Series-parallel finger wearing rehabilitation device based on electric hybrid drive

Abstract

The invention relates to a medical rehabilitation instrument, in particular to a series-parallel finger wearing rehabilitation device based on electric hybrid drive. The invention aims to provide a series-parallel finger wearing rehabilitation device based on electric hybrid drive. The device has the characteristics of flexibility, adjustability, high adaptability, light weight, high safety and wide application scene. According to the technical scheme, the series-parallel finger wearing rehabilitation device based on electric hybrid drive comprises an air pump and a controller. The device is characterized by further comprising a bracelet worn on a hand, a first branch, a hand back connecting structure, a hand back structure and four second branches, wherein the first branch and the hand back connecting structure are mounted at the front end of the bracelet in parallel; the hand back structure is connected to the front end of the hand back connecting structure; the four second branches are mounted at the front end of the hand back structure in parallel; the bracelet comprises a hand wearing ring and a bracelet platform fixed at the front end of the hand wearing ring.

Description

Technical Field

[0001] This invention relates to a medical rehabilitation device, specifically a hybrid finger wearable rehabilitation device based on electric hybrid drive. Background Technology

[0002] Medical rehabilitation devices, as key technological equipment in the field of rehabilitation medicine, can effectively overcome the limitations of traditional manual rehabilitation in terms of training precision and personalization. Among them, wearable finger rehabilitation devices can provide precise and continuous personalized rehabilitation training for patients with hand dysfunction such as stroke sequelae and post-hand trauma surgery. Existing wearable finger rehabilitation devices have the following pain points: most adopt a fixed size structure, which cannot adapt to the characteristics of different patients' fingers, and some devices use rigid materials or sealed designs, resulting in insufficient adaptability and comfort; the rehabilitation modes are limited, and it is impossible to flexibly adjust personalized training methods according to the patient's rehabilitation stage; the overall size is large and the interface is complex, which limits the flexibility of rehabilitation training scenarios.

[0003] CN217724030U discloses a finger rehabilitation robot, which includes a wrist sleeve and finger training components. However, the robot cannot achieve bending training movements of a single joint, and the device's weight, safety, and accuracy are still insufficient.

[0004] Therefore, there is an urgent need to develop a wearable finger rehabilitation device with an adjustable flexible fit structure, lightweight design, and multi-modal rehabilitation control strategy to optimize the rehabilitation effect for patients. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings in the above-mentioned background technology and provide a hybrid finger wearable rehabilitation device based on electric hybrid drive. This device has the characteristics of being flexible and adjustable, highly adaptable, lightweight, highly safe, and widely applicable.

[0006] The technical solution provided by this invention is:

[0007] A hybrid finger wearable rehabilitation device based on electric hybrid drive includes an air pump and a controller. The device is characterized in that it further includes a bracelet for wearing on a person's hand, a first branch connected in parallel to the front end of the bracelet and a back of the hand connection structure, a back of the hand structure connected to the front end of the back of the hand connection structure, and four second branches connected in parallel to the front end of the back of the hand structure.

[0008] The wristband includes a wrist-wearing ring and a wristband platform fixed to the front end of the wrist-wearing ring;

[0009] The first branch includes a seventh link assembly, a connecting base, a push rod mechanism assembly, a thumb second joint support, a first sliding joint assembly, a first joint support, a first rotating joint, a push rod, and a finger sleeve, which are connected sequentially from the side of the wristband platform.

[0010] The back of the hand structure includes a slide rail base platform and three first push rod mechanisms arranged in parallel on the lower surface of the slide rail base platform; each first push rod mechanism includes a fourth Hooke hinge, a sixth connecting rod, a third micro electric cylinder and a fourth rotary joint connected in sequence between the slide rail base platform and the wrist ring platform;

[0011] The back-of-hand connection structure includes four parallel linkage branches, each linkage branch including a seventh rotary joint, a fifth linkage and a third sliding joint connected sequentially between the third joint support and the slide rail base platform;

[0012] The second branch includes a second sliding joint assembly, a second joint support, a first sliding joint assembly, a first joint support, a first rotary joint, a push rod, and a finger sleeve, which are connected sequentially starting from the third joint support.

