Multi-degree-of-freedom hand rehabilitation training device

Abstract

The invention discloses a multi-degree-of-freedom hand rehabilitation training device which comprises a hand supporting structure, an arm degree-of-freedom training structure and a finger and wrist degree-of-freedom training structure, and the arm degree-of-freedom training structure is rotatably arranged at the training supporting end of the hand supporting structure; the arm degree-of-freedom training structure is used for degree-of-freedom training of rotation, stretching and bending of a wrist, the finger and wrist degree-of-freedom training structure is arranged on the outer side wall of the arm degree-of-freedom training structure, and the finger and wrist degree-of-freedom training structure is used for training finger muscles at different resistance values; the arm freedom degree training structure comprises a horizontally-arranged rotary supporting disc and a horizontal rotation training motor. Various comfortable and effective hand muscle training modes can be provided for a patient, a rehabilitative person can be helped to train hand muscle strength, flexibility and coordination, the device can adapt to forearm length training of different patients, and the wide applicability of the training instrument and the use comfort of a user are effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation, and in particular to a multi-degree-of-freedom hand rehabilitation training device. Background Art

[0002] With the advent of an aging society and the rising incidence of neurological diseases, the demand for rehabilitation of hand and wrist dysfunction has increased significantly. The function of the hand and wrist is essential for daily life and self-care ability. Nerve damage, muscle atrophy, arthritis and other diseases may lead to a decrease in hand muscle strength, flexibility and wrist stability, thereby affecting the patient's quality of life. Current hand rehabilitation methods often rely on manual training or single-function equipment, which limits the diversity and efficiency of the rehabilitation process. Existing rehabilitation equipment on the market mostly focuses on the training of a single hand or wrist, lacks the multi-dimensional comprehensive training function of fingers and wrists, and the equipment usually occupies a large area and has poor portability, making it difficult to meet the rehabilitation needs of patients in their daily living environment. In addition, most of these devices require professional assistance to operate, and cannot achieve independent rehabilitation training for patients, increasing the cost of time and human resources. Therefore, in view of the above problems with hand or wrist training equipment, it is particularly important to develop a multifunctional, portable, and independently usable two-hand rehabilitation training device that can effectively combine rehabilitation training for the hand and wrist, and help patients restore hand function to improve the rehabilitation efficiency and quality of life of patients.

[0003] Based on this demand, the present invention proposes a multi-degree-of-freedom two-handed operation training device, which integrates the multi-dimensional motion training function of the hand and wrist and is designed to adapt to the structure of the fingers, wrist muscles and joints. It can provide patients with finger resistance training, wrist rotation, flexion and extension, inside and outside rotation and other training modes to meet the overall rehabilitation needs of the hand and wrist. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom hand rehabilitation training device, which can provide patients with various comfortable and effective hand muscle training modes, can help the rehabilitated person exercise hand muscle strength, flexibility and coordination, can adapt to the forearm length training of different patients, and effectively ensure the wide applicability of the training device and the comfort of the user. In order to achieve the above purpose, the present invention adopts the following technical effects: According to one aspect of the present invention, a multi-degree-of-freedom hand rehabilitation training device is provided, the two-hand rehabilitation training device comprises a hand support structure, an arm degree-of-freedom training structure and a finger-wrist degree-of-freedom training structure, the arm degree-of-freedom training structure can be rotatably arranged on the training support end of the hand support structure, the arm degree-of-freedom training structure is used for the degree-of-freedom training of wrist rotation, extension and flexion, the finger-wrist degree-of-freedom training structure is arranged on the outer side wall of the arm degree-of-freedom training structure, the finger-wrist degree-of-freedom training structure is used for the training of finger muscles at different resistance sizes; the arm degree-of-freedom training structure comprises a horizontally arranged rotating support disk and a horizontally rotating training motor, the center of the rotating support disk is rotatably arranged on the training support end of the hand support structure through a rotating support shaft, a horizontally rotating training motor is arranged on the lower side of the rotating support disk and is transmission-connected to the lower end of the rotating support shaft, and the fixed end of the finger-wrist degree-of-freedom training structure is arranged on the front side of the rotating support shaft and is connected to the edge side wall of the rotating support disk.

[0005] The above scheme is further preferred, that the rotating support plate includes a horizontally arranged arc plate and a straight plate, the straight plate is arranged in a tangential reverse direction at one end of the arc plate, and a pair of horizontal spoke plates are arranged between the inner side wall of the free end portion close to the straight plate and the inner side wall of the other end of the arc plate, one end of the pair of horizontal spoke plates is connected to the inner side wall of the free end portion of the straight plate, and the other end of the spoke plate is connected to the inner side wall of the other end of the arc plate, and the center of the spoke plate can be rotatably sleeved on the outer wall of a vertically arranged rotating support shaft, and a horizontal rotating training motor transmission-connected to the rotating support shaft is arranged on the lower side of the center of the pair of horizontal spoke plates, and the fixed end of the finger and wrist freedom training structure is sleeved on the upper and lower ends of the rotating support shaft and located on both sides outside the center of the spoke plate.

