Intelligent control auxiliary finger device for finger fine exercise training
By using an intelligent control-assisted finger device, coordinated training of finger flexion and extension, wrist rotation, and heat application is achieved, solving the problem that traditional rehabilitation training devices cannot simulate the coordinated movement of the wrist and fingers, and improving the functionality of rehabilitation training and the simulation effect of real life.
Patent Information
- Application Number
- CN202511758935.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-27
- Publication Date
- 2026-01-30
AI Technical Summary
Traditional rehabilitation training devices cannot simulate the coordinated movement of the wrist and fingers, resulting in a disconnect between training and real life, and poor functional generalization.
Design an intelligent control assistive finger device, comprising a base, wrist rest, support frame, frame plate and training components. Through components such as servo motors, telescopic rods and magnetic blocks, it realizes the coordinated training of finger flexion and extension, wrist rotation and heat application functions, simulating daily life movements.
It achieves coordinated training of finger flexion and extension, wrist rotation and heat application, improves the functionality of rehabilitation training and the effect of simulating real life, and promotes brain neural remodeling and local blood circulation.
Smart Images
Figure CN121421805A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of hand movement training technology, and in particular to an intelligent control assistive finger device for fine motor training of fingers. Background Technology
[0002] Fine motor skills of the hands, especially the fingers, are fundamental to daily activities such as writing, eating, and dressing. For patients recovering from stroke, spinal cord injury, or hand trauma surgery, restoring finger function is a core aspect of the rehabilitation process.
[0003] However, traditional rehabilitation training mainly relies on one-on-one manual manipulation by therapists, which suffers from problems such as insufficient intensity and poor repeatability. Most training devices only focus on finger flexion and extension (grasping / extension) training. This training mode ignores the essence of hand function, the coordinated movement of the wrist, palm and fingers. In reality, there are almost no isolated finger movements. For example, actions such as wringing a towel and unlocking a door require precise coordination of wrist rotation and finger grasping. Existing devices cannot simulate this complex movement, resulting in training being disconnected from real life and poor functional generalization. Summary of the Invention
[0004] To address the issues of limited functionality and lack of coordination in existing devices, this application provides an intelligent control assistive finger device for fine motor training of the fingers.
[0005] The intelligent control assistive finger device for fine motor training provided in this application adopts the following technical solution:
[0006] A smart control assistive finger device for fine motor training includes a base and a wrist rest fixedly mounted on the base. The wrist rest contains an assistive component for multi-mode collaborative compound training. The movable end of the assistive component has a support frame for supporting the user's wrist. The support frame has a frame plate. The frame plate contains a training component for flexion, extension, apposition, and extension training of the fingers. The movable end of the training component has four finger sleeves (one) and one finger sleeve (two) for wearing on the four fingers and thumb. The frame plate has a sponge ball for applying heat to the patient's palm. The assistive component contains at least one pressure plate that can be activated by the user to push and trigger the training component.
[0007] By adopting the above technical solution, the user's hand and wrist are supported by a base, wrist rest, support frame, and frame plate. The user's fingers are put into finger sleeve one and finger sleeve two. Then, the training component is activated so that the user's fingers can perform finger flexion and extension exercises while simultaneously performing finger folding and extension exercises. The finger flexion and extension exercises squeeze the sponge ball to generate a heat therapy effect, promoting local blood circulation. The coordinated combination of the training component, auxiliary component, and pressure plate constructs a multi-mode, composite fine motor training platform that can simultaneously perform finger flexion and extension training and wrist rotation training, and can be actively triggered and controlled by the user. This allows the training to directly target complex movements in daily life, enhancing the functional value of rehabilitation.
[0008] Preferably, the training component includes five telescopic rods fixedly mounted on the frame, each of the five telescopic rods having a slider fixedly mounted on its driving end, and the frame having five inclined slots that slide along the sliders, with four four-finger structures and one thumb structure respectively mounted on each of the five inclined slots.
[0009] By adopting the above technical solution, the sliding of five sliders driven by telescopic rods in the inclined groove can control the four fingers and thumb to perform simulated natural grasping flexion, extension, and closing training.
[0010] Preferably, the four-finger structure includes a rotating plate that is rotatably disposed with the slider, a magnetic block one is fixedly disposed on the rotating plate, and a magnetic block two that is fixedly connected to the finger sleeve one is disposed on the magnetic block one.
