Writing rehabilitation assist device for children

Abstract

The invention relates to the technical field of rehabilitation assisting devices, in particular to a child writing rehabilitation assisting device which comprises an adjustable forearm fixing assembly, a dynamic finger guiding assembly, a finger pressure sensing pen and a control module. The dynamic finger guiding assembly comprises a palm cover wrapping the back of a palm, five finger exoskeletons corresponding to five fingers respectively are connected to the palm cover, a horizontally-arranged wrist seat connector is arranged at the end, close to the palm, of the upper clamping plate, the wrist seat connector is rotationally connected with a wrist seat, and the end, away from the wrist seat connector, of the wrist seat is rotationally connected with a hinged support at the tail end of the palm cover. The wrist seat can be subjected to ulnar deviation and radial deviation in a plane, the hinged support is communicated with the palm cover and can be subjected to palm flexion and dorsal extension, and the finger exoskeleton comprises chain plates in one-to-one correspondence with finger phalanges.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation assistance devices, and particularly to a rehabilitation assistant for children's writing. Background Art

[0002] Due to central nervous system damage, children with cerebral palsy often suffer from problems such as abnormal muscle tone and movement coordination disorders, resulting in severely limited writing function. Specifically, the pen-holding posture is unstable (such as thumb adduction and excessive flexion of the four fingers), the force application is uneven (excessive downward pressure or insufficient grip), and it is difficult to maintain a dynamic writing trajectory. These problems not only affect writing efficiency but may also cause muscle fatigue or joint deformation due to compensatory postures. Currently, most of the commonly used writing orthoses in clinical practice are static fixation structures (such as hard plastic or metal materials), which can provide basic support but have significant defects.

[0003] Firstly, the dynamic adaptability is insufficient. The rigid material cannot adapt to the fine adjustment movements of the fingers during writing, but instead restricts joint activities, resulting in rigid writing.

[0004] Secondly, the developmental compatibility is poor. The hand size and muscle tone state of children change with growth, and the fixed size or limited adjustment range of traditional orthoses is difficult to adapt in the long term.

[0005] In addition, the biomechanical design is lacking. Most of the existing products focus on simple posture fixation and do not optimize key parameters such as the pen tip angle and pressure distribution. For example, there is a lack of dynamic adjustment functions for palmar arch support or wrist joint force line.

[0006] Therefore, there is an urgent need for a new type of rehabilitation assistant for children's writing to provide an effective solution to the defects of the existing technology. Summary of the Invention

[0007] The purpose of the present invention is to provide a rehabilitation assistant for children's writing to solve the problems raised in the above background art.

[0008] To achieve the above purpose, the present invention provides the following technical solutions:

[0009] Children's writing rehabilitation assistor, comprising an adjustable forearm fixing component, a dynamic finger guiding component, a finger pressure sensing pen and a control module: The adjustable forearm fixing component includes an upper splint and a lower splint, which are connected by a strap; the dynamic finger guiding component includes a palm cover covering the back of the palm, and five finger exoskeletons corresponding to five fingers respectively are connected to the palm cover; one end of the upper splint close to the palm is provided with a horizontally arranged wrist seat joint, which is rotationally connected to a wrist seat, and one end of the wrist seat away from the wrist seat joint is rotationally connected to a hinge seat at the end of the palm cover. The wrist seat can perform ulnar deviation and radial deviation within a plane, and the hinge seat and the palm cover can perform palmar flexion and dorsiflexion. The finger exoskeleton includes link plates corresponding to finger phalanges one by one, and adjacent link plates are hinged to each other. A finger strap for fixing the finger is provided on the side of the link plate facing the finger; the wrist seat, the hinge seat and each link plate are provided with rotation angle limiting structures, and a micro-rotation drive motor is installed at the hinged position of each link plate. A palmar flexion and dorsiflexion drive motor is installed inside the wrist seat, and the output shaft of the palmar flexion and dorsiflexion drive motor drives the hinge seat to rotate through the transmission of a driving gear and a driven gear; three pressure sensors for sensing the pressure of the thumb, index finger and middle finger respectively are provided on the pen rod of the finger pressure sensing pen, and the control module is arranged inside the palm cover.

