Finger joint movement positioning training component, training device and training method

Abstract

The invention relates to a finger joint motion positioning training component and device, and the component comprises a transmission rod which is fixedly connected to the side edge of a sliding adjustment component of a rotation translation mechanism, and is used for transmitting the rotation circular motion; the rotary position compensation driving rod is rotationally connected with the transmission rod, and the rotary position compensation driving rod is perpendicular to the axial direction of a rotary shaft of the rotary translation mechanism; a plurality of connecting point positions are distributed on the adjusting belt in the length direction; the fingerstall is selectively connected to any connecting point on the adjusting belt so as to correspond to a finger part to be trained and fix the finger part; the fingerstall is connected to the rotary position compensation driving rod in a sliding and sleeving manner; and the fixing band is used for fixing the fingerstall to the connecting point.

Description

Technical Field

[0001] The present application relates to the technical field of surgical medical instruments, and in particular to a finger joint motion positioning training component, a training device, and a training method. Background Art

[0002] After joint surgery, if the human hand is continuously immobilized or rested, a series of pathological changes will occur in the joints and surrounding tissues, causing thickening and contracture of the ligaments and joint capsule fibers, joint degeneration, resulting in stiffness of the hand and wrist joints and limited movement. Especially after stroke or hemiplegia, due to damage to the brain nerves, more than 80% of people will experience limb hemiplegia accompanied by sequelae such as spasms and excessive muscle tension. Long-term immobilization or lack of active treatment can lead to permanent high muscle tension in the fingers and wrist joints, joint contractures and abnormal movement patterns.

[0003] Currently, the main methods used to reduce hand joint stiffness, hypertonia, and flexion contractures include manual stretching (PT) by physical therapists, continuous passive training (CPM), and intelligent rehabilitation robotic motion training systems. However, these rehabilitation methods have significant drawbacks. Manual stretching relies on the manual input of a rehabilitation therapist, and traditional physical stretching is laborious. The duration, intensity, and rehabilitation strategy also depend on the therapist's experience and subjective experience. CPM passive motion rehabilitation machines are primarily used in orthopedics to maintain joint mobility and prevent stiffness caused by swelling and hematoma following trauma or surgery. To ensure safety, CPM passive motion rehabilitation machines utilize a force-returning mode. However, due to factors such as swelling and hematoma following trauma or surgery, these machines often encounter varying degrees of resistance during operation, resulting in a limited range of passive motion and often preventing full range of motion. Intelligent motion rehabilitation training systems typically employ active, device-assisted movement in a dominant / passive motion pattern, generating repetitive joint limb movements and failing to provide effective, targeted passive stretching training for joints with hypertonia or contractures.

[0004] The hand is the part of the human body with the most and most concentrated degrees of freedom of joints and the most complex physiological structure. Its functions are delicate, sensitive and complex, which makes the development of hand function rehabilitation robots relatively complicated. How to ensure the safety and effectiveness of hand training is an urgent problem to be solved. Summary of the Invention

[0005] Based on this, it is necessary to provide a finger joint motion positioning training component, training device and training method that can simulate the natural motion trajectory of human hand joints for motion training in order to address the above technical problems.

[0006] This application provides a finger joint motion positioning training component, including:

[0007] a transmission rod configured to be fixedly connected to a side of the sliding adjustment component of the rotation and translation mechanism for transmitting the rotational circular motion;

[0008] a rotary position compensation driving rod, rotatably connected to the transmission rod, and the rotary position compensation driving rod is perpendicular to the axial direction of the rotation axis of the rotation and translation mechanism;

[0009] An adjustment belt, wherein a plurality of connection points are provided along the length of the adjustment belt;

[0010] a finger cuff, which can be selectively connected to any connection point on the adjustment belt to correspond to the finger part to be trained and fix the finger part; and the finger cuff is slidably connected to the rotating position compensation drive rod;

[0011] A fixing strap is used to fix the finger sleeve to the connection point.

[0012] The present application provides a finger joint motion training device, comprising the finger joint motion positioning training component, and further comprising:

[0013] a bracket to support the forearm;

[0014] A rotary drive mechanism, used for providing a rotary drive force;

[0015] a rotation and translation mechanism, spaced apart from the bracket and detachably connected to the rotary drive mechanism, so as to rotate by a preset first-stage angle α and reach position A under the driving action of the rotary drive mechanism, thereby forming a first-stage circular arc trajectory;

[0016] Furthermore, the rotation-translation mechanism has a sliding adjustment component on a side away from the bracket. When the rotation-translation mechanism rotates beyond a preset first-stage angle a1 and is in the second stage, the sliding adjustment component is configured to be driven to translate in a direction close to the rotation axis of the rotation-translation mechanism to form an involute trajectory. The trajectory shrinks along the base circle tangent by an angle b1 and reaches a position B in the second stage.

[0017] Wherein, different trajectories are formed when the finger joints perform different natural movements, and the different trajectories envelope a trajectory area, and the trajectories of the first stage and the trajectories of the second stage cover the trajectory area;

[0018] The positioning training component is connected to the sliding adjustment component and is used for positioning training of finger joints.

[0019] This application provides a trajectory design method for finger joint motion training, including:

[0020] Record the trajectory formed by the natural movements of the hand joints. The trajectory envelope formed by various natural movements of the finger joints forms a trajectory area.

[0021] Record the trajectory of the joint movements from the distal interphalangeal joint, the proximal interphalangeal joint to the metacarpophalangeal joint to form a trajectory line H, which includes three arc segments;

[0022] Recording the trajectory of the joint movements in sequence from the metacarpophalangeal joint, the proximal interphalangeal joint to the distal interphalangeal joint to form a trajectory line K, wherein the trajectory line K includes an arc and an involute in sequence;

[0023] The trajectory line H and the trajectory line K envelop each other to form a closed trajectory area;

[0024] In the first stage, the sliding adjustment component of the driving mechanism is rotated in space to the preset first-stage angle a1, generating an arc trajectory and reaching position A; then, in the second stage when the rotation angle exceeds the first-stage angle a1, the sliding adjustment component is driven to move toward the direction close to the rotation axis, and the sliding adjustment component realizes displacement along the radial direction of the rotation axis and gradually approaches the rotation axis. The displacement trajectory shrinks b1 along the tangent of the base circle and forms an involute, reaching position B.

[0025] In some embodiments, the range of a1 is 78°-82°, and the range of b1 is 98°-102°.