[0011] By adopting the above technical solution, the slider is connected by a rotating plate, and magnetic block one is magnetically fixed to magnetic block two on finger sleeve one, so as to realize the quick wearing and replacement of finger sleeves and adapt to the natural angle changes of the fingers during the gripping process.
[0012] Preferably, the thumb structure includes a rotating shaft that is rotatably disposed through the slider, and a magnetic block three that is fixedly connected to the finger sleeve two is disposed on the rotating shaft, and the rotating shaft is made of ferromagnetic metal.
[0013] By adopting the above technical solution, the slider is connected by a rotating shaft, and the ferromagnetism of the rotating shaft is used to magnetically fix it to the magnetic block three of the upper finger sleeve. While providing a unique degree of freedom of movement for the thumb, the finger sleeve can also be quickly put on and replaced.
[0014] Preferably, the sponge ball is provided with spikes arranged in a circumferential array, a magnetic block four is fixedly provided on the sponge ball, a heating pack is provided inside the sponge ball, a magnetic block five that attracts the magnetic block four is fixedly provided on the frame plate, and a vent hole is provided through the sponge ball.
[0015] By adopting the above technical solution, acupoints are stimulated by sharp needles, and heat is generated by the reaction of the squeezeable heating pack with air through the vents to promote blood circulation. The magnetic block four is fixed to the magnetic block five on the frame plate, realizing the functions of hot compress, stimulation and convenient replacement.
[0016] Preferably, the auxiliary component includes a servo motor fixedly mounted to the wrist frame, a transmission gear fixedly mounted on the drive end of the servo motor and rotatably connected to the wrist frame, an arc-shaped tooth meshing with the transmission gear and sliding within the wrist frame, a connecting plate fixedly mounted on the arc-shaped tooth, an arc-shaped groove slidably connected to the connecting plate on the wrist frame, the connecting plate being fixedly connected to a support frame, the swinging of the frame plate being achieved internally by a control structure within the support frame, and the activation of the training component being controlled by a trigger structure on the wrist frame.
[0017] By adopting the above technical solution, the servo motor drives the transmission gear to make the arc teeth and the connecting plate slide in the arc groove, thereby driving the support frame and the entire hand to perform wrist rotation training. The internal control structure and triggering structure realize the swinging of the frame and the triggering control of the training components.
[0018] Preferably, the control structure includes a bevel gear one fixedly disposed with the frame plate, a bevel gear two meshing with the bevel gear one and rotatably connected to the support frame, a gear tooth set meshing with the bevel gear two on the wrist frame, and the angle of the frame plate being maintained inside the support frame by a locking structure.
[0019] By adopting the above technical solution, the circular motion of the support frame is converted into the pitching and swaying of the frame plate through the meshing transmission of bevel gear one, bevel gear two and gear set, thereby simulating the training scenario of hand angle change in daily life.
[0020] Preferably, the locking structure includes a limiting frame fixedly disposed with the support frame, a conical locking block slidably disposed within the limiting frame, a spring fixedly disposed between one end of the locking block located within the limiting frame and the support frame, a moving rod fixedly disposed on the locking block, and an inclined plate whose position corresponds to the gear tooth set fixedly disposed on the wrist rest, the inclined plate being slidably disposed with the moving rod.
[0021] By adopting the above technical solution, the locking structure achieves rapid locking and release of the frame angle through the elastic cooperation between the conical locking block in the limiting frame and the spring three. The sliding contact between the moving rod and the inclined plate triggers the angle adjustment, ensuring the structural stability during training and realizing the automatic switching and linkage of wrist rotation and palm tilt training.
[0022] Preferably, the triggering structure includes a pressure sensor fixedly mounted to the connecting plate, a spring one fixedly connected to the connecting plate and sleeved on the pressure sensor, a round block fixedly mounted on the spring one, a fixed plate fixedly mounted on the wrist rest and slidably mounted to the pressure plate, two interconnected slots on the fixed plate, a locking block slidably connected to the pressure plate and disposed in the slot, and a spring two fixedly mounted between the end of the locking block located inside the pressure plate and the pressure plate.