[0010] Further, a mechanical linkage mechanism is provided between the finger exoskeleton corresponding to the thumb and the hinge seat. The mechanical linkage mechanism includes a radial deviation cable and an ulnar deviation cable. One end of the radial deviation cable is connected to the inner side of the link plate corresponding to the proximal phalanx of the thumb, and the other end of the radial deviation cable is connected to the radial side of the wrist seat joint. One end of the ulnar deviation cable is connected to the outer side of the link plate corresponding to the proximal phalanx of the thumb, and the other end of the ulnar deviation cable is connected to the ulnar side of the wrist seat joint. A pair of cable sleeves are provided on the wrist seat, and the radial deviation cable and the ulnar deviation cable are slidably connected in the cable sleeves.

[0011] Further, vibration stimulation contacts are provided on the inner wall of the upper splint, and the vibration stimulation contacts stimulate the forearm muscle group to induce wrist dorsiflexion.

[0012] Further, one end of the wrist seat away from the wrist seat joint is provided with a hinge shaft, which is hinged to the hinge seat. A palmar flexion and dorsiflexion limiting rod is provided on each of the radial side and the ulnar side of the hinge seat. The end of the hinge shaft extends out of the hinge seat and is provided with an inner disc. A protruding core shaft is provided at the central position of the inner disc. A spring is sleeved outside the core shaft. The core shaft is rotationally connected to and penetrates through the outer disc. Tooth discs are provided on the outer end face of the inner disc and the inner end face of the outer disc. The end of the spring abuts against the inner end face of the outer disc. A threaded hole is provided at the end of the core shaft, which is threadedly connected to a screw rod. A gland for pressing the outer disc is provided at the end of the screw rod. A protruding palmar flexion stop rod is provided on the circumferential outer wall of the outer disc, and the palmar flexion and dorsiflexion limiting rod limits the palmar flexion stop rod.

[0013] Further, an arc-shaped palmar deviation rail groove is provided at one end of the wrist seat away from the hinge seat. A pair of palmar deviation limit pins are slidably installed in the palmar deviation rail groove. A protruding palmar deviation stop rod is provided at the end of the wrist seat joint. The palmar deviation limit pins are locked in position by screws, and the palmar deviation limit pins limit the palmar deviation stop rod.

[0014] Further, an arc-shaped finger flexion rail groove is provided on one side link plate at the hinge joint of adjacent link plates, and a finger flexion stop rod is provided on the other side link plate. The finger flexion stop rod passes through the finger flexion rail groove. A pair of finger flexion limit pins are slidably installed in the finger flexion rail groove. The finger flexion limit pins are locked in position by screws, and the finger flexion limit pins limit the finger flexion stop rod.

[0015] Further, the end of the link plate on the finger exoskeleton away from the fingertip is detachably connected to the palm cover, which is convenient for replacing the finger exoskeleton according to children with different finger lengths.

[0016] Further, the pen rod of the finger pressure sensing pen is of a triangular prism structure, and three pressure sensors are respectively arranged on three side surfaces of the pen rod.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] The present invention adopts a multi-joint linkage system, including an adjustable wrist movement range and finger flexion limitation, which not only provides necessary support but also retains the flexibility required for writing; the coordinated work of three-finger pressure sensing and motor drive simulates natural writing movements, and can automatically adjust the support force when abnormal pressure is detected; the prism-shaped pen rod design in cooperation with precisely arranged sensors ensures the stability of the three-finger grip posture; the detachable finger exoskeleton assembly and adjustable forearm fixing assembly enable the device to be used for a long time as children grow; the neuromuscular stimulation function inhibits the common wrist and palmar flexion compensatory postures of children with cerebral palsy through vibration feedback, and at the same time promotes neural plasticity through repeated stimulation input, and long-term improves the autonomous motor function. Description of the Drawings