[0026] The present application provides a finger joint exercise training method for thumb or interphalangeal joint training, the method comprising:

[0027] The forearm is placed on the bracket, the transmission rod is fixedly connected to the side of the sliding adjustment component of the rotation and translation mechanism, and the finger cuff is pre-adjusted to the connection point on the adjustment belt, which corresponds to the finger part to be trained; the finger cuff is fixed to the connection point using a fixing belt, and the rotation position compensation drive rod is passed through the finger cuff;

[0028] During forward motion training, the palm joint is placed on the hand support rod, the fingers are inserted into the finger cuffs, and the rotary drive mechanism provides a rotary drive force, driving the rotation and translation mechanism to rotate to the preset first stage angle a1 and reach position A;

[0029] When the rotation exceeds the preset first-stage angle, the sliding adjustment component drives the transmission rod to rotate in space and translate in a direction close to the rotation axis. The displacement trajectory shrinks by an angle b1 along the tangent of the base circle and reaches the second-stage position B. The trajectory line H formed by the natural movement of the thumb or interphalangeal joint and the trajectory line K enclose a closed trajectory area, which is covered by the trajectory of the first stage and the trajectory of the second stage.

[0030] When the transmission rod rotates, the finger part is pushed to move through the rotary position compensation drive rod and the finger sleeve. The finger sleeve slides freely along the rotary position compensation drive rod. At the same time, the rotary position compensation drive rod rotates relative to the transmission rod to compensate when the natural motion trajectory of the joint is out of sync with the motion trajectory of the sliding adjustment component, so that the joint moves along its own natural motion trajectory.

[0031] In some embodiments, the range of a1 is 78°-82°, and the range of b1 is 98°-102°.

[0032] The present application provides an automatic control method for a finger joint motion training device, comprising:

[0033] Obtain information about finger joints that need to be exercised;

[0034] Switching the target motion mode based on the joint position information;

[0035] Based on the target motion mode, the rotary drive mechanism is controlled to start and provide a rotary drive force, and the sliding adjustment component is driven to rotate a preset first-stage angle to form an arc trajectory;

[0036] And, after being driven to reach a preset first-stage angle α, the sliding adjustment component is controlled to rotate while translating in a direction close to the rotation axis to reach a second-stage position B to form an involute trajectory;

[0037] The positioning training component moves along with the sliding adjustment component, thereby driving the target hand joint part that needs to be trained to move, and the movement trajectory includes an arc in the first stage and an involute in the second stage.

[0038] During use, the hand joint rehabilitation training robot strictly controls limb fixation, force application points, and motion trajectory, ensuring that the passive joint motion curve conforms to the natural motion trajectory of the hand joint. To address complex joint movements, the robot innovatively adopts a two-stage design concept, integrating force direction and motion trajectory. This allows the hand joint to bend to a normal fist angle, and the entire operation is comfortable and painless for the patient.

[0039] Early postoperative training with exercise methods that conform to physiological curves can enable patients to perform joint movements within a painless range early on, speeding up the recovery process and thus avoiding unnecessary medical accidents such as significant postoperative joint swelling and increased drainage volume caused by exercise training that does not conform to physiological curves, and even loosening of implanted prostheses, wound dehiscence, and other unnecessary medical accidents.

[0040] The present invention can be used for various training such as interphalangeal joint training and thumb joint training by rotating and translating the mechanism, combining positioning training components for training different joint positions, changing the installation position of the bracket, and selecting a preset first-stage angle. It is flexible to use and highly functional. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a partial structural diagram of a postoperative hand joint motion treatment system provided in one embodiment of the present application;

[0042] Figure 2 A stereoscopic diagram of a postoperative hand joint motion therapy system for interphalangeal joint training provided in one embodiment of the present application;

[0043] Figure 3 is a schematic diagram of the natural motion trajectory of finger joint flexion and extension; Figure 3 The consecutive diagrams of a, 3b, and 3c show the trajectory of the joint movements from the distal interphalangeal joint, the proximal interphalangeal joint to the metacarpophalangeal joint. Figure 3 The consecutive schematic diagrams d, 3e, and 3f show the trajectory of the joint movements from the metacarpophalangeal joint, the proximal interphalangeal joint to the distal interphalangeal joint;

[0044] Figure 4 A schematic diagram of the motion trajectory of the sliding adjustment component driven by the rotary drive mechanism during interphalangeal joint training;

[0045] Figure 5 Schematic diagram of interphalangeal joint training gloves;

[0046] Figure 6 A side view of a postoperative hand joint motion therapy system provided in one embodiment of the present application for forearm training exercises;

[0047] Figure 7 Schematic diagram of internal and external rotation during forearm training exercises;

[0048] Figure 8 This is a comparison diagram of the forearm training handle of the present application and the training handle of the prior art in use;

[0049] Figure 9 This is a schematic diagram of a rotation and translation mechanism provided in one of the embodiments of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0051] To facilitate understanding of the present invention, preferred embodiments of the present invention are shown in the accompanying drawings, which include various specific details to assist in such understanding, but these details should be considered as exemplary only. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Accordingly, those skilled in the art will recognize that changes and modifications may be made to the various embodiments described herein without departing from the scope of the present invention as defined by the appended claims. In addition, descriptions of well-known functions and structures may be omitted for clarity and brevity.

[0052] It will be apparent to those skilled in the art that the following description of various embodiments of the present invention is provided for the purpose of illustration only and not for the purpose of limiting the invention as defined by the appended claims.

[0053] refer to Figures 1-4 , the present application provides a postoperative hand joint motion treatment system, comprising:

[0054] Chassis 2;

[0055] Bracket 1, used to support the forearm;

[0056] A rotary drive mechanism, provided in the chassis, for providing a rotary drive force;

[0057] The rotation and translation mechanism 6a is spaced apart from the bracket 1 and detachably connected to the rotary drive mechanism, so as to rotate by a preset first-stage angle α and reach position A under the driving action of the rotary drive mechanism, thereby forming a first-stage circular arc trajectory;

[0058] The rotation-translation mechanism 6a has a sliding adjustment component 6a-1 on a side away from the bracket 1. When the rotation-translation mechanism 6a rotates beyond a preset first-stage angle α and is in the second stage, the sliding adjustment component 6a-1 is configured to be driven to translate in a direction close to the rotation axis 6a-2 of the rotation-translation mechanism 6a to form an involute trajectory and reach the position B of the second stage.

[0059] The trajectories of the first stage and the second stage cover the trajectory envelope of the natural movement of the target hand joint;

[0060] The positioning training component 6b is connected to the sliding adjustment component 6a-1 and is used for positioning the target hand joint part that needs to be trained.

[0061] Hand flexion and extension include continuous movement of the metacarpophalangeal and interphalangeal joints, as well as thumb joint movement, forearm internal and external rotation, and palmar radioulnar deviation. The inventors discovered that during hand joint training, only a portion of the movement follows a standard circular trajectory. For different hand joints, the movement trajectory becomes non-standard when the joint moves to a certain angle. Adapting to the free movement trajectory of different joints poses a significant challenge to hand movement control.