[0023] By adopting the above technical solution, when the user pushes the pressure plate and locks it in the slot of the fixed plate through the latch and spring 2, when the wrist rotates to that position, the pressure plate will squeeze the round block and compress the spring 1, causing the pressure sensor to trigger a signal, thereby controlling the training component to start finger gripping training at a specific angle.
[0024] Preferably, the pressure plate is distributed along the trajectory of the fixed plate to form a semi-circular ring, and the fixed plate is concentrically arranged with the arc teeth.
[0025] By adopting the above technical solution, and by arranging the pressure plate along a semi-circular trajectory concentric with the arc teeth, it is ensured that no matter what angle the wrist rotates, the pressure plate pushed by the user can accurately align with and trigger the switch on the connecting plate, thus guaranteeing the reliability and consistency of the triggering mechanism.
[0026] In summary, this application includes at least one of the following beneficial technical effects:
[0027] 1. In the first mode, the user puts all five fingers into finger sleeve one and finger sleeve two, and controls the movement of finger sleeve one and finger sleeve two by telescopic rod, thereby controlling the flexion and extension training of the fingers. The setting of the inclined groove allows the user's fingers to perform finger flexion and extension training at the same time as the flexion and extension movement, restoring the movement function of the fingers.
[0028] 2. In the first mode, the user's fingers flex and extend while grasping and squeezing the sponge ball. The heating pack and ventilation holes promote the reaction between the heating pack and air during the grasping action, generating a heat therapy effect, promoting local blood circulation, and relieving muscle stiffness. On the other hand, the spikes stimulate acupoints on the palm when grasping, providing strong tactile and proprioceptive input. This closed-loop training mode of movement and sensation can more effectively promote the remodeling of brain nerves.
[0029] 3. In Mode 2, the user slips all five fingers into finger sleeves 1 and 2, with the wrist positioned on the support frame. Simultaneous activation of the telescopic rod and servo motor enables finger flexion and extension training while coordinating wrist wrist rotation training. When the hand rotates to a specific position (e.g., 90 degrees), the use of bevel gears 1 and 2 and the locking block automatically and seamlessly unlocks the palm's tilting function, training most basic hand movements in space. This can roughly simulate tasks such as turning a doorknob and pressing down, or using tools, making the rehabilitation effect relevant to real life and highly functional.
[0030] 4. In Mode 3, the servo motor drives the rotation of the arc teeth, connecting plate, and support frame, causing the user's wrist to rotate. The user sets the trigger angle by pushing the pressure plate. The finger training of the training component will only start when the connecting plate and support frame drive the wrist to rotate to that specific angle. This enhances the cognitive participation and fun of the training and simulates the real task mode of "positioning first, then operating" (such as turning the steering wheel to a certain angle and then pressing the horn). This training is a complete and purposeful behavior, rather than just isolated muscle contraction. Attached Figure Description
[0031] Figure 1 This is a three-dimensional schematic diagram of the overall structure of this application;
[0032] Figure 2 This is a schematic diagram of the internal structure of the frame in this application;
[0033] Figure 3 This is a breakdown diagram of the training component structure of this application;
[0034] Figure 4 This is a schematic diagram of the internal structure of the sponge ball in this application;
[0035] Figure 5 This is a partial structural diagram of the auxiliary components of this application;
[0036] Figure 6 This is a schematic diagram of the positional structure of bevel gear one and bevel gear two in this application;
[0037] Figure 7 This is a schematic diagram of the card-connector block location structure in this application;
[0038] Figure 8 This is a schematic diagram of the positional structure of the gear set and the inclined plate in this application;
[0039] Figure 9 This is a schematic diagram of the card slot structure in this application;
[0040] Figure 10 This is a schematic diagram of the auxiliary component structure of this application;
[0041] Figure 11 for Figure 10 Enlarged structural diagram at point A in the middle.