[0019] Figure 1 It is a structural schematic diagram of a writing rehabilitation assistor for children;

[0020] Figure 2 It is a structural schematic diagram of an adjustable forearm fixing assembly;

[0021] Figure 3 It is a structural schematic diagram of a wrist seat joint, a wrist seat and a hinge seat;

[0022] Figure 4 It is a structural schematic diagram of the dynamic finger guiding assembly removing the palm cover top cover;

[0023] Figure 5 It is a structural schematic diagram of a mechanical linkage mechanism;

[0024] Figure 6 Schematic diagram of the structure when the thumb finger exoskeleton abducts and the wrist base deviates radially

[0025] Figure 7 Schematic diagram of the structure of the finger exoskeleton

[0026] Figure 8 Schematic diagram of the structure of the finger flexion limiting mechanism

[0027] Figure 9 Schematic diagram of the structure when the dynamic finger guiding component holds the finger pressure sensing pen to write

[0028] Figure 10 Schematic diagram of the structure of a common round rod finger pressure sensing pen

[0029] Figure 11 Schematic diagram of the structure of a triangular prism shaped finger pressure sensing pen

[0030] In the figure: 1, adjustable forearm fixing component; 2, upper splint; 3, lower splint; 4, strap; 5, vibration stimulation contact point; 6, wrist base joint; 7, wrist base; 8, hinge seat; 9, outer disc; 10, palmar flexion stop bar; 11, palmar flexion and extension limiting bar; 12, mandrel; 13, spring; 14, screw; 15, palmar deviation track groove; 16, palmar deviation limiting pin; 17, palmar deviation stop bar; 18, dynamic finger guiding component; 19, palm cover; 20, link plate; 21, finger strap; 22, finger flexion limiting pin; 23, finger flexion track groove; 24, finger flexion stop bar; 25, micro rotary drive motor; 26, driving gear; 27, driven gear; 28, radial deviation cable; 29, ulnar deviation cable; 30, finger pressure sensing pen; 31, pressure sensor; 32, finger exoskeleton; 33, inner disc Specific implementation manners

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention

[0032] Embodiment 1: A children's writing rehabilitation assistive device, comprising an adjustable forearm fixing component 1, a dynamic finger guiding component 18, a finger pressure sensing pen 30 and a control module: The adjustable forearm fixing component 1 includes an upper splint 2 and a lower splint 3, and the upper splint 2 and the lower splint 3 are connected by a strap 4. The dynamic finger guiding component 18 includes a palm cover 19 covering the back of the palm, and five finger exoskeletons 32 corresponding to five fingers are connected to the palm cover 19. One end of the upper splint 2 close to the palm is provided with a horizontally arranged wrist seat joint 6, and the wrist seat joint 6 is rotatably connected to a wrist seat 7. One end of the wrist seat 7 away from the wrist seat joint 6 is rotatably connected to a hinge seat 8 at the end of the palm cover 19. The wrist seat 7 can perform ulnar deviation and radial deviation within a plane, and the hinge seat 8 and the palm cover 19 can perform palmar flexion and dorsiflexion. The finger exoskeleton 32 includes link plates 20 corresponding to finger phalanges one by one, and adjacent link plates 20 are hinged to each other. A finger band 21 for fixing the finger is provided on the side of the link plate 20 facing the finger; The wrist seat 7, the hinge seat 8 and each link plate 20 are provided with rotation angle limiting structures, and a micro rotary drive motor 25 is provided at the hinge position of each link plate 20. A palmar flexion and dorsiflexion drive motor is installed inside the wrist seat 7, and the output shaft of the palmar flexion and dorsiflexion drive motor drives the hinge seat 8 to rotate through a driving gear 26 and a driven gear 27; Three pressure sensors 31 for sensing the pressure of the thumb, index finger and middle finger are provided on the pen rod of the finger pressure sensing pen 30, and the control module is arranged inside the palm cover 19.