[0062] Specifically, the target hand joint parts, such as finger joints, will form different natural motion trajectories when performing different movements, and these different natural motion trajectories will envelop a trajectory area. In order to cover the above-mentioned trajectory area, the present application designs a motion trajectory of the system, that is, the motion trajectory of the positioning training component 6b consists of two parts: a circular arc trajectory and an involute trajectory: in the first stage with a preset first-stage angle α, circular arc motion is implemented by rotation; in the second stage, the motion trajectory is similar to an involute. The present application includes two motion trajectories, the first stage and the second stage, which have been verified to be able to approach the natural trajectory of the joints in theory. The designed motion trajectory can cover the trajectory area enveloping all natural motion trajectories formed by the target hand joint parts, such as finger joints, when performing different movements, that is, no matter how the patient's hand joints move, the trajectory of the device of this embodiment can be covered, and the safety of the connection between the device and the patient can also be guaranteed.

[0063] During operation, the forearm is placed on the bracket 1, and the joint to be exercised is placed on the positioning training component 6b; during forward movement training, the rotary drive mechanism is started to provide a rotary drive force, driving the rotation and translation mechanism 6a to rotate along an arc trajectory to a preset first-stage angle α (for example, 80°) and reach position A; when the rotation exceeds the preset first-stage angle, it enters the second stage, driving the sliding adjustment component 6a-1 on the rotation and translation mechanism 6a to translate in the direction close to the rotation axis 6a-2 while rotating, and reach position B.

[0064] The rotation and translation mechanism 6a is a mechanism in the training component. The rotation and translation mechanism 6a itself can rotate around the rotation axis 6a-2 by a first-stage angle α (for example, 80°) to reach position A; when the rotation exceeds the preset first-stage angle, the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a is actively driven to rotate while sliding along the radial direction of the rotation axis 6a-2 toward the direction close to the rotation axis 6a-2. The motion trajectory containing a total of two stages is conducive to matching the motion trajectory of the natural flexion and extension of the human hand joint.

[0065] One end of the positioning training component 6b is installed on the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a, and the other end is connected to different joints of the patient, driving the patient's hand joints and wrist joints to perform continuous flexion and extension movements. The motion trajectory of the connected sliding adjustment component 6a-1 and the positioning training component 6b consists of two sections: the circular arc trajectory of the first stage and the composite movement trajectory of the second stage (the composite movement trajectory of the second stage runs according to the trajectory of Archimedean involute contraction), which is conducive to matching the natural movement trajectory of the joint close to the theory.

[0066] During use, the hand joint rehabilitation training robot strictly controls limb fixation, force application points, and motion trajectory, ensuring that the passive joint motion curve conforms to the natural motion trajectory of the hand joint. To address complex joint movements, the robot innovatively adopts a two-stage design concept, combining force application direction and motion trajectory. This allows the hand to bend to a normal angle, and the entire operation is comfortable and painless for the patient.

[0067] Early postoperative training with exercise methods that conform to physiological curves can enable patients to perform joint movements within a painless range early on, speeding up the recovery process and thus avoiding unnecessary medical accidents such as significant postoperative joint swelling and increased drainage volume caused by exercise training that does not conform to physiological curves, and even loosening of implanted prostheses, wound dehiscence, and other unnecessary medical accidents.

[0068] The present invention can be used for various training purposes such as interphalangeal joint training, thumb joint training, metacarpophalangeal joint training, wrist joint training, compound fist training, radioulnar deviation training, forearm training and wrist-palm combined training by combining a rotational translation mechanism 6a, a positioning training component 6b for training different joint parts, changing the installation position of the bracket 1, and selecting different preset first-stage angles α according to different target hand joint parts. It has flexible usage and strong functionality.

[0069] For detailed training methods for different parts of the body, please see the following content.

[0070] Taking the target hand joint as the finger joint as an example, the present application is described in detail: the applicant has conducted a tracking study on the natural motion trajectory of the finger joint flexion-extension, see Figure 3 , the motion trajectory of the training component needs to cover Figure 3 The area shown in the figure is securely connected to the patient. Taking a finger joint as an example, the flexion-extension movement of each hand joint consists of three complex joint movements: the distal interphalangeal joint A, the proximal interphalangeal joint B, and the metacarpophalangeal joint C. Due to differences in the patient's injury location and degree of stiffness, the order of rotation of the three joints varies, and the fingertip movement trajectory also varies. Figure 3The consecutive schematic diagrams of a, 3b, and 3c show the trajectory of the joint movements starting from the horizontal 0°, from the distal interphalangeal joint, the proximal interphalangeal joint to the metacarpophalangeal joint, and the records form the trajectory line H, which is composed of three arcs, that is, each of the segments is an arc; Figure 3 The successive diagrams d, 3e, and 3f illustrate the trajectory of the joint, starting from a horizontal angle of 0° and moving sequentially from the metacarpophalangeal joint, to the proximal interphalangeal joint, and finally to the distal interphalangeal joint. This trajectory forms a line K, which is composed of a circular arc and an involute. Besides the two aforementioned motion forms, the trajectories of all other joint motions are enclosed within the region enclosed by lines H and K.

[0071] Therefore, it is necessary to design a motion trajectory that can cover the trajectory line H, the trajectory line K, and all other trajectory forms enclosed by H and K. Specifically, the motion trajectory of the positioning training component 6b is designed as follows: First, the applicant has found through research that when used for thumb or interphalangeal joint training, the thumb or interphalangeal joint can be rotated from the horizontal state downward along the circular trajectory to a maximum angle a1 (about 80°, 78°-82°). Therefore, in the first stage, the sliding adjustment component 6a-1 of the driving action mechanism 6a can be used to drive the transmission rod 17 to rotate from the horizontal 0° to a1, for example, 80° in space, to generate a circular arc trajectory with a fixed radius ( Figure 4 a) and reaches position A; then, in the second stage when the rotation angle exceeds 80°, the sliding adjustment component 6a-1 is driven to move toward the direction close to the rotation axis 6a-2. Based on the Archimedean involute principle, the sliding adjustment component 6a-1 is displaced along the radial direction of the rotation axis 6a-2 and gradually approaches the rotation axis 6a-2 ( Figure 4 b) The displacement trajectory shrinks along the base circle tangent line within an angle range b1 (98°-102°), for example, after shrinking 100°, it reaches position B at 180°. The expansion and contraction of the involute trajectory can be achieved by resetting the elastic member. Figure 4 c shows the entire motion trajectory of the sliding adjustment component 6a-1 when the rotary drive mechanism drives it to rotate 180°.

[0072] Compared with the prior art, this embodiment has the following advantages:

[0073] (1) The motion trajectory of the positioning training component 6b consists of two parts: an arc trajectory and an involute trajectory. In the first stage within the rotation angle a1, circular motion is implemented by rotation; when the rotation angle is greater than a1, the motion trajectory is similar to an involute. The present application includes two motion trajectories, the first stage and the second stage, which are theoretically close to the natural trajectory of the joint. The designed motion trajectory can cover the range enclosed by the natural motion trajectory lines H and K in the above two extreme cases, that is, no matter how the patient's hand joint moves, the device trajectory of this embodiment can be covered, and the safety of the connection between the device and the patient can also be guaranteed. It is worth noting that the above content of tracking and recording the natural motion trajectory and the design trajectory of the training system is explained using the finger joints as an example. When other joint parts are selected as the target hand joint parts, the above concept is also applicable.