[0042] Attached reference numerals: 1. Base; 2. Wrist rest; 3. Frame plate; 4. Training component; 41. Telescopic rod; 42. Inclined groove; 43. Slider; 44. Rotating plate; 45. Magnetic block one; 46. Magnetic block two; 47. Rotating shaft; 48. Magnetic block three; 5. Finger sleeve one; 51. Finger sleeve two;
[0043] 6. Sponge ball; 61. Spikes; 62. Ventilation holes; 63. Heating pack; 64. Magnetic block four; 65. Magnetic block five;
[0044] 7. Auxiliary components; 71. Servo motor; 72. Transmission gear; 73. Circular arc tooth; 74. Connecting plate; 75. Circular arc groove;
[0045] 76. Pressure sensor; 77. Spring 1; 78. Circular block; 79. Fixing plate; 710. Slot; 711. Block; 712. Spring 2;
[0046] 713. Bevel gear one; 714. Bevel gear two; 715. Snap-fit block; 716. Moving rod; 717. Limiting frame; 718. Spring three; 719. Gear set; 720. Inclined plate; 8. Support frame; 9. Pressure plate. Detailed Implementation
[0047] The following is in conjunction with the appendix Figures 1-11 This application will be described in further detail.
[0048] This application discloses an intelligent control assistive finger device for fine motor training of the fingers.
[0049] Reference Figure 1 , Figure 2 An intelligent control assistive finger device for fine motor training of fingers includes a base 1 and a wrist rest 2 fixedly mounted on the base 1. The wrist rest 2 contains an assistive component 7 for multi-mode collaborative compound training. The movable end of the assistive component 7 is provided with a support frame 8 for supporting the user's wrist. The support frame 8 is hinged to a frame plate 3. The frame plate 3 contains a training component 4 for flexion, extension, closure, and extension training of the fingers. The movable end of the training component 4 is provided with four finger sleeves 5 and one finger sleeve 51, which are respectively placed on the user's four fingers and thumb. The frame plate 3 contains a sponge ball 6 for applying heat to the patient's palm. The assistive component 7 contains five pressure plates 9, which are triggered by the user pushing the training component 4.
[0050] During use, the user places their wrist on the support frame 8, puts the four finger sleeves 5 on the four fingers and the finger sleeves 51 on the thumb, and naturally holds the sponge ball 6 in their palm. The user can choose mode one, which only activates the training component 4. The training component 4 can independently drive the fingers to perform grasping and stretching training. In mode two, the auxiliary component 7 is activated to drive the support frame 8 to rotate the user's wrist, working in coordination with the training component 4. In this process, mode three allows the user to set the trigger point by pushing the pressure plate 9 on the auxiliary component 7, thereby realizing multi-mode compound training of wrist rotation and finger grasping coordination. At the same time, the sponge ball 6 provides heat and acupoint stimulation when grasping.
[0051] Reference Figure 2 , Figure 3 The training component 4 includes five telescopic rods 41 fixedly mounted on the frame plate 3. The mounting end of the training component 4 is fixed to the inner wall of the frame plate 3. The driving ends of the five telescopic rods 41 are all fixedly connected to a slider 43. The frame plate 3 has five inclined slots 42. The inner wall of each inclined slot 42 slides against the outer wall of a slider 43. The four inclined slots 42 located at the index, middle, ring, and little fingers radiate from the palm, while the inclined slot 42 located at the thumb is parallel to each other, used to realize the closing and opening of the fingers during movement. The five inclined slots 42 are respectively provided with four four-finger structures and one... The thumb structure and the four-finger structure include a rotating plate 44 that is rotatably disposed with the slider 43. The bottom end of the rotating plate 44 passes through the top end of the slider 43. The end of the rotating plate 44 away from the slider 43 is fixed to the surface of the first magnetic block 45. A second magnetic block 46 is attracted to the first magnetic block 45. The side of the second magnetic block 46 away from the first magnetic block 45 is fixed to the surface of the first finger sleeve 5. The thumb structure includes a rotating shaft 47 that is rotatably disposed with the slider 43. The bottom end of the rotating shaft 47 is inserted from the top of the slider 43. The rotating shaft 47 is made of ferromagnetic metal. The top end of the rotating shaft 47 is attracted to the third magnetic block 48. The top of the third magnetic block 48 is fixed to the bottom of the second finger sleeve 51.