[0033] One end of the wrist seat 7 away from the wrist seat joint 6 is provided with a hinge shaft, and the hinge shaft is hinged to the hinge seat 8. A palmar flexion and extension limiting rod 11 is provided on each of the radial side and the ulnar side of the hinge seat 8. The end of the hinge shaft extends out of the hinge seat 8 and is provided with an inner disc 33. A protruding core shaft 12 is provided at the center position of the inner disc 33. A spring 13 is sleeved outside the core shaft 12. The core shaft 12 is rotatably connected to and penetrates through an outer disc 9. Tooth discs are provided on the outer end face of the inner disc 33 and the inner end face of the outer disc 9. The end of the spring 13 abuts against the inner end face of the outer disc 9. A threaded hole is provided at the end of the core shaft 12, and the threaded hole is threadedly connected to a screw rod 14. A gland for pressing the outer disc 9 is provided at the end of the screw rod 14. A protruding palmar flexion stop rod 10 is provided on the circumferential outer wall of the outer disc 9, and the palmar flexion and extension limiting rod 11 limits the palmar flexion stop rod 10.

[0034] One end of the wrist seat 7 away from the hinge seat 8 is provided with an arc-shaped palmar deviation track groove 15, and a pair of palmar deviation limiting pins 16 are slidably installed in the palmar deviation track groove 15. A protruding palmar deviation stop rod 17 is provided at the end of the wrist seat joint 6, and the palmar deviation limiting pins 16 are locked in position by screws, and the palmar deviation limiting pins 16 limit the palmar deviation stop rod 17.

[0035] On one side of the adjacent link plate 20 at the hinge joint, there is an arc-shaped finger flexion rail groove 23, and on the other side of the link plate 20, there is a finger flexion stop lever 24. The finger flexion stop lever 24 is inserted into the finger flexion rail groove 23. A pair of finger flexion limit pins 22 are slidably installed in the finger flexion rail groove 23, and the finger flexion limit pins 22 are locked in position by screws. The finger flexion limit pins 22 limit the finger flexion stop lever 24.

[0036] Working principle of this embodiment:

[0037] Wrist dynamic adjustment: The wrist seat 7 restricts the ulnar deviation / radioulnar deviation angle ([ Figure 3 , Figure 6 ) through the sliding fit of the palmar deviation rail groove 15 and the palmar deviation limit pin 16 to meet the requirements of different writing postures; the hinge seat 8 realizes the stepless adjustment of the palmar flexion / dorsiflexion angle ([ Figure 3 ) through the meshing tooth disc structure of the palmar flexion limit lever 11 and the palmar flexion stop lever 10. The link plate 20 of the finger exoskeleton 32 restricts the flexion range of each finger joint through the finger flexion rail groove 23 and the finger flexion limit pin 22 ([ Figure 7 , Figure 8 ). The micro rotary drive motor 25 actively assists joint movement to avoid excessive stiffness or relaxation.

[0038] Real-time pressure feedback: The pressure sensor 31 of the finger pressure sensing pen 30 monitors the grip strength of the thumb, index finger, and middle finger in real time ([ Figures 9 - 11 ). The control module dynamically adjusts the output torque of the drive motor 25 according to the data. For example, when the grip strength is insufficient, it enhances the support, and when the grip strength is too large, it reduces the pressure to correct excessive downward pressure or insufficient grip strength.

[0039] Thumb-index finger-middle finger linkage mechanism: An increase in the pressure of the index finger triggers palmar flexion. When the pressure sensor 31 at the position of the index finger detects an increase in pressure (such as pressing the pen tip during writing), the control module starts the palmar flexion drive motor to drive the wrist seat 7 to rotate in the palmar flexion direction, driving the entire hand to lean forward to simulate the wrist fine adjustment during natural writing. An increase in the pressure of the middle finger triggers dorsiflexion. When the middle finger pressure sensor 31 senses an increase in pressure (such as lifting the pen or adjusting the grip), the control module reversely drives the motor to make the wrist seat 7 return to the dorsiflexion direction to maintain writing stability. The pressure data of the thumb is used to dynamically adjust the support strength of the link plate 20 of the finger exoskeleton 32 to ensure balanced pressure when holding the pen with three fingers and avoid thumb adduction.