[0074] When used for training the thumb or interphalangeal joint, the thumb or interphalangeal joint starts from a horizontal state and moves downward. The applicant believes that the motion trajectory designed in this application is composed of two trajectory lines: a circular arc trajectory and an involute trajectory. Running according to this trajectory is theoretically beneficial to approaching the natural motion trajectory and the physiological curve. In the prior art, passive movements that do not conform to the physiological curve and the wrong direction of force will interfere with the rolling and sliding of the joint, causing excessive load on the contact joint surface, squeezing the joint cartilage, and even leading to postoperative joint swelling and increased drainage; if this continues for a long time, it will also cause damage to the joint surface. For joints with a high degree of joint surface fit, it may also cause symptoms such as joint swelling, ossification, and arthritis. This embodiment overcomes the above problems, is beneficial to making the movement of the finger joints close to the natural motion trajectory, and reduces damage to the finger joints during training.

[0075] The external force of the device of the present application can effectively act on the stiff finger joints, can simultaneously maintain the flexion position of the proximal and distal interphalangeal joints, and can gently stretch the metacarpophalangeal joints to extension, with significant training and rehabilitation effects.

[0076] On the basis of the above embodiments, the applicant has further found that the natural physiological motion trajectory of actual hand joints is diverse, and although it is close to the standard motion trajectory of the sliding adjustment component 6a-1 as a whole, it is not synchronized. Therefore, in order to avoid the device restricting the joint movement during the operation of the system, or even directly applying a strong impact force to the joint, to improve the effectiveness and safety of the training action, so that the finger joints can always move in the natural physiological motion trajectory while bearing the driving force, reference is made to the following method: Figure 2 and Figure 5 In some embodiments, a positioning training component 6b is provided that better matches the natural motion trajectory of the finger joints, specifically including:

[0077] An adjustment belt 72, wherein the adjustment belt 72 is provided with a plurality of connection points 72a distributed along the length direction;

[0078] A finger sleeve 71 can be selectively connected to any connection point 72a on the adjustment belt 72, and the finger sleeve 71 is slidably sleeved on the rotational position compensation driving rod 18;

[0079] A fixing belt 76, used to fix the finger sleeve 71 to the connection point 72a;

[0080] A transmission rod 17, fixedly connected to the side of the sliding adjustment component 6a-1, for transmitting the rotational circular motion;

[0081] The rotary position compensation driving rod 18 is rotationally connected to the transmission rod 17 and is perpendicular to the axial direction of the rotating shaft 6a - 2 of the rotating support plate 37 .

[0082] In this embodiment, the transfer rod 17 is a connecting member between the sliding adjustment component 6a-1 and the rotary position compensation drive rod 18, which is used to transfer the movement of the sliding adjustment component 6a-1 to the rotary position compensation drive rod 18, and then to the finger connected to the rotary position compensation drive rod 18.

[0083] In this embodiment, the rotary position-compensating drive rod 18 is capable of 360° rotation relative to the transmission rod 17. The finger cuff 71, which is attached to the patient's finger, slides freely along the rotary position-compensating drive rod 18 to accommodate the continuous change in distance between the cuff 71 and the transmission rod 17 during exercise. This structural coordination accommodates changes in the cuff's spatial orientation and the distance between the cuff and the palm, further accommodating the continuous change in the distance and orientation from the fingertip to the palm during flexion and extension of the hand joint, ensuring a secure connection between the training component and the patient.

[0084] Specifically, such as Figure 4 d and Figure 2 、 Figure 5 When used for thumb or interphalangeal joint training, adjust the finger sleeve 71 to the connection point 72a on the adjustment belt 72, and the connection point 72a corresponds to the finger part to be trained; use the fixing belt 76 to fix the finger sleeve 71 to the connection point; pass the rotary position compensation drive rod 18 through the finger sleeve 71 (the finger sleeve can slide along the rotary position compensation drive rod 18, and the rotary position compensation drive rod 18 provides support and guidance for the sliding of the finger sleeve).

[0085] During training, taking a1 selecting 80° as an example, the palm joint is placed on the hand support rod 16, the fingers are inserted into the finger sleeve 71, and the rotary drive mechanism provides a rotary drive force to drive the rotation and translation mechanism 6a to rotate 80° as a whole; when it exceeds 80°, the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a is driven to drive the transmission rod 17 to rotate in space and translate at a preset speed, and at the same time, the finger joint movement is promoted through the rotary position compensation drive rod 18 and the finger sleeve 71.

[0086] As mentioned above, the natural physiological motion trajectory of the hand joint is not synchronized with the standard motion trajectory of the sliding adjustment component 6a-1 as a whole. In order to avoid the device restricting the joint movement during the operation of the system or even directly applying a strong impact force to the joint, the effectiveness and safety of the training action are guaranteed. Figure 4 e is a schematic diagram of the initial state of the finger joint being driven by the sliding adjustment component 6a-1 to perform flexion and extension training movements. Since the finger sleeve 71 can slide freely along the rotating position compensation driving rod 18, and the rotating position compensation driving rod 18 can rotate flexibly relative to the transmission rod 17, when the finger joint is pushed by the sliding adjustment component 6a-1 to perform a movement, the rotation of the rotating position compensation driving rod 18 and the sliding of the finger sleeve 71 form a buffer mechanism, which can perform compensation adjustment when the natural movement trajectory of the hand joint is not completely synchronized with the overall standard movement trajectory of the sliding adjustment component 6a-1 (the standard movement trajectory is unchanged), ensuring that the joint can still move according to its own physiological trajectory when being driven, and can avoid the direct impact of the device when the joint moves, thereby ensuring the safety of the connection between the patient's body and the positioning training component 6b.

[0087] like Figure 4 f is a schematic diagram of the state change of the interphalangeal joint driven by the sliding adjustment component 6a-1 to perform flexion and extension training. During the finger flexion and extension training, the spatial angle direction of the fingertip (finger sleeve 71) will rotate and change. At this time, the free and flexible rotation of the rotary position compensation driving rod 18 relative to the transmission rod 17 can be used as a buffer for direction adjustment, which is used to provide adaptive buffer compensation for the adjustment of the direction of the fingertip (finger sleeve 71); and during the finger flexion and extension training, the distance from the fingertip to the palm will also change uncertainly. At this time, the free sliding of the finger sleeve 71 along the rotary position compensation driving rod 18 can be used as a buffer for the distance adjustment, which is used to provide adaptive buffer compensation for the real-time change of the distance from the fingertip to the palm, and then adjust the compensation to adapt to the actual physiological motion trajectory, realize direction and distance compensation, and make the designed motion trajectory of the positioning training component 6b able to adapt to the natural motion trajectory of all hand joints theory covered within the envelope range between H and K.

