. The bottom end of the metamorphic phalanx rod 3-5 is rotatably connected to the top end of the proximal interphalangeal phalanx cuff 3-10 via the metamorphic output shaft 3-6. A rod slot member 3-27 is movably sleeved on the outer side of the bottom rotation axis of the finger push rod shaft 3-14 and the three-finger rotating handle 3-15. The bottom end of the rod slot member 3-27 has a waist-shaped groove located inside the horizontal groove, and the bottom rotation axis of the finger push rod shaft 3-14 and the three-finger rotating handle 3-15 is located within the waist-shaped groove. An arc-shaped fixed groove 3-26 is fixedly provided on the inner side wall of the cell-transforming mechanism mounting frame 3-11, located in front of the bottom end of the rod slot member 3-27. The top end of the rod slot member 3-27 is rotatably connected to the proximal interphalangeal phalanx rod 3-8 via the proximal interphalangeal input shaft 3-20. The bottom end of the proximal interphalangeal phalanx rod 3-8 is rotatably connected to the top end of the proximal interphalangeal phalanx finger sleeve 3-9 via the proximal interphalangeal output shaft 3-7.

[0061] When the push rod 3-13 moves forward horizontally, the forward rack 3-25 moves forward synchronously, thereby driving the gear to rotate clockwise ( Figure 4The push rod 3-13 slides horizontally to the front end of the horizontal groove, and is also located at the front end of the waist groove of the rod groove member 3-27. The front bottom end of the rod groove member 3-27 abuts against the arc-shaped fixed groove 3-26, and the proximal interphalangeal phalangeal finger sleeve 3-10 stops moving, and the bending movement of the metacarpophalangeal joint is completed. Then, the bottom rotating shaft of the three-finger rotating handle 3-15 can slide along the arc groove, and the rod groove rod member 3-27 can use the push rod shaft 3-14 as the rotating shaft to rotate relative to the arc fixed groove 3-26, thereby causing the rod groove rod member 3-27 to swing downward, and then the proximal interphalangeal phalangeal finger sleeve 3-9 is pressed downward by the proximal interphalangeal phalangeal rod 3-8, thereby achieving the bending of the proximal interphalangeal joints of the three fingers. When the bottom rotating shaft of the three-finger rotating handle 3-15 reaches the top limit position of the arc groove, the bending movement of the proximal interphalangeal joints is completed. The three-finger metacarpophalangeal mechanism is then driven to move in the opposite direction by the third series elastic actuator, which can respectively achieve the extension of the proximal interphalangeal joint and the metacarpophalangeal joint. Through the mutual conversion of the translation pair and the rotation pair, the metacarpophalangeal joint movement and the proximal interphalangeal joint movement in the entire process are separated.

[0062] Third angle sensors 3-4 are installed at the junctions between the gear connecting rod 3-22 and the metacarpophalangeal phalanx rod 3-5, and between the rod slot rod 3-27 and the proximal interphalangeal phalanx rod 3-8. These sensors are used to monitor the angle changes of the metacarpophalangeal joints and proximal interphalangeal joints of the three fingers in real time. Based on the real-time monitoring of the angles of these two joints, a designed force control method is used to control the angles, enabling flexion and extension of the three fingers in six degrees of freedom, enabling power gripping.

[0063] This hand rehabilitation exoskeleton facilitates rehabilitation training for various finger joints. By driving the parallelogram structure, gear mechanism, and non-parallelogram linkage of the thumb and index finger via a series of elastic actuators, the thumb's metacarpophalangeal joints, interphalangeal joints, and the index finger's metacarpophalangeal joints, proximal interphalangeal joints, and distal interphalangeal joints can bend and extend at specific angles, enabling precise grasping. Since the remaining three fingers have similar motions, they are driven by elastic actuators. The three-finger metamorphic mechanism converts between kinetic and revolute joints, separating the flexion and extension of the metacarpophalangeal and proximal interphalangeal joints, achieving six degrees of freedom for three-finger flexion and extension, enabling power grasping. Two designed channels separate the grasping and flexion motions of the fingers, enriching their motion model and improving human-machine coupling. Therefore, this hand rehabilitation exoskeleton can better assist hand training exercises without generating additional torque. By driving the flexion and extension motions of the three fingers via series elastic actuators, this hand rehabilitation exoskeleton reduces the number of motors required, reduces the overall weight of the exoskeleton, and improves wearer comfort.