[0006] The above scheme is further preferred, that the hand supporting structure includes a base, a supporting column, an arm supporting platform and an arm limiting swinging member, the arm limiting swinging member is in a ring shape or an arc shape opening upward, the supporting column is arranged on the base, the arm supporting platform is fixedly arranged at the top end of the supporting column, the arm limiting swinging member is rotatably connected to the fixed end of the arm supporting platform, and a locking member for locking the arm is arranged at the free end of the arm supporting platform; a mounting support plate is fixedly arranged in the vertical direction at the fixed end of the arm supporting platform, and a vertical rotation training motor is arranged on the outer wall of the mounting support plate close to the side of the supporting column, and the output shaft of the vertical rotation training motor is transmission-connected to the arm limiting swinging member through a horizontally arranged swinging support shaft penetrating through the mounting support plate.

[0007] The above scheme is further preferred in that arc-shaped swing limit slide openings for limiting the rotational swing of the arm limit swing member are respectively arranged on the mounting support plate and on both sides of the output shaft of the vertical rotation training motor, and a swing guide rod is vertically arranged on the side wall of the arm limit swing member and extends into the arc-shaped swing limit slide opening 108.

[0008] The above scheme is further preferred in that a pair of mutually parallel rotating linkage plates are arranged on the arc-shaped inner wall and outer wall of the center of the arm limit swing member, one end of the pair of mutually parallel rotating linkage plates are respectively fixed on the arc-shaped inner wall and outer wall of the center of the arm limit swing member, and the other end of the pair of mutually parallel rotating linkage plates is connected with a U-shaped connecting piece, and the open end of the U-shaped connecting piece is respectively connected to the end of the rotating support shaft on the outside of a pair of horizontal spoke plates, and the open end of the U-shaped connecting piece is clamped on the outside of the spoke plate so that the arc plate passes through the space between the pair of mutually parallel rotating linkage plates, and the center of the arc plate when stationary is located in the rotating linkage plate space between the arm limit swing member and the bottom outer wall of the U-shaped connecting piece.

[0009] The above scheme is further preferred, that the finger-wrist freedom training structure comprises a finger training component and a wrist freedom training component, the wrist freedom training group is fixed on the outer side wall of the free end of the straight board, the finger training component is movably connected to the inner side wall of the free end of the straight board and can move back and forth along the extension direction of the free end of the straight board, and the wrist freedom training component is located on the outer side of the free end of the straight board and is connected to the finger training component through a connecting rod.

[0010] The above scheme is further preferred, wherein the finger training component comprises a finger training support base and a vertical grip bar vertically fixed on the finger training support base, and a plurality of finger resistance pressing keys are horizontally arranged on the outer wall of the vertical grip bar; the wrist freedom training component comprises a first training support plate vertically arranged on the outer side wall of the free end of the straight board and a second training support plate arranged on the outer side of the first training support plate, the lower end outer side wall of the first training support plate is fixed to the outer side wall of the free end of the straight board, and the upper and lower ends of the second training support plate are respectively fixedly connected to the outer side walls of the upper and lower ends of the first training support plate through horizontal support bars, a swing support shaft is horizontally arranged near the upper end of the first training support plate and below the horizontal support rod, and a swing support plate is arranged in the space between the first training support plate and the second training support plate, the upper end of the swing support plate is rotatably connected to the swing support shaft, and the outer wall of the finger training support base is connected to the lower end of the swing support plate through a connecting rod.

[0011] The above scheme is further preferred, in which a swing motor connected to the swing support shaft is arranged on the outer side wall of the top end of the second training support plate, a sliding support guide rail is arranged along the extension direction of the straight plate on the free end of the connecting rod, a sliding support groove is slidably arranged on the sliding support guide rail, the notch of the sliding support groove is slidably buckled on the sliding support guide rail, the connecting rod is arranged along the horizontal and vertical directions on the outer wall of the sliding support groove, one end of the connecting rod is fixed to the lower end of the swing support plate, and the other end of the connecting rod is connected to the outer wall of the sliding support guide rail away from the side of the finger training support base, and the outer wall of the finger training support base is fixed to the outer wall of the sliding support groove.

[0012] The above scheme is further preferred in that a pair of arc-shaped guide plates are respectively provided at the lower end of the first training support plate and the lower end of the second training support plate along the extension direction of the straight plate, a swinging curved plate is provided at the lower end of the swinging support plate and in the space between the pair of arc-shaped guide plates along the bending direction of the arc-shaped guide plate, a guide pulley fixed in the space between the pair of arc-shaped guide plates is provided on the lower surface of the swinging curved plate, one end of the connecting rod is vertically connected to the end of the swinging curved plate, and the other end of the connecting rod is fixed to the outer wall of the sliding support guide rail.

[0013] The above scheme is further preferred in that a plurality of finger insertion holes are provided between the finger resistance pressing keys, and a hand grasping ball is provided at the top end of the vertical grip rod.