[0088] Compared with the prior art, this embodiment has the following advantages:

[0089] A mechanical linkage mechanism including a finger sleeve 71, an adjustment belt 72, a fixing belt 76, a rotational position compensation driving rod 18, and a transmission rod 17 is designed. Since the finger sleeve 71 can slide freely along the rotational position compensation driving rod 18, and the rotational position compensation driving rod 18 can rotate flexibly relative to the transmission rod 17, when the finger joint is pushed by the sliding adjustment component 6a-1 to move, the rotation of the rotational position compensation driving rod 18 and the sliding of the finger sleeve 71 along the length direction of the rotational position compensation driving rod 18 constitute a buffering adaptation mechanism, which can compensate and adjust when the natural movement trajectory of the hand joint is not completely synchronized with the overall standard movement trajectory of the sliding adjustment component 6a-1 (the standard movement trajectory is always unchanged), ensuring that the joint can still move freely according to its own physiological trajectory when driven to flex and extend, thereby avoiding the direct impact of the device when the joint moves, ensuring the comfort of training and the safety of the connection between the patient's body and the positioning training component 6b.

[0090] During training, the spatial angle of the fingertips and the distance from the fingertips to the palm will undergo continuous and uncertain changes. At this time, the free sliding of the finger sleeve 71 along the rotating position compensation drive rod 18 can provide adjustment support for the changes in the fingertip angle and the distance from the fingertips to the palm, and is used to provide adaptive buffer support compensation for the real-time changes in the distance from the fingertips to the palm. Thus, the buffer mechanism composed of rotation and sliding modes is dynamically and adaptively connected and adjusted with the device to help adapt to the flexible and uninterrupted rotation of the finger pointing during hand flexion and extension, and the continuous change in the distance from the fingertips to the palm, and realize dynamic adjustment when the natural physiological movement trajectory of the fingertip hand joint is not completely synchronized with the movement trajectory of the training component, so as to realize flexible rotation changes of the hand joint during hand flexion and extension, and avoid harm to the patient. Of course, the external force of the device of the present application can effectively act on the stiff finger joints, while maintaining the flexion position of the proximal and distal interphalangeal joints, gently stretching the metacarpophalangeal joints to extension, and achieving significant training and rehabilitation effects.

[0091] refer to Figure 1-Figure 2 In some embodiments, when used for interphalangeal joint training, the length direction of the transmission rod 17 intersects with the sliding direction of the sliding adjustment component 6a-1;

[0092] There are two or more rotating position compensation driving rods 18 , which are arranged at intervals in the length direction of the transmission rod 17 , and each of the rotating position compensation driving rods 18 is rotatably connected to the transmission rod 17 .

[0093] Specifically, there are two or more rotating position compensation drive rods 18 in order to accommodate the number of multiple fingers. Each rotating position compensation drive rod 18 is rotatably connected to the transmission rod 17, and each rotating position compensation drive rod 18 is slidably sleeved with a finger sleeve 71, so that multiple fingers can achieve the same exercise effect when doing interphalangeal joint training, and the comfort and safety of each finger can be guaranteed.

[0094] refer to Figure 5 In some embodiments, the positioning training component 6b further includes:

[0095] A palm block 74 connected to the adjustment belt and used to locate the palm position;

[0096] a palm strap 73 connected to the palm block 74 and used to restrain the palm to the palm block 74;

[0097] The wrist strap 75 is connected to the palm block 74 and is used to bind the wrist to the palm block 74 .

[0098] Specifically, before training, the palm can be placed on the palm block 74. Since the palm block 74 is connected to the adjustment strap, the position of the palm can be determined; the palm strap 73 and the wrist strap 75 respectively bind the palm and wrist to the palm block 74, thereby forming an interphalangeal joint training glove, which is conducive to ensuring the stability of the hand position during training and avoiding safety accidents caused by hand slipping during exercise.

[0099] refer to Figure 1-Figure 2 In some embodiments, it further includes a scale disk 13, which is coaxially arranged with the rotating shaft 6a-2; a rotary scale 10 is distributed around the disk surface of the scale disk 13, and a plurality of rotary limit switches 9 are provided on the circumference of the scale disk 13.

[0100] Specifically, rotary scales 10 are arranged around the scale disk 13 to intuitively display the angle of joint movement training; the rotary limit switch 9 can preset the rotation angle range according to different training parts, and control the reduction motor 23 to stop rotating when reaching the preset first stage angle position to avoid excessive rotation and ensure safe use.

[0101] It is worth pointing out that the reference Figure 1, when used for thumb joint training, the number of the rotating position compensation drive rod 18 is set to one to meet the use requirements. The training method is the same as the above-mentioned interphalangeal joint training method, the only difference is that the finger sleeve 71 is used to fix the thumb, and the rotating position compensation drive rod 18 and the hand support rod 16 are designed to be shorter. During training, taking a1 as an example of selecting 80°, the palm joint is placed on the hand support rod 16, the thumb is inserted into the finger sleeve 71, and the rotary drive mechanism provides a rotary drive force to drive the rotation and translation mechanism 6a to rotate 80° as a whole; when it exceeds 80°, the sliding adjustment component 6a-1 of the rotation and translation mechanism 6a is driven to drive the transfer rod 17 to rotate in space and translate at a preset speed, and at the same time, the thumb joint is pushed to perform flexion and extension training movements through the rotating position compensation drive rod 18 and the finger sleeve 71. During this process, the finger sleeve 71 can adaptively slide along the rotating position compensation drive rod 18, and at the same time, the rotating position compensation drive rod 1 8 can rotate flexibly in space relative to the transmission rod 17. Therefore, when the thumb joint is pushed by the sliding adjustment component 6a-1 to move, the rotation of the rotary position compensation drive rod 18 and the sliding of the finger sleeve 71 form a buffer mechanism, which can perform compensation adjustment when the natural movement trajectory of the thumb joint is not completely synchronized with the overall standard movement trajectory of the sliding adjustment component 6a-1 (the standard movement trajectory is unchanged), ensuring that the joint can still move according to its own physiological trajectory when being driven, and can avoid the direct impact of the device when the joint moves, thereby ensuring the safety of the connection between the patient's body and the positioning training component 6b.

[0102] During thumb flexion and extension training, the spatial angular direction of the fingertip (finger sleeve 71) will rotate and change. At this time, the free and flexible rotation of the rotary position compensation driving rod 18 relative to the transmission rod 17 can be used as a buffer for direction adjustment, which is used to provide adaptive buffer compensation for the adjustment of the direction of the thumb fingertip (finger sleeve 71); and during thumb flexion and extension training, the distance from the thumb tip to the palm will also change uncertainly. At this time, the free sliding of the finger sleeve 71 along the rotary position compensation driving rod 18 can be used as a buffer for the distance adjustment, which is used to provide adaptive buffer compensation for the real-time change of the distance from the fingertip to the palm, and then adjust the compensation to adapt to the actual physiological motion trajectory, realize direction and distance compensation, and enable the designed motion trajectory of the positioning training component 6b to adapt to the natural motion trajectory of all hand joints theory within the envelope range between H and K.