[0052] When the control system issues a command, the five electric telescopic rods 41 begin to extend or retract precisely. The drive end of the telescopic rods 41 pushes the slider 43 to slide in the inclined groove 42. For the four fingers, the slider 43 drives the rotating plate 44 to move. The rotating plate 44 is magnetically coupled with the magnetic block 46 on the finger sleeve 5 through the magnetic block 1 45 on it, thereby pulling the four fingers to complete the closing and extending action along the trajectory of the inclined groove 42. The rotating plate 44 can rotate to adapt to the natural posture of the fingers. For the thumb, the slider 43 drives the rotating shaft 47 to move and rotate. The rotating shaft 47 is magnetically coupled with the magnetic block 48 on the finger sleeve 51 through its ferromagnetic material, thereby pulling the thumb to complete the unique palm-to-palm grasping and extending action, realizing the independent and coordinated training of the five fingers.
[0053] Reference Figure 4The outer surface of the sponge ball 6 is fixed to the bottom of the spikes 61. The spikes 61 are made of rubber, which is slightly hard but does not harm the skin. The spikes 61 are distributed in a circumferential array. The bottom of the sponge ball 6 is fixed to the top of the magnetic block 64. A heating pack 63 is installed inside the sponge ball 6. The heating pack 63 is similar to the material in a hand warmer, and its main components are iron powder, activated carbon, water, and salt. When exposed to air, the iron powder undergoes an oxidation reaction, slowly rusts, and releases heat. Its maximum temperature can usually be controlled within a safe range of 40-55℃. The temperature range promotes blood circulation while remaining far below the threshold for causing first-degree burns (approximately 60°C for 5 minutes of continuous contact). The material is sealed in a breathable non-woven fabric pouch and then placed inside the sponge ball 6. The upper surface of the frame plate 3 is fixed to the bottom of the magnetic block 5 65. The magnetic block 5 65 and the magnetic block 4 64 attract each other. The sponge ball 6 has ventilation holes 62 that penetrate the interior of the sponge ball 6 to promote air circulation. The ventilation holes 62 face downwards to prevent hot air from the inside of the sponge ball 6 from being directly sprayed onto the skin.
[0054] The heating pack 63 is placed inside the sponge ball 6. When the user performs finger gripping training, the user's palm will naturally squeeze the sponge ball 6. The squeezing action gently stimulates the acupoints on the palm of the hand with the spikes 61 on the surface of the sponge ball 6. At the same time, it allows external air to enter the interior of the sponge ball 6 through the vent 62, which fully reacts with the heating pack 63 to generate heat, providing continuous heat to the patient's palm to promote blood circulation and relieve muscle stiffness. When it is necessary to replace or clean the sponge ball 6, simply remove it from the holder 3. At this time, the magnetic force between the magnetic block 4 64 on the sponge ball 6 and the magnetic block 5 65 on the holder 3 is overcome, and quick separation can be achieved.
[0055] Reference Figure 1 , Figure 5 The auxiliary component 7 includes a servo motor 71 fixedly mounted to the wrist frame 2. The mounting end of the servo motor 71 is fixed to the outer wall of the wrist frame 2. The drive end of the servo motor 71 is connected to the transmission gear 72 via a coupling. The transmission gear 72 is rotatably connected to the wrist frame 2. The top of the transmission gear 72 meshes with an arc tooth 73. The arc tooth 73 slides on the inner wall of the wrist frame 2. The two sides of the arc tooth 73 away from the transmission gear 72 are fixedly connected to the connecting plate 74. The outer wall of the wrist frame 2 has an arc groove 75 concentric with the arc tooth 73. The arc groove 75 passes through both sides of the wrist frame 2. The inner wall of the arc groove 75 slides with the outer wall of the connecting plate 74. The inner side of the connecting plate 74 is fixed to the end of the support frame 8 away from the transmission gear 72. Initially, the support end of the support frame 8 is located at the center of the wrist frame 2. The inside of the support frame 8 realizes the swing of the frame plate 3 through the control structure. The wrist frame 2 controls the start of the training component 4 through the trigger structure.
[0056] When the device starts in mode two, the servo motor 71 starts working, driving the transmission gear 72 to rotate. The transmission gear 72 meshes with the arc tooth 73, causing the connecting plate 74, which is fixedly connected to the arc tooth 73, to slide along the arc groove 75 on the wrist frame 2. The connecting plate 74 drives the support frame 8 and the user's wrist to rotate smoothly forward and backward. During this process, the control structure inside the support frame 8 can automatically realize the pitch swing of the frame plate 3 according to the motion angle, while the trigger structure on the wrist frame 2 is responsible for detecting the wrist angle and controlling the start and stop of the training component 4.