[0013] The seventh link assembly includes two seventh links with identical structures, which are connected in parallel and hinged between the side of the connecting base and the side of the wristband platform.

[0014] The push rod mechanism assembly consists of two first push rod mechanisms and one second push rod mechanism arranged in parallel. The first push rod mechanism includes a first miniature electric cylinder whose cylinder body is connected to a sixth rotating joint, and a third connecting rod whose bottom end is fixed to the push rod of the first miniature electric cylinder and whose top end is connected to the first Hooke hinge. The second push rod mechanism includes a second miniature electric cylinder whose cylinder body is connected to the third Hooke hinge, and a fourth connecting rod whose bottom end is fixed to the push rod of the second miniature electric cylinder and whose top end is connected to the second Hooke hinge.

[0015] The first sliding joint is composed of two first sliding joints arranged in parallel and parallel to each other, and a pneumatic actuation mechanism disposed on the two first sliding joints; the first sliding joint includes a cylindrical first connecting rod and a second connecting rod that slides with the first connecting rod; the top end of the first connecting rod is connected to the lower surface of the first joint support through a second revolute joint, and the bottom end of the second connecting rod is connected to the upper surface of the second joint support of the thumb through a third revolute joint.

[0016] The pneumatic actuation mechanism includes an upper top cover, a spring, and a lower top cover that are sequentially connected and coaxially sleeved on the second connecting rod and tightly covered by a bellows. The bellows in the two first moving pairs are connected by a connecting air pipe, which is in turn connected to the air pump through an external thin air pipe.

[0017] The second sliding joint assembly has the same structure as the first sliding joint assembly, and is also equipped with a pneumatic propulsion mechanism.

[0018] The third sliding pair includes a slide rail fixed to the upper surface of the slide rail base platform and a slider connected to the bottom end of the fifth link and slidingly engaged with the slide rail; the four slide rails are arranged in parallel to each other, so that the moving directions of the four third sliding pairs are parallel to each other.

[0019] The first joint support, the second joint support of the thumb, the second joint support, and the third joint support all have grooves on the side facing the human hand, and the grooves are respectively provided with joint Velcro for the finger joints to be fitted.

[0020] The two sixth revolute joints and the third Hooke hinge are arranged in an equilateral triangle; the three fourth revolute joints are arranged in an isosceles triangle on the upper surface of the wristband platform; the two first Hooke hinges and the second Hooke hinge are distributed in an equilateral triangle on the second joint support of the thumb.

[0021] The axes of the first, second, and third sliding joints in the first branch are all parallel to each other; the axes of all sliding joints in the second branch are all parallel to each other.

[0022] The first, second, and third micro electric cylinders are all actuators and are electrically connected to the controller.

[0023] The beneficial effects of this invention are:

[0024] This invention allows for flexible adjustment of the patient's finger posture during medical rehabilitation training. It features a compact structure, high dexterity, strong stability, and excellent safety, helping to provide support for the patient's hand, activate muscle strength, and improve rehabilitation efficiency. Simultaneously, it enables the development of personalized rehabilitation training plans, analyzing the patient's rehabilitation focus and designing targeted finger rehabilitation exercises. Unlike traditional electric-mechanical wearable finger rehabilitation devices, this invention utilizes a hybrid electric drive system. While retaining the advantages of electric devices, it effectively achieves independent bending movements of individual joints by reducing the number of motors and increasing pneumatic drive, thus reducing the weight of the device and improving wearing comfort to accommodate different patients' finger characteristics and rehabilitation needs. Furthermore, the drive mechanism and moving parts do not directly contact the user's hand, greatly enhancing wearing safety. Therefore, addressing the need for safety and personalized training in the field of wearable finger rehabilitation devices, this invention proposes a hybrid electric drive-based finger rehabilitation device, which helps provide patients with more efficient, safe, and personalized rehabilitation services. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the present invention.

[0026] Figure 2 yes Figure 1 A schematic diagram showing the connection between the back of the hand structure and the wristband.

[0027] Figure 3 yes Figure 1 3D structural diagram of the middle hand back connection structure

[0028] Figure 4 yes Figure 1 A schematic diagram of the three-dimensional structure of the first branch.