[0103] In addition, this embodiment can at least achieve the same effect as the above-mentioned interphalangeal joint training. Please refer to the description of the above interphalangeal joint training for details, which will not be repeated here.

[0104] refer to Figure 6-Figure 7 In some embodiments, the base 11 further includes an insertion port, which is provided below the rotation axis 6a-2 and is used to cooperate with and insert the bottom support rod 1d, and to make the central axis of the bracket 1 parallel to the rotation axis 6a-2;

[0105] It also includes a forearm training handle 6c, which is connected to the rotary drive mechanism; the forearm training handle 6c includes a bracket, a rotating hand-held shaft 6c-2 and a strap 6c-3, the bracket is connected to the rotary drive mechanism and includes a long side 6c-1 and a short side 6c-4; the two ends of the rotating shaft 6C-2 are respectively connected to the end of the long side 6c-1 and the end of the short side 6c-4, the strap 6c-3 is attached to the back of the hand, and cooperates with the rotating hand-held shaft 6c-2 to fix the hand, and the short side 6c-4 is configured to be close to the base of the hand.

[0106] Specifically, the forearm training handle 6c is connected to the rotary drive mechanism, and the bottom support rod 1d is then plugged into the plug interface. At this time, the central axis of the bracket 1 is parallel to the rotation axis 6a-2. The forearm is placed on the bracket 1 and the forearm training handle 6c is pulled by hand. After the rotary drive mechanism is activated, it provides a rotary driving force, driving the forearm training handle 6c to rotate. The thumb at the base of the hand is located at the short side. The training hand grasps the rotation axis 6C-2 and tightens the strap 6C-3. When the rotary drive mechanism rotates, the rotation axis 6C-2 rotates, thereby pushing the entire palm to perform external rotation training. When the rotary drive mechanism rotates in the opposite direction, the strap 6C-3 pushes the back of the hand to perform internal rotation training. This expands the functionality of the present application and can be applied to training more arm joints.

[0107] refer to Figure 8 After the training hand grasps the rotation axis 6c-2 of the forearm training handle 6c, the short side 6c-4 is configured to be close to the base of the hand compared to the rotation axis 6d-1 of the existing training handle 6d, and the entire rotation axis 6c-2 is closer to the center of the palm. During forearm external rotation training, the rotation axis 6c-2 can act on the entire metacarpal bone, thereby effectively pushing the entire palm for training.

[0108] The present application also provides an automatic control method for a postoperative hand joint motion therapy system, comprising:

[0109] Obtaining information about target hand joints to be trained, for example, by placing an image sensor or other device on the side of the system to collect image information of the positioning training component, and comparing it with the system's pre-stored images to automatically confirm the type of positioning training component (whether the rotary position compensation drive rod 18 has one or four), and automatically confirming the corresponding target hand joints to be trained (interphalangeal joints or thumb joints);

[0110] Switching the target motion mode based on the joint position information, wherein the target motion mode pre-stores the specific parameter values ​​of the first stage angle α, movement speed, position A, and position B, and different target motion modes correspond to corresponding positioning training components and target hand joint positions;

[0111] Based on the target motion mode, the rotary drive mechanism is controlled to start providing a rotary drive force, and drives the sliding adjustment component 6a-1 to rotate the preset first stage angle α to form an arc trajectory;

[0112] And, after being driven to reach the preset first stage angle α, the sliding adjustment component 6a-1 is controlled to rotate and translate in a direction close to the rotation axis 6a-2 to reach the second stage position B to form an involute trajectory;

[0113] The positioning training component 6b moves along with the sliding adjustment component 6a-1, driving the target hand joint that needs to be trained to move, and the movement trajectory includes an arc in the first stage and an involute in the second stage.

[0114] refer to Figure 9 In some embodiments, the rotation and translation mechanism 6a includes:

[0115] A shaft collar 33 is sleeved on the rotary drive mechanism and can rotate with the rotary drive mechanism;

[0116] The hand support rod 16 is connected to the shaft sleeve through the swing plate 4 and rotates with the shaft sleeve, and is used to support the hand;

[0117] a rotating support plate 37 connected to the shaft collar 33;

[0118] a sliding adjustment component 6a-1, slidably connected to the surface of the rotating support plate 37, configured to be driven to slide relative to the surface of the rotating support plate 37, and wherein the sliding direction of the sliding adjustment component 6a-1 is perpendicular to the axial direction of the rotating shaft 6a-2 of the rotating support plate 37;

[0119] an elastic member 35 connected between an end of the rotating support plate 37 close to the bracket 1 and the sliding adjustment component 6a-1, and configured to be compressed and accumulate potential energy when the sliding adjustment component 6a-1 moves;

[0120] Specifically, the hand support rod 16 is used to support the hand during training to avoid limb injuries caused by unstable hand position during training.

[0121] Place the forearm on the bracket 1, and place the palm on the hand support rod 16, and place the joint that needs to be exercised on the positioning training component 6b; after the rotary drive mechanism is started, it provides a rotary driving force, and drives the hand support rod 16, the rotating support plate 37, and the sliding adjustment component 6a-1 to rotate through the shaft ring 33; when the preset first-stage angle α is exceeded, the power device is used to drive the sliding adjustment component 6a-1 to translate in the direction close to the rotation axis 6a-2 (in the radial direction of the rotation axis 6a-2) while rotating, and the sliding adjustment component 6a-1 undergoes a compound motion and generates an Archimedean involute trajectory. The positioning training component 6b is installed on the sliding adjustment component 6a-1, and the other end is connected to a specific part of the patient's hand to drive the patient's different hand joints to perform continuous flexion and extension movements.

[0122] The elastic member 35 will accumulate force and tend to rebound during the movement of the sliding adjustment member 6a-1, which is conducive to promoting the reciprocating motion of the joint in the forward and reverse directions, and the expansion and contraction of the movement trajectory can be achieved through the resetting of the elastic member 35.

[0123] refer to Figure 9 In some embodiments, the rotation and translation mechanism 6a further includes a guide limit rod 34, the length direction of the guide limit rod 34 is perpendicular to the axial direction of the rotation axis 6a-2 of the rotation support plate, and the sliding adjustment component 6a-1 is sleeved on the guide limit rod 34; the elastic member 35 is sleeved on the guide limit rod 34, and the two ends of the elastic member 35 respectively abut against one end of the rotation support plate 37 close to the bracket 1 and the sliding adjustment component 6a-1.