[0064] The motion control of the hand rehabilitation exoskeleton requires the configuration of a control system. Figure 6 As shown, the control system includes a single-chip microcomputer, an angle sensor, a pressure sensor, and a human-computer interaction screen. The single-chip microcomputer is connected to the motor drivers of each series elastic actuator via the CAN bus. The motor drivers are connected to the encoders of each motor. The single-chip microcomputer is connected to the human-computer interaction screen via the I2C bus. The single-chip microcomputer is connected to the angle sensor and pressure sensor via serial ports. In this embodiment, the single-chip microcomputer uses an ESP-12F development board, which is equipped with functional modules such as serial communication, I2C communication, CAN communication, and Wi-Fi modules. It is powered by a lithium battery. A pressure sensor is installed on the inner side of each strap to detect the pressure applied by each phalanx on the object. The motors of each series elastic actuator are DC motors equipped with encoders, drivers, and reducers. The encoders can measure the motor's rotation angle and angular velocity. A battery is configured to directly power each DC motor. An emergency stop switch is installed on the battery power supply line to ensure the wearer's safety during training. The battery supplies a 5V operating voltage to the single-chip microcomputer through a voltage regulator module, and a power switch is installed on the power supply line. The Wi-Fi module acts as a server, wirelessly connecting to a cloud server. This allows for connection to mobile clients (such as mobile phones and tablets) or fixed computer clients, enabling data transmission and real-time reflection of various parameters collected by the microcontroller. The entire system is encapsulated in a box and fixed to the wearer's forearm for easy start and stop operation.

[0065] The core of this hand rehabilitation exoskeleton's fine grasping is that the index finger coupling mechanism and thumb coupling mechanism drive the index finger and thumb to flex and extend simultaneously at a specific angle relationship, consistent with the angular relationship of a normal hand during grasping. The fine grasping process consists of a grasp preparation phase and a grasping phase. The grasp preparation phase is the process from finger bending to contact with the object but not yet grasping, and the grasping phase is the process from finger contact to complete grasping. The core of the hand rehabilitation exoskeleton's power grasping is that the three-finger metacarpophalangeal mechanism first bends the metacarpophalangeal joints of the middle finger, ring finger, and pinky finger, then bends the proximal interphalangeal joints of the middle finger, ring finger, and pinky finger, while cooperating with the index finger coupling mechanism and thumb coupling mechanism to achieve power grasping. The grasp preparation phase involves angle control, primarily by acquiring the bending angle of the healthy hand's fingers. The affected hand's fingers bend to the target angle. The grasping phase involves force control, which synchronizes the motor output force of the affected hand by acquiring the pressure during grasping.

[0066] like Figure 7 and Figure 8 As shown, a motion control method for a hand rehabilitation exoskeleton driven by series elasticity based on the metamorphosis principle includes the following steps:

[0067] S1. The wearer wears the hand rehabilitation exoskeleton on the healthy hand and the affected hand respectively, so that all joints of the hand are in an initial state of straightening.

[0068] S2: Turn on the power of the hand rehabilitation exoskeleton and reset and initialize the control system. At this time, the microcontroller is in the reset and initialization state and has not yet sent any instructions to any motor, so all motors are in standby mode.

[0069] S3. After the wearer presses the "start" button of the microcontroller, the hand rehabilitation exoskeleton starts working and the motors of each series elastic drive are initialized.

[0070] S4. In the grasping preparation stage, the healthy hand is bent, and the hand rehabilitation exoskeleton on the corresponding side collects the angle information of the healthy hand and performs position feedback adjustment on each motor on the affected hand side, driving the affected hand to reach the target position at the same angle, preparing for grasping training.

[0071] S5. After the affected hand moves to the target position, the hand rehabilitation exoskeleton on the healthy hand grasps the object. The pressure sensor on it begins to change and obtains the target pressure value. The affected hand will perform grasping training.