[0014] In summary, the present invention adopts the above technical solution, and the present invention has the following technical effects: (1) The training device of the present invention can provide patients with various comfortable and effective hand muscle training modes, such as gripping, rotating, pressing, etc., to help the rehabilitation patients to exercise hand muscle strength, flexibility and coordination. It can adapt to the forearm length training of different patients, effectively ensuring the wide applicability of the training device and the comfort of users. (2) The training device of the present invention has a wide application prospect in helping patients with nerve damage and muscular atrophy to restore hand function and improve their daily living ability by training their hands, and is expected to improve the quality of life of patients; (3) The multi-degree-of-freedom design of the multi-dimensional training device of the present invention combines finger strength and multi-directional wrist movement to help patients achieve overall recovery during hand rehabilitation and is suitable for a variety of training needs at different rehabilitation stages; (4) The training device of the present invention is personalized and convenient, with an adjustable support structure and a portable base design, so that patients can train anytime and anywhere without relying on professional medical facilities, which is in line with the trend of home rehabilitation and personalized rehabilitation.

[0015] (5) The training device of the present invention has good safety and stability. Safety is fully considered in the design, which can effectively avoid the risk of patients accidentally exceeding the range of activities during training, and provide safe and reliable rehabilitation training guarantee; (6) The present invention can train the rotational freedom, bending angle and wrist freedom of the hand, providing patients with a comfortable and effective hand muscle training experience. In order to adapt to the forearm lengths of different patients, the training device can effectively ensure the wide applicability and user comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of a multi-degree-of-freedom hand rehabilitation training device of the present invention; Figure 2 It is a schematic diagram of the left hand training structure of a multi-degree-of-freedom hand rehabilitation training device of the present invention; Figure 3 The right side is a schematic diagram of the hand training structure of a multi-degree-of-freedom hand rehabilitation training device of the present invention; Figure 4 is a structural schematic diagram of a hand support structure of the present invention; Figure 5 It is a schematic diagram of the rotation state of the arm freedom training structure of the present invention; In the accompanying drawings, the hand support structure 1, the base 100, the support column 101, the arm support platform 102, the arm limit swing member 103, the locking member 104, the mounting support plate 105, the vertical rotation training motor 106, the swing support shaft 107, the arc swing limit slideway 108, the swing guide rod 109, the rotation linkage plate 1030, and the U-shaped connecting member 1031; Arm freedom training structure 2, horizontally arranged rotating support plate 200, horizontal rotation training motor 201, rotating support shaft 202, arc plate 2001, straight plate 2002, spoke plate 2003; Finger and wrist freedom training structure 3, finger training component 30, wrist freedom training component 31, connecting rod 32, finger training support base 300, vertical grip bar 301, finger resistance pressing key 302, finger insertion hole 303, hand grasping ball 304, first training support plate 310, second training support plate 311, horizontal support rod 312, swing support shaft 313, swing motor 313a, swing support plate 314, swing curved plate 314a, arc guide plate 315, sliding support rail 320, sliding support groove 321. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are only for the purpose of enabling the reader to have a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be implemented even without these specific details.

[0018] Combination Figure 1 and Figure 2 As shown, according to a multi-degree-of-freedom hand rehabilitation training device of the present invention, the two-hand rehabilitation training device includes a hand support structure 1, an arm degree-of-freedom training structure 2 and a finger-wrist degree-of-freedom training structure 3. The arm degree-of-freedom training structure 2 can be rotatably arranged at the training support end of the hand support structure 1. The arm degree-of-freedom training structure 2 is used for the degree-of-freedom training of wrist rotation, extension and bending. The finger-wrist degree-of-freedom training structure 3 is arranged on the outer wall of the arm degree-of-freedom training structure 2. The finger-wrist degree-of-freedom training structure 3 is used for training finger muscles at different resistances, and the fingers are trained to grasp, press, etc. under different resistances; the arm degree-of-freedom training structure 2 includes a horizontally arranged rotating support plate 20 0 and a horizontal rotation training motor 201, the center of the rotation support disk 200 is rotatably arranged on the training support end of the hand support structure 1 through a rotation support shaft 202, a horizontal rotation training motor 201 is arranged on the lower side of the rotation support disk 200 and is transmission-connected to the lower end of the rotation support shaft 202, the fixed end of the finger-wrist freedom training structure 3 is arranged on the front side of the rotation support shaft 202 and is connected to the edge side wall of the rotation support disk 200, when the horizontal rotation training motor 201 rotates, the rotation support shaft 202 rotates and drives the rotation support disk 200 to rotate in a horizontal direction on the training support end of the hand support structure 1, so that the patient's arm can swing without exceeding the normal range of activity.