[0029] Figure 5 This is a three-dimensional structural diagram of the first joint support in the first branch.

[0030] Figure 6 This is a three-dimensional structural diagram of the first link in the first branch.

[0031] Figure 7 This is a schematic diagram of the exploded structure of the pneumatic propulsion mechanism in the first branch.

[0032] Figure 8 This is a three-dimensional structural diagram of the second joint support of the thumb in the first branch.

[0033] Figure 9 This is a schematic diagram showing the connection relationship between the second joint support of the thumb and the connecting base in the first branch.

[0034] Figure 10 yes Figure 1 A schematic diagram of the three-dimensional structure of the second branch.

[0035] Figure 11 This is a three-dimensional structural diagram of the third joint support in the second branch.

[0036] Figure 12 This is a three-dimensional structural diagram of the second joint support in the second branch.

[0037] Figure label:

[0038] Branch 1: First joint support 11, top rod 111, first revolute joint 112, second revolute joint 114, first joint Velcro 115; first sliding joint 12, first connecting rod 121, spring 122, second connecting rod 123, upper top cover 1221, lower top cover 1224, connecting air pipe 1225, bellows 1226, thumb second joint support 13, third revolute joint 131, thumb second joint Velcro 135; first push rod mechanism 14. Third link 141, first micro electric cylinder 142, first Hooke hinge 143, second rotating shaft axis of the first Hooke hinge 1432, second push rod mechanism 15, fourth link 151, second micro electric cylinder 152, second Hooke hinge 153, second rotating shaft axis of the second Hooke hinge 1532, third Hooke hinge 154, second rotating shaft axis of the third Hooke hinge 1542, connecting base 16, sixth rotating joint 161, eighth rotating joint 163, ninth rotating joint 164;

[0039] Second branch 2: Second sliding joint 21, third joint support 22, twelfth revolute joint 221

[0040] Thirteenth revolute joint 223, third joint hook and loop fastener 224, second joint support 23, tenth revolute joint 231, eleventh revolute joint 233, second joint hook and loop fastener 234;

[0041] Hand back connection structure 3: Fifth link 31, connecting slider 32, slide rail 33, slide rail base platform 34, fourth

[0042] Hooke's hinge lug 35, seventh revolute joint 36;

[0043] Back-of-hand structure 4: Fourth Hooke hinge 41, Sixth connecting rod 42, Third miniature electric cylinder 43

[0044] Wristband 5: Fourth rotating joint 51, wristband platform 52, fifth rotating joint 54, seventh link 55, wrist wearing ring 56.

[0045] 6. Finger sleeves; 7. Human hand. Detailed Implementation

[0046] Figure 1 The hybrid finger wearable rehabilitation device shown is based on electric hybrid drive. The device includes a wristband 5 for wearing on a human hand 7, a first branch 1 connected in parallel to the front end of the wristband 5 and a back of hand connection structure 4, a back of hand structure 3 connected at one end to the front end of the back of hand connection structure, and four second branches 2 of the same structure connected in parallel to the other end of the back of hand structure 3.

[0047] like Figure 2 As shown: The wristband includes a wrist-worn ring 56 for wearing on the wrist and a wristband platform 52 fixed to one side of the front end of the wrist-worn ring. The wrist-worn ring 56 is fastened to the wrist by an adjustable band structure (existing technology), and the wristband platform 52 is fixed to the upper part of the ulnar prominence. The wrist-worn ring can adopt a conventional cuff-type binding and fixing structure (its structure is similar to the arm fixing strap of a blood pressure monitor), which is composed of a flexible and wear-resistant substrate and an internal elastic layer (preferably a flexible and skin-friendly material). After wrapping around the arm, the circumference of the wrist-worn ring is adjusted and bound and fixed, so that the entire device is firmly attached to the designated position on the arm and avoids movement or misalignment during use.

[0048] like Figure 4 As shown: The first branch 1 includes a seventh link assembly, a connecting base 16, a push rod mechanism assembly, a thumb second joint support 13, a first sliding joint assembly, a first joint support 11, a first rotating joint 112, a push rod 111, and a finger sleeve 6, which are connected sequentially from the side of the wristband platform 52.