[0072] S6. The pressure sensor on the hand rehabilitation exoskeleton of the healthy hand collects the contact pressure between the healthy hand and the object, and feeds it back to the control system. The control system controls the hand rehabilitation exoskeleton of the affected hand to adjust synchronously.

[0073] The three-finger metamorphosis mechanism of the hand rehabilitation exoskeleton of the affected hand will drive the proximal interphalangeal joints and metacarpophalangeal joints of the little finger, ring finger and middle finger to bend in sequence, and the thumb coupling mechanism and index finger coupling mechanism will drive the index finger and thumb to bend for force grasping, or the thumb coupling mechanism and index finger coupling mechanism will drive the index finger and thumb to bend for fine grasping, so that the contact pressure between the affected hand side and the object reaches the target pressure value.

[0074] S7. After the contact pressure collected by the pressure sensor on the hand rehabilitation exoskeleton of the healthy hand disappears, that is, the object is grasped and put down, the feedback is given to the control system. The control system controls the three-finger metacarpophalangeal mechanism of the hand rehabilitation exoskeleton of the affected hand to drive the proximal interphalangeal joints and metacarpophalangeal joints of the little finger, ring finger and middle finger to extend in sequence, and the thumb coupling mechanism and index finger coupling mechanism will drive the index finger and thumb to extend.

[0075] S8, repeating the above steps S3 to S7, repeatedly performing strength grip and fine grasp training on the hands to achieve the effect of rehabilitation training;

[0076] S9. After the wearer completes rehabilitation training, he / she should turn off the power supply in time and take off the hand rehabilitation exoskeleton.

[0077] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention's description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A hand rehabilitation exoskeleton based on the metamorphic principle and series elastic drive, characterized by: It includes a back-of-hand support plate and a thumb coupling module, an index finger coupling module and a three-finger metamorphosis mechanism module respectively arranged on the back-of-hand support plate; The thumb coupling module includes a thumb metacarpophalangeal cuff and a thumb interphalangeal cuff sequentially located on the front side of a back-of-hand support plate; a first series elastic driver is fixedly provided on the back-of-hand support plate; an output shaft end of the first series elastic driver is connected to an input long rod rotatably connected to the back-of-hand support plate; a middle portion of the input long rod is rotatably connected to a thumb metacarpophalangeal rod; a bottom end of the thumb metacarpophalangeal rod is rotatably connected to a top end of the thumb metacarpophalangeal cuff; a distal end of the input long rod is rotatably connected to a thumb interphalangeal rod; a bottom end of the thumb interphalangeal rod is rotatably connected to a top end of the thumb interphalangeal cuff; The cam is secured to the rear of the user's hand and is secured to a location on the rear of the user's hand where it can be moved in an unsteady motion. The three-finger metamorphosis mechanism module includes a metacarpophalangeal phalanx finger cuff and a proximal interphalangeal phalanx finger cuff located in sequence on the front side of the back of the hand support plate. A third series elastic driver is fixedly arranged on the back of the hand support plate. The output shaft end of the third series elastic driver is connected to the three-finger metamorphosis mechanism. The primary power output end of the three-finger metamorphosis mechanism is connected to a rotatable gear connecting rod. The top end of the gear connecting rod is rotatably connected to the metacarpophalangeal phalanx rod. The bottom end of the metacarpophalangeal phalanx rod is rotatably connected to the top end of the proximal interphalangeal phalanx finger cuff. The secondary power output end of the three-finger metamorphosis mechanism is connected to a rod groove rod. The top end of the rod groove rod is rotatably connected to the proximal interphalangeal phalanx rod. The bottom end of the proximal interphalangeal phalanx rod is rotatably connected to the top end of the proximal interphalangeal phalanx finger cuff.

2. The hand rehabilitation exoskeleton based on metamorphosis principle and serial elastic drive according to claim 1, characterized in that: The first serial elastic driver, the second serial elastic driver and the third serial elastic driver all include a motor, a driving bevel gear fixedly mounted on the output shaft of the motor, a driven bevel gear meshing with the driving bevel gear, a fixed shaft coaxially sleeved in the driven bevel gear and a rotating sleeve movably sleeved on the outside of the fixed shaft, a plurality of driving push plates are fixedly provided on the inner wall of the driven bevel gear, a driven push plate paired with the driving push plate is fixedly provided on the outer wall of the rotating sleeve, and a spring is connected between each pair of the driving push plate and the driven push plate.