[0019] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the rotating support plate 200 includes a horizontally arranged arc plate 2001 and a straight plate 2002, the straight plate 2002 is arranged in a tangentially reverse direction at one end of the arc plate 2001, a pair of horizontal spoke plates 2003 are arranged between the inner side wall of the free end portion close to the straight plate 2002 and the inner side wall of the other end of the arc plate 2001, one end of the pair of horizontal spoke plates 2003 is connected to the inner side wall of the free end portion of the straight plate 2002, the other end of the spoke plates 2003 is connected to the inner side wall of the other end of the arc plate 2001, the center of the spoke plates 2003 can be rotatably sleeved on the outer wall of the vertically arranged rotating support shaft 202, and a spoke plate 2003 is arranged at the lower side of the center of the pair of horizontal spoke plates 2003. The horizontal rotation training motor 201 is transmission-connected to the rotation support shaft 202, and the fixed ends of the finger-wrist freedom training structure 3 are respectively sleeved on the upper and lower ends of the rotation support shaft 202 through bearings and are located on both sides outside the center of the spoke plate 2003; the arc plate 2001 and the straight plate 2002 are integrally arranged, and when the horizontal rotation training motor 201 rotates, the rotation support shaft 202 rotates on the training support end of the hand support structure 1, so that the spoke plate 2003 drives the arc plate 2001 and the straight plate 2002 to rotate together, and drives the freedom training structure 3 to rotate and swing together during the rotation process, so that the patient's fingers can grasp the freedom training structure 3 and perform swinging training without exceeding the normal range of activity.

[0020] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the hand support structure 1 includes a base 100, a support column 101, an arm support platform 102 and an arm limit swing member 103. The arm limit swing member 103 is in a ring shape or an arc shape that opens upward. The support column 101 is arranged on the base 101, and the arm support platform 102 is fixedly arranged at the top of the support column 101. The arm limit swing member 103 is rotatably connected to the fixed end of the arm support platform 102. The base 100 is a V-shaped base. The V-shaped structure of the base increases the contact area of ​​the device, improves the overall stability, and avoids the device from sliding or tipping over during training. The V-shaped structure design fully considers the stability and load-bearing capacity of the training device during use. Its V-shaped structure not only disperses the weight borne by the training device, but also significantly improves the overall stability and user safety by increasing the contact area with the ground. Data acquisition modules including an inertial measurement unit (IMU) and a rotary encoder are respectively arranged on the hand support structure 1, the arm freedom training structure 2 and the finger-wrist freedom training structure 3. By monitoring the angle, speed and range of motion of the patient's wrist and fingers during the rotation training process in real time and transmitting the data to the smart device, the patient's rehabilitation progress can be displayed in real time, personalized rehabilitation suggestions can be provided, and the patient's status can be monitored in real time during the training process. One or more locking members 104 for locking the arm are provided at the free end of the arm support platform 102. The locking member 104 is an elastic band. The locking member 104 is used to fix the patient's arm to ensure that the arm remains in a suitable position during the training process to avoid unintentional movement interfering with the training. The elastic band used is adjustable in tightness to adapt to the arm thickness and usage requirements of different users.A mounting support plate 105 is fixedly provided at the fixed end of the arm support platform 102 in the vertical direction, and a vertical rotation training motor 106 is provided on the outer wall of the mounting support plate 105 close to the support column 101. The output shaft of the vertical rotation training motor 106 is connected to the arm limit swing member 103 through a horizontal swing support shaft 107 that penetrates the mounting support plate 105; arc-shaped swing limit slide openings 108 that limit the rotation and swing of the arm limit swing member 103 are respectively provided on the mounting support plate 105 and on both sides of the output shaft of the vertical rotation training motor 106, and a swing guide rod 109 that penetrates and extends into the arc-shaped swing limit slide opening 108 is vertically provided on the side wall of the arm limit swing member 103. When the training motor 106 rotates, the arm limit swing member 103 is driven to rotate accordingly. One end of two swing guide rods 109 with threads is fixed on the outer wall of the arm limit swing member 103, and the other end of the swing guide rod 109 passes through the arc-shaped swing limit slide opening 108 set on the mounting support plate 105, and a limit nut is set at the end of the swing guide rod 109. When the vertical rotation training motor 106 drives the arm limit swing member 103 to swing, the swing guide rod 109 slides back and forth on the arc-shaped swing limit slide opening 108, thereby limiting the swing angle of the arm limit swing member 103 in the vertical direction; thereby, the rotation angle range can be limited to prevent the patient's wrist movement from exceeding a safe range and avoid secondary injury.