[0049] The finger sleeve 6 is fixed to the top of the top rod 111, and the bottom end of the top rod is set on the upper surface of the first joint support 11 via the first rotating joint 112. The finger sleeve can be made of a material with a certain degree of elasticity and skin-friendly properties, so that it can cover the fingertip of the nail relatively tightly.

[0050] The first sliding joint assembly consists of two first sliding joints 12 arranged in parallel and parallel to each other, and a pneumatic actuation mechanism disposed on the two first sliding joints. The push rod mechanism assembly consists of two first push rod mechanisms 14 and a second push rod mechanism 15 arranged in parallel. The seventh link assembly consists of two seventh links 55 arranged in parallel and parallel to each other.

[0051] like Figure 6 , Figure 9 As shown: The first sliding joint 12 includes a cylindrical first connecting rod 121 and a second connecting rod 123 that slides with the first connecting rod (the front half of the second connecting rod is a thinner rod that fits the inner hole of the first connecting rod, and the bottom end is a thicker protrusion); one end of each of the two first push rod mechanisms 14 is connected to the lower surface of the thumb second joint support 13 via a first Hooke hinge 143, and the other end is connected to the upper surface of the connecting base 16 via a sixth revolute joint 161; one end of the second push rod mechanism 15 is connected to the lower surface of the thumb second joint support 13 via a second Hooke hinge 153, and the other end... The upper surface of the connecting base 16 is connected via a third Hooke joint 154; the first push rod mechanism 14 includes a first micro electric cylinder 142 whose cylinder body is connected to a sixth rotary joint 161, and a third connecting rod 141 whose bottom end is fixed to the push rod of the first micro electric cylinder and whose top end is connected to the first Hooke joint 143; the second push rod mechanism 15 includes a second micro electric cylinder 152 whose cylinder body is connected to the third Hooke joint 154, and a fourth connecting rod 151 whose bottom end is fixed to the push rod of the second micro electric cylinder and whose top end is connected to the second Hooke joint 153; by adjusting the extension and retraction of the second micro electric cylinder 152, the thumb of the hand can swing back and forth. The two seventh connecting rods 55 have the same structure and are connected in parallel between the side of the connecting base and the side of the wristband platform 52; one end of the two seventh connecting rods 55 is connected to the side of the connecting base via an eighth rotary joint 163 and a ninth rotary joint 164 respectively, and the other end is connected to the side of the wristband platform 52 via a fifth rotary joint 54 respectively, which can cooperate with the first branch to perform various movements.

[0052] The rotation axes of the first rotary joint 112, the second rotary joint 114, and the third rotary joint 131 are parallel to each other and perpendicular to the axis of the top rod 111 and the axis of the first sliding joint 12; the rotation axes of the two sixth rotary joints 161 are parallel to each other and perpendicular to the rotation axis of the eighth rotary joint 163; the rotation axes of the eighth rotary joint 163, the ninth rotary joint 164, and the fifth rotary joint 54 are parallel to each other and arranged parallel to the axis of the hand-wearing ring.

[0053] like Figure 6 , Figure 7 As shown: The first movable pair is equipped with a pneumatic propulsion mechanism; the pneumatic propulsion mechanism includes an upper top cover 1221, a spring 122, a bellows 1226, a lower top cover 1224, and a connecting air pipe 1225; the upper top cover 1221, spring 122, and lower top cover 1224 are connected in sequence and coaxially sleeved on the second connecting rod 123, and the upper top cover 1221 is tightly fixed to the bottom end face of the first connecting rod 121, and the lower top cover 1224 is tightly fixed to the bottom of the second connecting rod 123; the area between the upper top cover 1221 and the lower top cover 1224 is also tightly covered by the bellows 1226, and the two end faces of the bellows are respectively clamped and fixed between the upper top cover 1221 and the bottom end face of the first connecting rod 121, and between the lower top cover 1224 and the bottom of the second connecting rod 123.