3. The hand rehabilitation exoskeleton based on metamorphosis principle and serial elastic drive according to claim 1, characterized in that: The three-finger metamorphosis mechanism includes a metamorphosis mechanism mounting frame fixedly set on the back of the hand support plate, a turning handle shaft rotatably set on the metamorphosis mechanism mounting frame, a three-finger turning handle rotatably connected to the bottom end of the turning handle shaft, a push rod rotatably sleeved on the outside of the bottom turning shaft of the three-finger turning handle, and a three-finger push rod shaft rotatably connected to the other end of the push rod. A forward rack is fixedly connected to the upper inner end of the three-finger push rod shaft, and a gear rotatably set on the metamorphosis mechanism mounting frame is meshed below the forward rack. One side shaft end of the gear is the primary power output end of the three-finger metamorphosis mechanism, and the bottom end turning shaft of the three-finger turning handle is the secondary power output end of the three-finger metamorphosis mechanism.

4. The hand rehabilitation exoskeleton based on metamorphic principle and serial elastic drive according to claim 3, characterized in that: The bottom of the side wall of the cell-changing mechanism mounting frame is provided with a track changing groove, which includes a horizontal groove and an arc-shaped groove that is arranged at the top of the horizontal groove and bent forward. The bottom end of the rod groove rod is provided with a waist-shaped groove located on the inner side of the horizontal groove. The inner side wall of the cell-changing mechanism mounting frame is fixed with an arc-shaped fixed groove located on the front side of the bottom end of the rod groove rod. The three-finger push rod shaft and the bottom end rotating shaft of the three-finger turning handle are both slidably set in the horizontal groove. When the three-finger push rod shaft slides horizontally to the front end of the horizontal groove, the front bottom end of the rod groove rod is against the arc-shaped fixed groove, the bottom end rotating shaft of the three-finger turning handle can slide along the arc-shaped groove, and the rod groove rod can rotate relative to the arc-shaped fixed groove.

5. The hand rehabilitation exoskeleton based on metamorphosis principle and serial elastic drive according to any one of claims 1 to 4, characterized in that: The thumb metacarpal phalangeal finger sleeve, thumb interphalangeal finger sleeve, index finger proximal phalangeal finger sleeve, index finger middle phalangeal finger sleeve, index finger distal phalangeal finger sleeve, metacarpal phalangeal finger sleeve and proximal interphalangeal finger sleeve are all provided with binding straps below.

6. The hand rehabilitation exoskeleton based on metamorphosis principle and serial elastic drive according to claim 5, characterized in that: The hand rehabilitation exoskeleton also includes a control system, which includes a single-chip microcomputer, an angle sensor, a pressure sensor and a human-computer interaction screen. The single-chip microcomputer is connected to the motor drivers of each series elastic driver via a CAN bus communication, the motor drivers are connected to the encoders of each motor, the single-chip microcomputer is connected to the human-computer interaction screen via an I2C bus communication, and the single-chip microcomputer is connected to the angle sensor and pressure sensor respectively via a serial port.

7. The hand rehabilitation exoskeleton based on metamorphosis principle and series elastic drive according to claim 6, characterized in that: At least one pressure sensor is provided on the inner side of each strap, and angle sensors are provided at the transition between the input long rod and the back of the hand support plate, the transition between the index finger metacarpal phalanx rod and the back of the hand support plate, the transition between the index finger long rod and the index finger proximal phalanx finger sleeve, the transition between the index finger long rod and the index finger distal phalanx rod, the transition between the gear connecting rod and the metacarpal phalanx rod, and the transition between the rod slot rod and the proximal interphalanx rod.

8. The hand rehabilitation exoskeleton based on metamorphosis principle and serial elastic drive according to claim 6 or 7, characterized in that: The control system further comprises a WIFI module connected to the single chip microcomputer via serial port communication, and the WIFI module is wirelessly connected to the cloud server.

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