[0021] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, a pair of mutually parallel rotating linkage plates 1030 are arranged on the arc-shaped inner wall and outer wall at the center of the arm limiting swing member 103, one end of the pair of mutually parallel rotating linkage plates 1030 are respectively fixed on the arc-shaped inner wall and outer wall at the center of the arm limiting swing member 103, and the other end of the pair of mutually parallel rotating linkage plates 1030 is connected with a U-shaped connecting piece 1031, the bottom of the U-shaped connecting piece 1031 is connected to the free end of the pair of mutually parallel rotating linkage plates 1030 as a whole, and the two sides of the open end of the U-shaped connecting piece 1031 are respectively connected to the end of the rotating support shaft 202 outside a pair of horizontal spoke plates 2003, and the rotating support shaft 202 is arranged on the open supporting end of the U-shaped connecting piece 1031 through a bearing, and the open end of the U-shaped connecting piece 1031 is clamped on the outside of the spoke plate 2003, so that the arc plate 2001 passes through a pair of mutually parallel rotating linkage plates 1 030, and the center of the arc plate 2001 when stationary is located in the space of the rotating linkage plate 1030 located between the arm limiting swing piece 103 and the bottom outer wall of the U-shaped connecting piece 1031; when the horizontal rotation training motor 201 rotates, it drives the rotating support shaft 202 to rotate on the open supporting end of the U-shaped connecting piece 1031, thereby driving the spoke plate 2003 to rotate together, so that the rotating support disk 200 formed by the spoke plate 2003 and the arc plate 2001 and the straight plate 2002 also rotates together; during training, the arm is passed through the locking piece 104 until the fingers grasp the position of the hand support structure 1, so that the arm support is placed on the arm support platform 102, the rotating linkage plate 1030 and the U-shaped connecting piece 1031 The outer surface, the fingers grasp the hand support structure 1, the vertical rotation training motor 106 and the horizontal rotation training motor 201 can be started at the same time to rotate together to perform coordinated hand training.

[0022] In the present invention, combined with Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the finger-wrist freedom training structure 3 includes a finger training component 30 and a wrist freedom training component 31, the wrist freedom training component 31 is fixed on the outer side wall of the free end of the straight board 2002, the finger training component 30 is movably connected to the inner side wall of the free end of the straight board 2002 and can move back and forth along the extension direction of the free end of the straight board 2002, the wrist freedom training component 31 is located on the outer side of the free end of the straight board 2002 and is connected to the finger training component 30 through a connecting rod 32; the finger training component 30 includes a finger training support base 300 and a vertical grip bar 301 vertically fixed on the finger training support base 300, a plurality of finger resistance pressing keys 302 are horizontally arranged on the outer wall of the vertical grip bar 301, and a plurality of finger resistance pressing keys 302 are horizontally arranged on the outer wall of the vertical grip bar 301. A plurality of finger insertion holes 303 are provided between the pressing keys 302, and fingers can be inserted into the finger insertion holes 303 to perform squeezing massage training on the fingers. A hand grasping ball 304 is provided at the top of the vertical grip rod 301, and the hand grasping ball 304 is used for finger grasping training. The finger training component 30 is mainly used to improve the muscle strength and flexibility of the fingers. There are a plurality of independent finger resistance pressing keys 302 structures (each finger resistance pressing key 302 structure is composed of a spring and a pressing key). During use, the patient's fingers are pressed on the finger resistance pressing keys 302 respectively. By providing four finger pressing keys, which correspond to the four fingers of the human hand: thumb, index finger, middle finger and ring finger, the user can feel a certain resistance when pressing, thereby training the hand muscles. The finger resistance pressing keys 302 can control the pressing force and release speed, and maintain durability and stability during continuous use. It is designed with an ergonomic shape to ensure the user's comfort when holding it. The finger pressing training part can effectively train the hand muscles while providing a comfortable use experience. It trains the finger muscles through repeated pressing and gradually increases the resistance intensity to enhance the finger's grip and flexibility. The height and position of the finger resistance pressing key 302 can be adjusted to adapt to the finger length and joint range of motion of different patients to meet the needs of patients at different rehabilitation stages.

[0023] In the present invention, if Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, the wrist freedom training component 31 includes a first training support plate 310 vertically arranged on the outer side wall of the free end of the straight plate 2002 and a second training support plate 311 arranged on the outer side of the first training support plate 310, the lower end outer side wall of the first training support plate 310 is fixed on the free end outer side wall of the straight plate 2002, the upper and lower ends of the second training support plate 311 are respectively fixedly connected to the upper and lower outer side walls of the first training support plate 310 through horizontal support rods 312, a swing support shaft 313 is horizontally arranged near the upper end of the first training support plate 310 and below the horizontal support rod 312, a swing support plate 314 is arranged in the space between the first training support plate 310 and the second training support plate 311, the upper end of the swing support plate 314 is rotatably connected to the swing support shaft 313, and the outer wall of the finger training support base 300 is connected to the lower end of the swing support plate 314 through a connecting rod 32; a The swing motor 313a is transmission-connected to the swing support shaft 313, and a sliding support rail 320 is arranged on the free end of the connecting rod 32 along the extension direction of the straight plate 2002, and a sliding support groove 321 is slidingly arranged on the sliding support rail 320, and the notch of the sliding support groove 321 is slidably buckled on the sliding support rail 320, and the outer wall of the sliding support groove 321 is arranged along the horizontal and vertical directions, one end of the connecting rod 32 is fixed on the lower end of the swing support plate 314, and the other end of the connecting rod 32 is connected to the outer wall of the sliding support rail 320 away from the side of the finger training support base 300, and the outer wall of the finger training support base 300 is fixed on the outer wall of the sliding support groove 321; the average forearm length of an adult is approximately between 28 cm and 34 cm. In order to adapt to the difference in forearm length of different people, we designed a finger training component 30 and a wrist freedom training component 31 at the connection between the finger resistance training part and the wrist multi-degree-of-freedom training part. By combining the sliding support rail 320 with the sliding support slot 321, patients can adjust the rehabilitation device to suit their arm length by moving the sliding support slot 321 on the sliding support rail 320, thereby ensuring that each patient can find a comfortable position for rehabilitation training and thus improve the training effect.