[0040] This embodiment realizes natural movements of "press down - palmar flexion, lift the pen - dorsiflexion" through the three-finger pressure feedback and motor linkage, reduces compensatory postures, and effectively solves the defect that traditional static orthoses cannot adapt to the continuous wrist adjustment during writing; the motor actively assists wrist and finger movements, reducing the excessive muscle force caused by abnormal muscle tone in children with cerebral palsy. During actual use, the pressure threshold can be customized through the control module to adapt to different muscle tone states (such as spastic or flaccid cerebral palsy).

[0041] In this embodiment, through the palmar deviation track groove 15 of the wrist seat 7, the finger flexion track groove 23 of the finger exoskeleton 32, and the cooperation of the palmar flexion and extension limit rod 11 and the palmar flexion stop rod 10, personalized setting of the joint activity range is achieved, the fine-tuning ability required for writing is retained, the stiffness problem caused by traditional static fixation is avoided, and the problem of excessive ulnar deviation affecting the mobility of the wrist joint is avoided. The strap 4 of the adjustable forearm fixing assembly 1 adapts to different arm circumferences. Figure 2 The finger flexion limit pin 22 and the palmar deviation limit pin 16 can adjust the limit range as the child's hand grows, extending the service life of the device.

[0042] Embodiment 2: A child writing rehabilitation assistor, which is different from Embodiment 1 in that a mechanical linkage mechanism is provided between the finger exoskeleton 32 corresponding to the thumb and the hinge seat 8. The mechanical linkage mechanism includes a radial deviation cable 28 and an ulnar deviation cable 29. One end of the radial deviation cable 28 is connected to the inner side of the link plate 20 corresponding to the proximal phalanx of the thumb, and the other end of the radial deviation cable 28 is connected to the radial side of the wrist seat joint 6. One end of the ulnar deviation cable 29 is connected to the outer side of the link plate 20 corresponding to the proximal phalanx of the thumb, and the other end of the ulnar deviation cable 29 is connected to the ulnar side of the wrist seat joint 6. A pair of cable sleeves are provided on the wrist seat 7, and the radial deviation cable 28 and the ulnar deviation cable 29 are slidably connected in the cable sleeves.

[0043] The working principle of this embodiment:

[0044] When the thumb abducts (radially deviates), the link plate 20 moves inward (radially), pulling the radial deviation cable 28 ( Figure 6 ). The cable conducts the pulling force through the sleeve of the wrist seat 7, driving the wrist seat joint 6 to deflect toward the radial side, synchronously achieving radial deviation of the wrist joint and enhancing the stability of holding the pen. When the thumb adducts, such as in a relaxed grip posture, the link plate 20 moves outward (ulnarly), pulling the ulnar deviation cable 29. The cable pulls the wrist seat joint 6 to deflect toward the ulnar side, causing the wrist joint to synchronously ulnarly deviate to adapt to different writing angle requirements. In traditional orthoses, the movements of the wrist and thumb are separated, while in this embodiment, the thumb-wrist joint dynamic coupling ( Figure 6 ) is achieved through the cables 28 and 29, conforming to the biomechanical laws of healthy people when writing. When the muscle tone of children with cerebral palsy is abnormal, only a slight thumb movement can drive the wrist through cable linkage, reducing the muscle burden.

[0045] Embodiment 3: A child writing rehabilitation assistor, which is different from Embodiment 1 in that vibration stimulation contacts 5 are provided on the inner wall of the upper splint 2, and the vibration stimulation contacts 5 stimulate the forearm muscle group to induce wrist dorsiflexion.