[0124] Specifically, the guide limit rod 34 is used to provide guidance for the translation of the sliding adjustment component 6a-1 and the deformation direction of the elastic member 35, so as to avoid the movement effect being reduced or even a safety hazard being caused by the deviation of the moving direction of the sliding adjustment component 6a-1 during the movement.

[0125] refer to Figure 9 In some embodiments, the rotation-translation mechanism 6a further includes a cable 38 connecting the collar and the sliding adjustment component 6a-1. The cable 38 can limit the sliding adjustment component 6a-1, preventing the sliding adjustment component 6a-1 from excessively moving away from the rotation axis 6a-2, which could increase safety risks.

[0126] refer to Figure 9 In some embodiments, the sliding adjustment component 6a-1 includes:

[0127] The movable body 36 is slidably connected to the surface of the rotating support plate 37 via a guide rail, and the sliding direction of the movable body 36 is perpendicular to the axial direction of the rotating shaft 6a-2;

[0128] The motion connection platform 14 is fixedly connected to the moving body 36 by bolts, and a connection hole 14a is provided on the motion connection platform 14 for cooperating with and connecting the positioning training component 6b.

[0129] Specifically, the motion connection platform 14 is fixedly connected to the mobile body 36 by bolts, which makes it convenient to replace motion connection platforms 14 of different specifications to meet the training needs of patients with different physiques; the motion connection platform 14 can be provided with connection holes 14a at the ends close to the rotating axis 6a-2 and away from the rotating axis 6a-2, respectively, for cooperating and connecting different forms of positioning training components 6b at different positions.

[0130] In some embodiments, the rotary drive mechanism includes:

[0131] Gear motor;

[0132] The rotary output shaft is connected to the main shaft of the reduction motor through a shaft sleeve and is seated on the chassis through a bearing.

[0133] Specifically, the control unit processes control signals such as the angular range and operating speed into output execution signals for the reduction motor. The reduction motor serves as the actuator for the angular range and average angular velocity. The reduction motor's main shaft is connected to the rotary output shaft via a bushing. The rotary output shaft is detachably connected to the rotational translation mechanism 6a. When the reduction motor is activated, its rotation drives the rotary output shaft and the rotational translation mechanism 6a to achieve rotational motion control.

[0134] In some embodiments, a limit rod is fixedly connected to the outer circumferential surface of the sleeve to prevent the sleeve, the rotary output shaft and the rotation and translation mechanism from excessively rotating, thereby avoiding the occurrence of safety accidents.

[0135] refer to Figure 2 In some embodiments, a touch unit 2a is further included, connected to the rotary drive mechanism, and the touch unit 2a stores control parameters. System control parameters are input through the HMI touch unit 2a, such as the preset first-stage angle α, operating speed, safety protection level, and extended parameters corresponding to different training parts. Different positioning training components 6b are components that directly contact the patient. Their motion trajectories simulate the natural flexion and extension motion trajectories of the human hand and wrist joints. Therefore, they need to be set within a safe range of movement to safely drive the patient's metacarpophalangeal joints, wrist joints, and wrist-palm composite passive movements.

[0136] The translation of the sliding adjustment component 6a-1 can be driven by a power driving component connected thereto, including but not limited to an electric or hydraulic rod driving movement.

[0137] refer to Figure 1 In some embodiments, the bracket 1 includes:

[0138] Base 11;

[0139] The bottom support rod 1d is movably connected to the base 11 via a connecting bolt 1c;

[0140] The telescopic support rod 1f is hinged to the bottom support rod 1d via a gear meshing point 1e;

[0141] The tray 1a is hinged to the telescopic support rod 1f via a gear meshing point 1b.

[0142] Specifically, the up and down tilt angles of the tray 1a can be adjusted by adjusting the gear meshing point 1b, and the tilt angle of the telescopic support rod 1f can be changed by adjusting the gear meshing point 1e, thereby changing the height of the adjustment tray 1a. By adjusting the telescopic length of the telescopic support rod 1f, the spatial distance between the tray 1a and the rotation and translation mechanism 6a can be adjusted, thereby adjusting the position of the bracket 1 according to the length of the patient's arm, so that the patient is in the most comfortable state when connected to the equipment.

[0143] Throughout the specification and claims of this application document, the words "comprise" and "include" and variations of the words, such as "including" and "comprising" mean "including but not limited to", and are not intended to (and will not) exclude other components, integers or steps. Features, integers or characteristics described in conjunction with a particular aspect, embodiment or example of the invention will be understood to be applicable to any other aspect, embodiment or example described herein unless incompatible therewith.

[0144] It should be understood that the singular forms "a", "an", and "the" include plural references unless the context clearly dictates otherwise. The expressions "including" and / or "may include" as used in the present invention are intended to indicate the presence of corresponding functions, operations, or elements, and are not intended to limit the presence of one or more functions, operations, and / or elements. In addition, in the present invention, the terms "including" and / or "having" are intended to indicate the presence of the characteristics, quantities, operations, elements, and components disclosed in the application documents, or a combination thereof. Therefore, the terms "including" and / or "having" should be understood as additional possibilities of the presence of one or more other characteristics, quantities, operations, elements, and components, or a combination thereof.

[0145] In the present invention, the expression "or" includes any or all combinations of the words listed together. For example, "A or B" may include A or B, or may include both A and B.

[0146] 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 the present invention pertains. It should also be understood that terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning consistent with the context of the relevant art and this specification, and should not be interpreted in an idealized or overly formal sense unless explicitly defined as such herein. The term "and / or" as used herein includes any and all combinations of one or more of the relevant listed items.

[0147] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. Finger joint motion positioning training component, characterized in that, include: a transmission rod configured to be fixedly connected to a side of the sliding adjustment component of the rotation and translation mechanism for transmitting the rotational circular motion; a rotary position compensation driving rod, rotatably connected to the transmission rod, and the rotary position compensation driving rod is perpendicular to the axial direction of the rotation axis of the rotation and translation mechanism; An adjustment belt, wherein a plurality of connection points are provided along the length of the adjustment belt; a finger cuff, which can be selectively connected to any connection point on the adjustment belt to correspond to the finger part to be trained and fix the finger part; and the finger cuff is slidably connected to the rotating position compensation drive rod; A fixing strap is used to fix the finger sleeve to the connection point.

2. The finger joint motion positioning training component according to claim 1, characterized in that: The length direction of the transmission rod intersects with the sliding direction of the sliding adjustment component; There are one to four rotating position compensation driving rods, which are arranged at intervals in the length direction of the transmission rod, and each of the rotating position compensation driving rods is rotatably connected to the transmission rod.

3. The finger joint motion positioning training component according to claim 1, characterized in that: The positioning training component further includes: A palm block connected to the adjustment belt and used for locating the palm position; a palm strap connected to the palm block and used to restrain the palm to the palm block; A wrist strap is connected to the palm block and is used to bind the wrist to the palm block.