[0054] The bellows 1226 in the two first moving pairs are connected by a connecting air pipe 1225, which is in turn connected to an external air pump through an external thin air pipe. Inflating the bellows can push the two first moving pairs to extend slightly (the air pressure at the bottom end of the first connecting rod increases and it moves upward, while the spring is slightly stretched). Deflating the bellows can restore the original shape. Thus, by controlling the inflation and deflation rate and degree of the air pump, the pneumatic actuation mechanism can be extended and retracted, realizing the small-amplitude short-range extension and retraction movement of the first moving pairs, and cooperating with each joint support to complete the bending and straightening movement of the designated joints.

[0055] like Figure 5 , Figure 8 As shown: the first joint support 11 has a groove on the side facing the hand, and the first joint hook and loop fastener 115 is fixed in the groove; the second joint support 13 also has a groove on the side facing the hand, and the second joint hook and loop fastener 135 is fixed in the groove; in use, both joint hook and loop fasteners are slipped on the thumb and fixed at the first joint and the second joint of the thumb, respectively.

[0056] Figure 2 As can be seen, the hand back structure 4 includes a slide rail base platform 34 and three first push rod mechanisms arranged in parallel on the lower surface of the slide rail base platform. Each first push rod mechanism includes a fourth Hooke hinge 41, a sixth connecting rod 42, a third micro electric cylinder 43, and a fourth rotary joint 51 connected sequentially between the slide rail base platform and the wristband platform. The cylinder body of the third micro electric cylinder 43 is connected to the upper surface of the wristband platform 52 through the fourth rotary joint 51, and the push rod of the third micro electric cylinder 43 is connected to one end of the sixth connecting rod 42. By adjusting the extension and retraction of the third micro electric cylinder, the back of the hand can be swung back and forth.

[0057] like Figure 3As shown: The back-of-hand connection structure 3 includes four connecting branches arranged in parallel. Each connecting branch includes a seventh rotating joint 36, a fifth connecting rod 31, and a third sliding joint that are sequentially connected between the third joint support 22 and the slide rail base platform 34.

[0058] The third sliding joint includes a slide rail 33 fixed to the upper surface of the slide rail base platform 34 and a slider 32 connected to the bottom end of the fifth connecting rod 31 and slidingly engaged with the slide rail; the four slide rails 33 are arranged parallel to each other, so that the moving directions of the four third sliding joints are parallel to each other. By adjusting the degree of extension and retraction of each third sliding joint, it can be used in conjunction with the thumb of a human hand to achieve left and right swinging.

[0059] The back-of-hand connection mechanism is connected to the four second branches through the four connecting rod branches, and provides an adjustable margin for the movement space that each joint in the second branch may need when moving, preventing the second branches from interfering with each other.

[0060] like Figure 10 As shown: Each second branch 2 includes a second sliding joint assembly, a second joint support 23, a first sliding joint assembly, a first joint support 11, a first rotary joint 112, a push rod 111, and a finger sleeve 6, which are connected sequentially starting from the third joint support 22.

[0061] Compare Figure 10 and Figure 4 It will later be known that the structure between the first movable joint and the finger sleeve 6 in the second branch 2 is exactly the same as the structure between the first movable joint and the finger sleeve 6 in the first branch 1, so it will not be described again.

[0062] The second prismatic joint assembly includes two parallel and interconnected second prismatic joints 21; the structure of the second prismatic joint is the same as that of the first prismatic joint, and it is also equipped with a pneumatic actuation mechanism; each second prismatic joint includes two cylindrical and slidingly fitted connecting rods, the top end of one connecting rod is connected to the lower surface of the second joint support 23 via the eleventh rotating joint 233 (the upper surface of the second joint support 23 is connected to the two first prismatic joints via two tenth rotating joints 231 respectively); the top end of the other connecting rod is coaxially slidably inserted into the bottom end of the first connecting rod, and the bottom end of the other connecting rod is connected to the upper surface of the third joint support 22 via the tenth rotating joint 231; thereby realizing the connection of the four second branches with the four connecting rod branches of the back-of-hand connection structure 3 one by one.