[0046] The working principle of this embodiment:

[0047] When the control module detects excessive palmar flexion of the wrist joint or abnormal pen-holding pressure, the contact 5 applies high-frequency micro-vibration stimulation to the extensor muscle group of the forearm ( Figure 2) By inducing dorsiflexion of the wrist through proprioceptive feedback. During use, the vibration intensity can be dynamically adjusted according to the data of the pressure sensor 31 of the pressure-sensitive pen 30 to achieve precise intervention. This embodiment breaks through the static limitation of traditional orthoses, can effectively inhibit the common wrist palmar flexion compensatory posture in children with cerebral palsy, and at the same time promotes neural plasticity through repeated stimulation input to improve the voluntary motor function in the long term.

[0048] Embodiment 4: A children's writing rehabilitation assistive device, which is different from Embodiment 1 in that the end of the link plate 20 of the finger exoskeleton 32 far from the fingertip is detachably connected to the palm cover 19, facilitating the replacement of the finger exoskeleton 32 according to children with different finger lengths.

[0049] In this embodiment, the end link plate 20 of the finger exoskeleton 32 is connected to the palm cover 19 through a detachable buckle structure 34 Figure 4 、 Figure 7 , facilitating adaptation to children with different finger lengths. This embodiment enables a single palm cover 19 to match multiple sets of finger exoskeletons 32 of different sizes, achieving growth adaptation through modular combination.

[0050] Embodiment 5: A children's writing rehabilitation assistive device, which is different from Embodiment 1 in that the pen shaft of the pressure-sensitive pen 30 is a triangular prism structure, and the three pressure sensors 31 are respectively arranged on the three side surfaces of the pen shaft.

[0051] In this embodiment, the pressure-sensitive pen 30 adopts a triangular prism pen shaft design ( Figure 11 ), and the three pressure sensors 31 are respectively and precisely arranged on the three side planes of the pen shaft, corresponding to the contact surfaces of the thumb, index finger and middle finger respectively. When a child holds the pen, the three fingers naturally fit the three sensor planes ( Figure 9 ), ensuring the accuracy of pressure detection. Compared with the traditional cylindrical pen shaft ( Figure 10 ), this prism structure has a clear tactile positioning, can prevent finger slippage, and improve the stability of the grip posture.

Claims

1. Children's writing rehabilitation assistive device, characterized in that, It includes an adjustable forearm fixing assembly (1), a dynamic finger guiding assembly (18), a finger pressure sensing pen (30) and a control module: The adjustable forearm fixing assembly (1) includes an upper splint (2) and a lower splint (3), which are connected by a strap (4). The dynamic finger guiding assembly (18) includes a palm cover (19) covering the back of the palm. Five finger exoskeletons (32) corresponding to the five fingers are connected to the palm cover (19). One end of the upper splint (2) close to the palm is provided with a horizontally arranged wrist seat joint (6), and the wrist seat joint (6) is rotatably connected to a wrist seat (7). One end of the wrist seat (7) away from the wrist seat joint (6) is rotatably connected to a hinge seat (8) at the end of the palm cover (19). The wrist seat (7) can perform ulnar deviation and radial deviation within a plane, and the hinge seat (8) and the palm cover (19) can perform palmar flexion and dorsal extension. The finger exoskeleton (32) includes link plates (20) corresponding to the finger phalanges one by one. Adjacent link plates (20) are hinged to each other. A finger strap (21) for fixing the finger is provided on the side of the link plate (20) facing the finger; The wrist seat (7), the hinge seat (8) and each link plate (20) are all provided with rotation angle limiting structures. A micro-rotation drive motor (25) is provided at the hinge position of each link plate (20). A palmar flexion and dorsal extension drive motor is installed inside the wrist seat (7). The output shaft of the palmar flexion and dorsal extension drive motor drives the hinge seat (8) to rotate through a driving gear (26) and a driven gear (27). Three pressure sensors (31) for sensing the pressures of the thumb, index finger and middle finger respectively are provided on the pen shaft of the finger pressure sensing pen (30). The control module is arranged inside the palm cover (19).