[0024] The training device of the present invention mainly has three degrees of freedom for hand training, namely adduction / abduction, dorsiflexion / flexion, and internal rotation / external rotation. The adduction / abduction training part allows patients to perform adduction and abduction training of the wrist. The first training support plate 310 and the second training support plate 311 are designed to form inner and outer L-shaped brackets with the arc guide plate 315 respectively, and the two guide pulleys 316 in the middle are connected to the L-shaped bracket by screws, thereby increasing the stability and controllability of the equipment. The L-shaped swing support plate formed by the swing support plate 314 and the swing curved plate 314a can swing between the first training support plate 310 and the second training support plate 311 through the guide pulley 316, and run smoothly and ensure misalignment, so that the patient can complete the training of adduction and abduction; the back extension / flexion part is formed into a nearly semicircular bracket through the arc plate 2001 and the straight plate 2002, and the back extension / flexion part is smoothly rotated through the rotating support shaft 202, so as to realize various functional training of the wrist, not only providing the stability of the structure, but also achieving the back extension / flexion function of the user, and providing a stable support foundation for the entire support structure. Its design not only takes into account the stability of the structure; the patient can fit the natural movement trajectory of wrist back extension and flexion during use, and through the back extension and flexion of the wrist, the blood flow of the hand is accelerated, the repair and rehabilitation of the injured tissue is promoted, and the normal range of motion of the wrist is gradually restored. It helps to strengthen the strength and endurance of the muscles around the wrist, while improving the stability of the wrist joint, thereby reducing the risk of re-injury.

[0025] In the present invention, combined with Figures 1 to 4As shown, a pair of arc-shaped guide plates 315 are respectively provided at the lower end of the first training support plate 310 and the lower end of the second training support plate 311 along the extension direction of the straight plate 2002, and a swinging curved plate 314a is provided along the bending direction of the arc-shaped guide plate 315 at the lower end of the swinging support plate 314 and in the space between the pair of arc-shaped guide plates 315, and a guide pulley 316 fixed in the space between the pair of arc-shaped guide plates 315 is provided on the lower surface of the swinging curved plate 314a, one end of the connecting rod 32 is vertically connected to the end of the swinging curved plate 314a, and the other end of the connecting rod 32 is fixed to the outer wall of the sliding support guide rail 320. The training device of the present invention can perform training functions of three degrees of freedom of internal rotation / external rotation, adduction / abduction, and dorsiflexion / flexion on the arm, wrist and fingers of the hand. The vertical swing support plate 314 and the swing curved plate 314a form an L-shaped swing support plate. The first training support plate 310, the second training support plate 311 and the arc guide plate 315 form an L-shaped support frame. When the swing motor 313a rotates, it drives the swing support shaft 313 to rotate, so that the L-shaped swing support plate formed by the swing support plate 314 and the swing curved plate 314a swings in the L-shaped support frame, so that the patient can complete the adduction / abduction movement without deviating from the operating position, and adapt to the lateral movement of the wrist in daily life. During dorsiflexion / flexion training, the fingers grasp the vertical grip bar 301, and the vertical grip bar 301 slides on the sliding support guide rail 320 through the sliding support groove 321 on the finger training support base 300, so that the wrist can move smoothly during dorsiflexion and flexion. The L-shaped swing support plate formed by the swing support plate 314 and the swing curved plate 314a is combined with the adduction / abduction training to realize the up and down movement function of the patient's wrist in daily life. The patient can adjust the sliding length position on the sliding support guide rail 320 according to the length of his own arm to ensure the adaptability of the fingers and wrist and increase the comfort of training. During internal rotation / external rotation training, when the output shaft of the vertical rotation training motor 106 drives the swing support shaft 107 to rotate, as shown Figure 5 As shown, the arm limit swing member 103 is driven to rotate accordingly, and when the horizontal rotation training motor 201 rotates, the rotation support shaft 202 is driven to rotate on the open support end of the U-shaped connecting member 1031, so that the spoke plate 2003 and the rotation support plate 200 formed by the arc plate 2001 and the straight plate 2002 also rotate in the vertical direction, driving the arm to twist and complete the internal rotation / external rotation of the wrist at the same time. The patient can achieve this training action by rotating the wrist, thereby improving the rotation flexibility and control of the wrist, successfully achieving a full range of wrist training functions, and helping users to restore and enhance the mobility and stability of the wrist. It should be noted that the wrist joint of the arm is the basis for achieving a variety of hand movements, including dorsiflexion and extension, adduction and abduction, and internal rotation and external rotation: (1) Dorsiflexion and extension refer to the movement of the hand toward the back of the hand or the palm. Dorsiflexion is mainly accomplished by the intercarpal joint, which makes the back of the hand stretch outward; while extension is mainly accomplished by the radiocarpal joint, which makes the back of the hand bend inward; (2) Adduction and abduction movements mainly involve the flexion direction of the palm. Adduction occurs when the palm bends toward the inside of the wrist, while abduction occurs when the palm bends toward the outside of the wrist; (3) Pronation and external rotation refer to the direction of movement of the thumb when the upper arm is still and the elbow is not bent. Pronation refers to the movement of the thumb from the outside of the body to the front of the body and then to the inside of the body, while external rotation refers to the movement of the thumb from the outside of the body to the back of the body.