[0063] like Figures 10-12As shown: the first joint support 11 has a groove on the side facing the hand, and the first joint hook and loop fastener 115 is fixed in the groove; the second joint support 23 also has a groove on the side facing the hand, and the second joint hook and loop fastener 234 is placed in the groove; the third joint support 22 also has a groove on the side facing the hand, and the third joint hook and loop fastener 224 is fixed in the groove; in use, the three joint hook and loop fasteners can be respectively fitted and slipped on the first joint, second joint and third joint of the finger.

[0064] All the grooves in both branches have skin-contacting curved surfaces that conform to the curve of the finger, making it easy to fit the finger's curve. At the same time, the groove edges are covered with a soft, cushioning material to improve finger comfort.

[0065] The two second revolute joints 114 are symmetrical about the first revolute joint 112, and their axes of rotation are parallel; the two third revolute joints 131 are symmetrical about the axis of the second joint Velcro 135. The two tenth revolute joints 231 and the two eleventh revolute joints 233 are symmetrical about the second joint support 23; the two twelfth revolute joints 221 are symmetrically arranged on the third joint support 22, and the thirteenth revolute joint 223 is centrally located on the lower surface of the third joint support 22. The three fourth Hooke hinges are arranged in an isosceles triangle on the lower surface of the slide rail base platform 34, with one fourth Hooke hinge centrally located and the other two fourth Hooke hinges symmetrically arranged with respect to the first fourth Hooke hinge; the three fourth revolute joints 51 are arranged in an isosceles triangle on the upper surface of the wristband platform 52, with one fourth revolute joint 51 centrally located and the other two fourth revolute joints 51 symmetrically arranged with respect to the first fourth revolute joint 51.

[0066] All the axes of the revolute joints in the second branch are parallel to each other and are parallel to the axis of rotation of the seventh revolute joint 36, the axis of rotation of the fourth revolute joint 51, and the axis of rotation of the second axis of rotation of the fourth Hooke hinge (which is hinged to the fourth Hooke hinge lug 35 on the lower surface of the slide rail base platform 34).

[0067] The two first Hooke hinges 143 and the second Hooke hinge 153 are arranged in an equilateral triangle on the thumb second joint support 13; the second rotation axis 1432 of the two first Hooke hinges 143 connecting the third link 141 and the second rotation axis 1532 connecting the second Hooke hinge 153 are parallel to the rotation axis of the sixth revolute 161.

[0068] The two sixth rotary joints 161 and the third Hooke hinge 154 are arranged in an equilateral triangle on the connecting base 16. The rotation axes of the two sixth rotary joints 161 are parallel to the second rotation axis 1542 of the third Hooke hinge 154 that connects to the second micro electric cylinder 152; and are also parallel to the rotation axis of the second rotary joint 114.

[0069] The second rotation axis of the fourth Hooke hinge on the lower surface of the slide rail base platform 34 is parallel to the rotation axis of the fourth rotary joint 51.

[0070] The first micro electric cylinder 142, the second micro electric cylinder 152, and the third micro electric cylinder 43 are all actuators.

[0071] The method of using this invention is as follows:

[0072] The wristband is worn around the patient's hand. The circumference of the wristband is adjusted and secured, ensuring the wristband platform is fixed to the upper part of the ulnar prominence, guaranteeing the device remains stable and without displacement. Next, the tip of the patient's thumb is slipped into the finger sleeve of the first branch, and the other four fingers are slipped into the corresponding finger sleeves of the four second branches, ensuring a tight fit between the fingertip and the inner wall of the finger sleeve. Then, the first joint Velcro of the first joint support and the second joint Velcro of the thumb support are wrapped and secured to the palm-facing depressions of the first and second joints of the thumb, respectively. The first joint Velcro of the first joint support, the second joint Velcro of the second joint support, and the third joint Velcro of the third joint support are wrapped and secured to the first, second, and third joints of the other four fingers, ensuring a close fit between each joint and the curved surface of the support groove. Finally, the external air pump is connected to the connecting air tube via a thin air tube, and the wiring of the first, second, and third miniature electric cylinders is connected to the external controller (existing technology), allowing rehabilitation training to begin.

[0073] According to the patient's rehabilitation training plan, the extension and retraction of the locomotor joints can be driven by controlling the extension and retraction of the first, second, and third micro electric cylinders; at the same time, the inflation and deflation of the external air pump on each of the first and second locomotor joints can be adjusted to drive the extension and retraction of the locomotor joints, thereby assisting each joint in completing flexion and extension movements.