2. The children's writing rehabilitation aid according to claim 1, characterized in that: A mechanical linkage mechanism is provided between the finger exoskeleton (32) corresponding to the thumb and the hinge seat (8). The mechanical linkage mechanism includes a radial deviation cable (28) and an ulnar deviation cable (29). One end of the radial deviation cable (28) is connected to the inner side of the link plate (20) corresponding to the proximal phalanx of the thumb, and the other end of the radial deviation cable (28) is connected to the radial side of the wrist seat joint (6). One end of the ulnar deviation cable (29) is connected to the outer side of the link plate (20) corresponding to the proximal phalanx of the thumb, and the other end of the ulnar deviation cable (29) is connected to the ulnar side of the wrist seat joint (6). A pair of cable sleeves are provided on the wrist seat (7), and the radial deviation cable (28) and the ulnar deviation cable (29) are slidably connected in the cable sleeves.

3. The children's writing rehabilitation aid according to claim 1, characterized in that: Vibration stimulation contacts (5) are provided on the inner wall of the upper splint (2), and the vibration stimulation contacts (5) stimulate the forearm muscle group to induce wrist dorsal extension.

4. The children's writing rehabilitation aid according to claim 1, characterized in that: One end of the wrist seat (7) away from the wrist seat joint (6) is provided with a hinge shaft, which is hinged to the hinge seat (8). On the radial side and ulnar side of the hinge seat (8), there is a palm flexion and extension limiting rod (11) respectively. The end of the hinge shaft extends out of the hinge seat (8) and is provided with an inner disc (33). The center position of the inner disc (33) is provided with a protruding core shaft (12). A spring (13) is sleeved outside the core shaft (12). The core shaft (12) is rotationally connected to the outer disc (9) and penetrates through the outer disc (9). Tooth discs are provided on the outer end face of the inner disc (33) and the inner end face of the outer disc (9). The end of the spring (13) abuts against the inner end face of the outer disc (9). The end of the core shaft (12) is provided with a threaded hole, which is threadedly connected to a screw rod (14). The end of the screw rod (14) is provided with a gland for pressing the outer disc (9). A protruding palm flexion stop rod (10) is provided on the circumferential outer wall of the outer disc (9). The palm flexion and extension limiting rod (11) limits the palm flexion stop rod (10).

5. The children's writing rehabilitation assistor according to claim 1, characterized in that: One end of the wrist seat (7) away from the hinge seat (8) is provided with an arc-shaped palm abduction rail groove (15). A pair of palm abduction limiting pins (16) are slidably installed in the palm abduction rail groove (15). The end of the wrist seat joint (6) is provided with a protruding palm abduction stop rod (17). The palm abduction limiting pins (16) are locked in position by screws. The palm abduction limiting pins (16) limit the palm abduction stop rod (17).

6. The children's writing rehabilitation assistive device according to claim 1, characterized in that: On one side of the adjacent link plates (20) at the hinge joint, an arc-shaped finger flexion rail groove (23) is provided on one link plate (20), and a finger flexion stop rod (24) is provided on the other link plate (20). The finger flexion stop rod (24) is inserted into the finger flexion rail groove (23). A pair of finger flexion limiting pins (22) are slidably installed in the finger flexion rail groove (23). The finger flexion limiting pins (22) are locked in position by screws. The finger flexion limiting pins (22) limit the finger flexion stop rod (24).

7. The children's writing rehabilitation aid according to claim 1, characterized in that: The end of the link plate (20) on the finger exoskeleton (32) away from the fingertip is detachably connected to the palm cover (19), which is convenient for replacing the finger exoskeleton (32) according to children with different finger lengths.

8. The children's writing rehabilitation aid according to claim 1, characterized in that: The pen shaft of the finger pressure sensing pen (30) is of a triangular prism structure, and three pressure sensors (31) are respectively arranged on the three side faces of the pen shaft.

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