[0057] Reference Figure 6 , Figure 7 as well as Figure 8 The control structure includes a bevel gear 713 fixedly mounted to the frame plate 3. The bevel gear 713 is located inside the support frame 8, and the end of the support frame 8 closest to the frame plate 3 is sized to match the bevel gear 713. The bevel gear 713 is located at the hinge point between the frame plate 3 and the support frame 8. The side of the bevel gear 713 away from the frame plate 3 meshes with a bevel gear 714. The bevel gear 714 is rotatably connected to the interior of the support frame 8. The inner side of the wrist rest 2 is fixed to the surface of the gear set 719. When the bevel gear 714 rotates with the support frame 8, it meshes with the gear set 719. The interior of the support frame 8 maintains the angle of the frame plate 3 through a locking structure. The locking structure includes a limiting frame 717 fixedly mounted to the support frame 8, with the top of the limiting frame 717 fixed to the top of the inner wall of the support frame 8. The inner wall of the limiting frame 717 is slidably connected to the outer wall of the locking block 715. The locking block 715 is tapered. The top of the locking block 715 is fixed to the bottom of the spring 3 718. The top of the spring 3 718 is fixed to the top of the inner wall of the support frame 8. The side of the locking block 715 away from the bevel gear 1 713 is fixed to the moving rod 716. The end of the moving rod 716 away from the locking block 715 extends to the middle of the support frame 8. The moving rod 716 is fixedly installed on the locking block 715. The inner side of the wrist rest 2 is fixed to the bottom of the inclined plate 720. The position of the inclined plate 720 corresponds to the position of the gear set 719. When the moving rod 716 rotates with the support frame 8, it will touch the inclined plate 720. Both ends of the inclined plate 720 are inclined surfaces, which facilitates the movement of the moving rod 716.
[0058] Within the range where the support frame 8 drives the wrist to rotate and the bevel gear 714 is not engaged with the gear set 719, the locking structure functions. The elastic force of the spring 718 pushes the conical locking block 715, causing it to engage with the teeth of the bevel gear 714, thus locking the bevel gear 714. This, in turn, maintains the angular stability of the frame plate 3 through the bevel gear 713 that meshes with it. When the wrist rotates to a specific area, such as before the bevel gear 714 engages with the gear set 719, the moving rod 716 contacts the inclined plate 7 fixed on the wrist frame 2. 20 and slide along its inclined plane. The height difference between the two sides of the inclined plate 720 forces the moving rod 716 and the locking block 715 to retract inward against the elastic force of the spring three 718, so that the locking block 715 disengages from the teeth of the bevel gear two 714. At this time, the bevel gear two 714 is unlocked. When the support frame 8 continues to rotate, the bevel gear two 714 meshes with the gear set 719 fixed on the wrist frame 2 and is driven to rotate, which in turn drives the bevel gear one 713 that meshes with it to rotate, and finally realizes the pitch angle training of the frame 3 and the user's palm.
[0059] Reference Figure 9 , Figure 10 as well as Figure 11 The triggering structure includes a pressure sensor 76 fixedly mounted to a connecting plate 74. The mounting end of the pressure sensor 76 is fixed to the bottom inner side of the connecting plate 74. A spring 77 is sleeved on the pressure sensor 76. The bottom end of the spring 77 is fixed to the bottom inner side of the connecting plate 74, and the top end of the spring 77 is fixed to the bottom of a circular block 78. The wrist rest 2 is fixed to the bottom of a fixing plate 79 on the side near the circular block 78. The inner side of the fixing plate 79 is slidably mounted with five pressure plates 9. The inner side of the fixing plate 79 that is in contact with the pressure plates 9 is open. Two slots 710 are provided, which are connected to each other. The inner wall of the slot 710 is slidably disposed with the outer wall of the block 711. The block 711 slides inside the pressure plate 9. One end of the block 711 inside the pressure plate 9 is fixed to one end of the second spring 712. The other end of the second spring 712 is fixed to the top of the inner wall of the pressure plate 9. Five pressure plates 9 are distributed along the trajectory of the fixed plate 79 to form a semi-circular ring. The fixed plate 79 and the arc tooth 73 are concentrically disposed to ensure that the circular block 78 is always within the range of the pressure plate 9 when it rotates.