4. A finger joint exercise training device, characterized in that: The finger joint motion positioning training component according to any one of claims 1 to 3 further comprises: a bracket to support the forearm; A rotary drive mechanism, used for providing a rotary drive force; a rotating translation mechanism, spaced apart from the bracket and coupled to the rotary drive mechanism, so as to rotate by a preset first-stage angle α and reach position A under the driving action of the rotary drive mechanism, thereby forming a first-stage circular arc trajectory; Furthermore, the rotation-translation mechanism has a sliding adjustment component on a side away from the bracket. When the rotation-translation mechanism rotates beyond a preset first-stage angle a1 and is in the second stage, the sliding adjustment component is configured to be driven to translate in a direction close to the rotation axis of the rotation-translation mechanism to form an involute trajectory. The trajectory shrinks along the base circle tangent by an angle b1 and reaches a position B in the second stage. Wherein, different trajectories are formed when the finger joints perform different natural movements, and the different trajectories envelope a trajectory area, and the trajectories of the first stage and the trajectories of the second stage cover the trajectory area; The positioning training component is connected to the sliding adjustment component and is used for positioning training of finger joints.

5. The finger joint exercise training device according to claim 4, characterized in that: The transmission rod is driven synchronously by the sliding adjustment component, and the transmission rod pushes the rotational position compensation drive rod, the finger sleeve and the finger part to move. The finger sleeve slides along the rotational position compensation drive rod, and at the same time, the rotational position compensation drive rod rotates relative to the transmission rod to compensate when the natural motion trajectory of the joint is out of sync with the motion trajectory of the sliding adjustment component, so that the joint moves along its own natural motion trajectory.

6. The finger joint exercise training device according to claim 4, characterized in that: in, In the first stage, the sliding adjustment component of the driving mechanism drives the transmission rod to rotate in space to a1=78°-82°, generates an arc trajectory, and reaches position A; in the second stage, the sliding adjustment component drives the transmission rod to move toward the direction close to the rotation axis, and the displacement trajectory shrinks along the tangent of the base circle by an angle b1=98°-102°, reaching position B.

7. The finger joint exercise training device according to claim 4, characterized in that: The rotation and translation mechanism comprises: a shaft collar, sleeved on the rotary drive mechanism and capable of rotating along with the rotary drive mechanism; A hand support rod, connected to the shaft sleeve and rotating with the shaft sleeve, for bearing and supporting the hand; a rotating support plate connected to the shaft collar; a sliding adjustment component slidably connected to the surface of the rotating support plate and configured to be driven to slide relative to the surface of the rotating support plate, wherein the sliding direction of the sliding adjustment component is perpendicular to the axial direction of the rotating axis of the rotating support plate; An elastic member is connected between an end of the rotating support plate close to the bracket and the sliding adjustment component.

8. The finger joint exercise training device according to claim 7, characterized in that: The rotation and translation mechanism further includes a guide limit rod, the length direction of the guide limit rod is perpendicular to the axial direction of the rotation axis of the rotation support plate, and the sliding adjustment component is sleeved on the guide limit rod; The elastic member is sleeved on the guide limiting rod, and two ends of the elastic member are respectively in contact with one end of the rotation support plate close to the bracket and the sliding adjustment component.

9. The finger joint exercise training device according to claim 1, characterized in that: The sliding adjustment component includes: A moving body, slidably connected to the surface of the rotating support plate via a guide rail, wherein the sliding direction of the moving body is perpendicular to the axial direction of the rotating shaft; The motion connection platform is fixedly connected to the moving body by bolts, and the motion connection platform is provided with a connection hole for cooperating with and connecting the positioning training component.

10. A trajectory design method for finger joint motion training, characterized in that: include: Record the trajectory formed by the natural movements of the hand joints. The trajectory envelope formed by various natural movements of the finger joints forms a trajectory area. Record the trajectory of the joint movements from the distal interphalangeal joint, the proximal interphalangeal joint to the metacarpophalangeal joint to form a trajectory line H, which includes three arc segments; Recording the trajectory of the joint movements in sequence from the metacarpophalangeal joint, the proximal interphalangeal joint to the distal interphalangeal joint to form a trajectory line K, wherein the trajectory line K includes an arc and an involute in sequence; The trajectory line H and the trajectory line K envelop each other to form a closed trajectory area; In the first stage, the sliding adjustment component of the driving mechanism is rotated in space to the preset first-stage angle a1, generating an arc trajectory and reaching position A; then, in the second stage when the rotation angle exceeds the first-stage angle a1, the sliding adjustment component is driven to move toward the direction close to the rotation axis, and the sliding adjustment component realizes displacement along the radial direction of the rotation axis and gradually approaches the rotation axis. The displacement trajectory shrinks b1 along the tangent of the base circle and forms an involute, reaching position B.

11. A finger joint exercise training method, characterized in that: For thumb or interphalangeal joint training, the method comprises: The forearm is placed on the bracket, the transmission rod is fixedly connected to the side of the sliding adjustment component of the rotation and translation mechanism, and the finger cuff is pre-adjusted to the connection point on the adjustment belt, which corresponds to the finger part to be trained; the finger cuff is fixed to the connection point using a fixing belt, and the rotation position compensation drive rod is passed through the finger cuff; During forward motion training, the palm joint is placed on the hand support rod, the fingers are inserted into the finger cuffs, and the rotary drive mechanism provides a rotary drive force, driving the rotation and translation mechanism to rotate to the preset first stage angle a1 and reach position A; When the rotation exceeds the preset first-stage angle, the sliding adjustment component drives the transmission rod to rotate in space and translate in a direction close to the rotation axis. The displacement trajectory shrinks by an angle b1 along the tangent of the base circle and reaches the second-stage position B. The trajectory line H formed by the natural movement of the thumb or interphalangeal joint and the trajectory line K enclose a closed trajectory area, which is covered by the trajectory of the first stage and the trajectory of the second stage. When the transmission rod rotates, the finger part is pushed to move through the rotary position compensation drive rod and the finger sleeve. The finger sleeve slides freely along the rotary position compensation drive rod. At the same time, the rotary position compensation drive rod rotates relative to the transmission rod to compensate when the natural motion trajectory of the joint is out of sync with the motion trajectory of the sliding adjustment component, so that the joint moves along its own natural motion trajectory.

12. An automatic control method for a finger joint exercise training device, characterized in that: include: Obtain information about finger joints that need to be exercised; Switching the target motion mode based on the joint position information; Based on the target motion mode, the rotary drive mechanism is controlled to start and provide a rotary drive force, and the sliding adjustment component is driven to rotate a preset first-stage angle to form an arc trajectory; And, after being driven to reach a preset first-stage angle α, the sliding adjustment component is controlled to rotate while translating in a direction close to the rotation axis to reach a second-stage position B to form an involute trajectory; The positioning training component moves along with the sliding adjustment component, thereby driving the target hand joint part that needs to be trained to move, and the movement trajectory includes an arc in the first stage and an involute in the second stage.

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