[0026] The present invention can work through the coordination of three motors, and the three motors adopt 28BYJ48 stepper motors. The motors are small in size and light in weight, which meet the requirements of the two-handed operation training instrument for portability, and have stable performance, can accurately control the movement angle and speed, provide strong driving support for the rehabilitation training of the wrist joint, and realize the freedom training of the three main movements of hand adduction / abduction, dorsiflexion / flexion, and internal rotation / external rotation, which not only improves the efficiency and effect of training, but also provides patients with a more comfortable and safe training experience.

[0027] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom hand rehabilitation training device, characterized in that: The two-hand rehabilitation training device comprises a hand support structure (1), an arm freedom training structure (2) and a finger-wrist freedom training structure (3); the arm freedom training structure (2) is rotatably arranged at the training support end of the hand support structure (1); the arm freedom training structure (2) is used for freedom training of wrist rotation, extension and bending; the finger-wrist freedom training structure (3) is arranged on the outer side wall of the arm freedom training structure (2); the finger-wrist freedom training structure (3) is used for training finger muscles at different resistance levels; The arm freedom training structure (2) comprises a horizontally arranged rotating support disk (200) and a horizontal rotation training motor (201); the center of the rotating support disk (200) is rotatably arranged on the training support end of the hand support structure (1) via a rotating support shaft (202); a horizontal rotation training motor (201) is arranged on the lower side of the rotating support disk (200) and is transmission-connected to the lower end of the rotating support shaft (202); and the fixed end of the finger-wrist freedom training structure (3) is arranged on the front side of the rotating support shaft (202) and is connected to the edge side wall of the rotating support disk (200).

2. The multi-degree-of-freedom hand rehabilitation training device according to claim 1, characterized in that: The rotating support plate (200) comprises a horizontally arranged arc plate (2001) and a straight plate (2002), wherein the straight plate (2002) is arranged in a tangentially reverse direction at one end of the arc plate (2001), and a pair of horizontal spoke plates (2003) are arranged between an inner side wall close to a free end of the straight plate (2002) and an inner side wall at the other end of the arc plate (2001), wherein one end of the pair of horizontal spoke plates (2003) is connected to the inner side wall of the free end of the straight plate (2002), and the spoke plates (2003) are arranged in a tangentially reverse direction. The other end is connected to the inner wall of the other end of the arc plate (2001), and is rotatably sleeved on the outer wall of a vertically arranged rotating support shaft (202) at the center of the spoke plate (2003). A horizontal rotation training motor (201) connected to the rotating support shaft (202) is arranged at the lower center side of a pair of horizontal spoke plates (2003). The fixed end of the finger-wrist freedom training structure (3) is sleeved on the upper and lower ends of the rotating support shaft (202) and is located on both sides outside the center of the spoke plate (2003).

3. The multi-degree-of-freedom hand rehabilitation training device according to claim 2, characterized in that: The hand support structure (1) comprises a base (100), a support column (101), an arm support platform (102) and an arm limit swinging member (103); the arm limit swinging member (103) is in a ring shape or an arc shape opening upward; the support column (101) is arranged on the base (101); the arm support platform (102) is fixedly arranged at the top of the support column (101); the arm limit swinging member (103) is rotatably connected to the fixed end of the arm support platform (102); a locking member (104) for locking the arm is arranged at the free end of the arm support platform (102); and a mounting support plate (105) is fixedly arranged at the fixed end of the arm support platform (102) in a vertical direction. A vertical rotation training motor (106) is arranged on the outer wall of the mounting support plate (105) close to one side of the support column (101), and the output shaft of the vertical rotation training motor (106) is transmission-connected to the arm limiting swing member (103) via a horizontally arranged swing support shaft (107) penetrating the mounting support plate (105).

4. The multi-degree-of-freedom hand rehabilitation training device according to claim 3, characterized in that: Arc-shaped swing limit slide openings (108) for limiting the rotation and swing of the arm limit swing member (103) are respectively arranged on the mounting support plate (105) and located on both sides of the output shaft of the vertical rotation training motor (106), and a swing guide rod (109) is vertically arranged on the side wall of the arm limit swing member (103) and extends into the arc-shaped swing limit slide opening (108).