[0060] First, the user selects and pushes one or more pressure plates 9 to the desired angle position on the semi-circular fixed plate 79 according to rehabilitation needs. When the pressure plate 9 moves into place, the internal locking block 711 is locked into the locking groove 710 below the fixed plate 79 under the elastic force of the second spring 712, locking the pressure plate 9 in the preset position. When the user rotates his wrist, it drives the connecting plate 74 and the circular block 78 on it to move together. If the circular block 78 moves to the position of the already pushed pressure plate 9, the pressure plate 9 will squeeze the circular block 78 and compress the first spring 77, so that the circular block 78 finally touches the pressure sensor 76. After the pressure sensor 76 is triggered, it immediately sends a signal to control the training component 4 to start and perform finger grasping training. If the circular block 78 passes the position of the pressure plate 9 that has not been pushed, no squeezing or triggering will occur, and the finger training will be paused. Since the fixed plate 79 and the drive core arc tooth 73 are concentrically set, the accuracy of angle triggering is ensured.
[0061] Among them, the servo motor 71, the connecting plate 74 and the telescopic rod 41 are all existing technologies, and their structural principles will not be described in detail. The circuit system of this intelligent control auxiliary finger device is based on a main controller such as a microcontroller or PLC. When started, the user selects the training mode and sets the parameters through the human-machine interface such as a touch screen or button panel connected to the main controller. Subsequently, the main controller issues instructions according to the predetermined program. In the first mode, it directly controls the relay or servo driver that drives the telescopic rod 41 of the five finger sleeves to realize independent or coordinated grasping and extension of the fingers. In the second and third modes, it simultaneously controls the servo motor 71 that drives the support frame 8 to rotate. The key signal feedback comes from the pressure sensor 76. When the wrist rotates to the user's preset angle, the pushed pressure plate 9 will squeeze the elastic block 78, triggering the pressure sensor 76. The pressure sensor 76 immediately transmits the signal back to the main controller. The main controller controls the start and stop of the telescopic rod 41 in real time, thereby realizing "angle-triggered" training. The entire system is powered by an external power source and provides stable power to the controller, motor, sensor and various actuators through internal circuits. Finally, it is integrated into an automated intelligent training system that integrates instructions, drive, feedback and execution.
[0062] The implementation principle of an intelligent control assistive finger device for fine motor training in this application embodiment is as follows: The user first sits in front of the base 1, places his wrist on the support frame 8, and then puts four finger sleeves 5 and one finger sleeve 51 on the four fingers and thumb respectively, and naturally rests or lightly holds the sponge ball 6 on the frame plate 3. After starting the device, the user can select the training mode as needed. In mode one, the training component 4 works independently, driving the finger sleeves 51 to perform finger flexion, extension, and contraction training. In mode two, the assistive component 7 is activated, driving the support frame 8 to rotate the user's entire hand and perform palm tilting movements. In mode three, the user can simultaneously push the pressure plate 9 in the assistive component 7 to preset the angle trigger point, so that the training component 4 only starts the compound training of finger grasping when the wrist is rotated to a specific angle, thereby simulating complex hand movements in daily life.
[0063] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A smart control assisted finger device for finger fine motor training, characterized in that: The utility model provides a wrist training device, including base (1) and fixedly arranged wrist frame (2) on base (1), auxiliary assembly (7) for multi -mode cooperation complex training is arranged in wrist frame (2), the moving end of auxiliary assembly (7) is provided with the support frame (8) for supporting user's wrist, the support frame (8) is provided with frame plate (3), the training assembly (4) for the flexion and extension of finger, and the training assembly (4) of closing and stretching training is arranged in frame plate (3), the moving end of training assembly (4) is provided with four finger sleeve one (5) and a finger sleeve two (51) for being sleeved on four fingers and thumb, the sponge ball (6) for the hot compress of patient's palm is arranged on frame plate (3), at least one pressing plate (9) of triggering training assembly (4) by user's self -propulsion is arranged in auxiliary assembly (7).
2. The intelligent control auxiliary finger device for finger fine motor training according to claim 1, characterized in that: The training assembly (4) includes five telescopic rods (41) fixedly arranged with the frame plate (3), the driving end of five telescopic rods (41) is fixedly provided with a sliding block (43), five inclined grooves (42) are formed in the frame plate (3) and are slidably provided with the sliding block (43), four four-finger structures and a thumb structure are arranged on five inclined grooves (42) respectively.
3. The intelligent control auxiliary finger device for finger fine motor training according to claim 2, characterized in that: The four-finger structure includes a rotating plate (44) rotatably arranged with the sliding block (43), a magnetic block one (45) is fixedly arranged on the rotating plate (44), a magnetic block two (46) is fixedly connected with the finger sleeve one (5) and arranged on the magnetic block one (45).
4. The intelligent control auxiliary finger device for fine motor training of fingers according to claim 2, characterized in that: The thumb structure includes a rotating shaft (47) rotatably arranged with the sliding block (43), a magnetic block three (48) is fixedly connected with the finger sleeve two (51) and arranged on the rotating shaft (47), the rotating shaft (47) is made of ferromagnetic metal.
5. The intelligent control auxiliary finger device for fine motor training of fingers according to claim 1, characterized in that: The sponge ball (6) is provided with a plurality of sharp spines (61) arranged in a circumferential array, a magnetic block four (64) is fixedly arranged on the sponge ball (6), a heating bag (63) is arranged in the sponge ball (6), a magnetic block five (65) is fixedly arranged on the frame plate (3) and is attracted to the magnetic block four (64), and a ventilation hole (62) is formed in the sponge ball (6).
6. The intelligent control auxiliary finger device for fine motor training of fingers according to claim 1, characterized in that: The auxiliary assembly (7) includes a servo motor (71) fixedly arranged with the wrist frame (2), a transmission gear (72) is fixedly arranged at the driving end of the servo motor (71) and is rotatably connected with the wrist frame (2), an arc tooth (73) is arranged on the transmission gear (72) and is slidably arranged in the wrist frame (2), a connecting plate (74) is fixedly arranged on the arc tooth (73), an arc groove (75) is formed in the wrist frame (2) and is slidably connected with the connecting plate (74), the connecting plate (74) is fixedly connected with the support frame (8), the support frame (8) is internally provided with a control structure for swinging the frame plate (3), and the wrist frame (2) is provided with a triggering structure for controlling the start of the training assembly (4).
7. The intelligent control assisted finger device for fine motor training of fingers according to claim 6, characterized in that: The control structure includes a bevel gear one (713) fixedly arranged with the rack plate (3), the bevel gear two (714) rotatably connected with the support frame (8) is arranged in mesh with the bevel gear one (713), the gear group (719) meshingly connected with the bevel gear two (714) is arranged on the wrist frame (2), and the angle of the rack plate (3) is kept by the locking structure inside the support frame (8). 8.The smart control auxiliary finger device for fine motor training of fingers according to claim 7, characterized in that: The locking structure includes a limiting frame (717) fixedly arranged with the support frame (8), the taper-shaped clamping block (715) is slidably arranged in the limiting frame (717), the spring three (718) is fixedly arranged between the clamping block (715) and the support frame (8) at one end of the clamping block (715) in the limiting frame (717), the moving rod (716) is fixedly arranged on the clamping block (715), the inclined plate (720) corresponding to the gear group (719) is fixedly arranged on the wrist frame (2), and the inclined plate (720) is slidably arranged with the moving rod (716).
9. The intelligent control assisted finger device for fine motor training of fingers according to claim 6, characterized in that: The trigger structure includes the pressure sensor (76) fixedly arranged with the connecting plate (74), the spring one (77) fixedly connected with the connecting plate (74) is arranged on the pressure sensor (76), the round block (78) is fixedly arranged on the spring one (77), the fixed plate (79) slidably arranged with the pressing plate (9) is fixedly arranged on the wrist frame (2), the two clamping grooves (710) in communication with each other are formed in the fixed plate (79), the clamping block (711) slidably connected with the pressing plate (9) is arranged in the clamping groove (710), and the spring two (712) is fixedly arranged between the clamping block (711) and the pressing plate (9) at one end of the clamping block (711) in the pressing plate (9).
10. The intelligent control auxiliary finger device for finger fine motor training according to claim 9, characterized in that: The pressing plate (9) is formed into a semicircular ring along the track of the fixed plate (79), and the fixed plate (79) is concentrically arranged with the circular arc gear (73).