5. A multi-degree-of-freedom hand rehabilitation training device according to claim 3 or 4, characterized in that: A pair of mutually parallel rotating linkage plates (1030) are arranged on the arc-shaped inner wall and outer wall at the center of the arm limit swing member (103), one end of the pair of mutually parallel rotating linkage plates (1030) is respectively fixed on the arc-shaped inner wall and outer wall at the center of the arm limit swing member (103), and the other end of the pair of mutually parallel rotating linkage plates (1030) is connected to a U-shaped connecting member (1031), and the two sides of the open end of the U-shaped connecting member (1031) are respectively connected to a pair of horizontal The arc plate (2001) is arranged on the end of the rotating support shaft (202) outside the spoke plate (2003), and the open end of the U-shaped connecting piece (1031) is clamped on the outside of the spoke plate 2003, so that the arc plate (2001) passes through the space between a pair of mutually parallel rotating linkage plates (1030), and the center of the arc plate (2001) when stationary is located in the space of the rotating linkage plate (1030) between the arm limiting swinging piece (103) and the bottom outer wall of the U-shaped connecting piece (1031).

6. The multi-degree-of-freedom hand rehabilitation training device according to claim 2, characterized in that: The finger-wrist freedom training structure (3) comprises a finger training component (30) and a wrist freedom training component (31); the wrist freedom training component (31) is fixed on the outer side wall of the free end of the straight plate (2002); the finger training component (30) is movably connected to the inner side wall of the free end of the straight plate (2002) and can move back and forth along the extension direction of the free end of the straight plate (2002); the wrist freedom training component (31) is located on the outer side of the free end of the straight plate (2002) and is connected to the finger training component (30) via a connecting rod (32).

7. The multi-degree-of-freedom hand rehabilitation training device according to claim 6, characterized in that: The finger training assembly (30) comprises a finger training support base (300) and a vertical grip bar (301) vertically fixed to the finger training support base (300), and a plurality of finger resistance pressing keys (302) are horizontally arranged on the outer wall of the vertical grip bar (301); the wrist freedom training assembly (31) comprises a first training support plate (310) vertically arranged on the outer wall of the free end of the straight plate (2002) and a second training support plate (311) arranged outside the first training support plate (310), the lower end outer wall of the first training support plate (310) is fixed to the outer wall of the free end of the straight plate (2002), and the lower end outer wall of the second training support plate (311) is fixed to the outer wall of the free end of the straight plate (2002). The upper and lower ends of the support plate (311) are fixedly connected to the outer side walls of the upper and lower ends of the first training support plate (310) respectively through horizontal support rods (312); a swing support shaft (313) is horizontally arranged near the upper end of the first training support plate (310) and below the horizontal support rod (312); a swing support plate (314) is arranged in the space between the first training support plate (310) and the second training support plate (311); the upper end of the swing support plate (314) is rotatably connected to the swing support shaft (313); and the outer wall of the finger training support base (300) is connected to the lower end of the swing support plate (314) through a connecting rod (32).

8. The multi-degree-of-freedom hand rehabilitation training device according to claim 7, characterized in that: A swing motor (313a) is arranged on the outer wall at the top end of the second training support plate (311) and is transmission-connected to the swing support shaft (313); a sliding support rail (320) is arranged on the free end of the connecting rod (32) along the extension direction of the straight plate (2002); a sliding support groove (321) is slidingly arranged on the sliding support rail (320); the groove of the sliding support groove (321) is slidably buckled on the sliding support rail (320); the connecting rod (32) is arranged on the outer wall of the sliding support groove (321) along the horizontal and vertical directions; one end of the connecting rod (32) is fixed to the lower end of the swing support plate (314); the other end of the connecting rod (32) is connected to the outer wall of the sliding support rail (320) away from the finger training support base (300); the outer wall of the finger training support base (300) is fixed to the outer wall of the sliding support groove (321).

9. The multi-degree-of-freedom hand rehabilitation training device according to claim 8, characterized in that: A pair of arc-shaped guide plates (315) are respectively provided at the lower end of the first training support plate (310) and the lower end of the second training support plate (311) along the extension direction of the straight plate (2002); a swinging curved plate (314a) is provided along the bending direction of the arc-shaped guide plate (315) at the lower end of the swinging support plate (314) and in the space between the pair of arc-shaped guide plates (315); a guide pulley (316) is provided on the lower surface of the swinging curved plate (314a) and is fixed in the space between the pair of arc-shaped guide plates (315); one end of the connecting rod (32) is vertically connected to the end of the swinging curved plate (314a), and the other end of the connecting rod (32) is fixed to the outer wall of the sliding support guide rail (320).

10. The multi-degree-of-freedom hand rehabilitation training device according to claim 7, characterized in that: A plurality of finger insertion holes (303) are arranged between the finger resistance pressing keys (302), and a hand grasping ball (304) is arranged at the top end of the vertical grip rod (301).

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