[0074] This invention can set different driving schemes for the driver according to the patient's actual rehabilitation plan in order to achieve the best rehabilitation effect.

Claims

1. A hybrid finger wearable rehabilitation device based on electric hybrid drive, comprising an air pump and a controller, characterized in that: The device also includes a wristband (5) for wearing on a human hand (7), a first branch (1) connected in parallel to the front end of the wristband (5) and a back of hand connection structure (3), a back of hand structure (4) connected to the front end of the back of hand connection structure, and four second branches (2) connected in parallel to the front end of the back of hand structure. The wristband (5) includes a wrist-wearing ring (56) and a wristband platform (52) fixed to the front end of the wrist-wearing ring; The first branch (1) includes a seventh link assembly, a connecting base (16), a push rod mechanism assembly, a thumb second joint support (13), a first sliding pair assembly, a first joint support (11), a first rotating pair (112), a push rod (111), and a finger sleeve (6) connected sequentially from the side of the wristband platform (52). The back of the hand structure (4) includes a slide rail base platform (34) and three first push rod mechanisms arranged in parallel on the lower surface of the slide rail base platform; each first push rod mechanism includes a fourth Hooke hinge (41), a sixth connecting rod (42), a third micro electric cylinder (43), and a fourth rotating pair (51) connected in sequence between the slide rail base platform and the wrist ring platform. The back-of-hand connection structure (3) includes four connecting branches arranged in parallel. Each connecting branch includes a seventh rotating joint (36), a fifth connecting rod (31), and a third sliding joint that are sequentially connected between the third joint support (22) and the slide rail base platform (34). The second branch (2) includes a second sliding joint assembly, a second joint support (23), a first sliding joint assembly, a first joint support (11), a first rotary joint (112), a push rod (111), and a finger sleeve (6) connected in sequence starting from the third joint support (22).

2. The hybrid finger wearable rehabilitation device based on electrical hybrid drive according to claim 1, characterized in that: The seventh link assembly includes two seventh links with the same structure, and the two seventh links (55) are hinged in parallel between the side of the connecting base and the side of the wristband platform (52).

3. The hybrid finger wearable rehabilitation device based on electrical hybrid drive according to claim 2, characterized in that: The push rod mechanism assembly consists of two first push rod mechanisms (14) and one second push rod mechanism (15) arranged in parallel. The first push rod mechanism (14) includes a first miniature electric cylinder (142) whose cylinder body is connected to the sixth rotating joint (161), and a third connecting rod (141) whose bottom end is fixed to the push rod of the first miniature electric cylinder and whose top end is connected to the first Hooke hinge (143). The second push rod mechanism (15) includes a second miniature electric cylinder (152) whose cylinder body is connected to the third Hooke hinge (154), and a fourth connecting rod (151) whose bottom end is fixed to the push rod of the second miniature electric cylinder and whose top end is connected to the second Hooke hinge (153).

4. The hybrid finger wearable rehabilitation device based on electric hybrid drive according to claim 3, characterized in that: The first sliding joint is composed of two first sliding joints (12) arranged in parallel and parallel to each other, and a pneumatic push mechanism disposed on the two first sliding joints; the first sliding joint (12) includes a cylindrical first connecting rod (121) and a second connecting rod (123) that slides with the first connecting rod; the top end of the first connecting rod (121) is connected to the lower surface of the first joint support (11) through the second rotating joint (114), and the bottom end of the second connecting rod is connected to the upper surface of the second joint support (13) of the thumb through the third rotating joint (131).

5. The hybrid finger wearable rehabilitation device based on electrical hybrid drive according to claim 4, characterized in that: The pneumatic actuation mechanism includes an upper top cover (1221), a spring (122), and a lower top cover (1224) that are connected in sequence and coaxially sleeved on the second connecting rod (123) and tightly covered by a bellows (1226). The bellows (1226) in the two first moving pairs are connected by a connecting air pipe (1225), and the connecting air pipe is connected to the air pump through an external thin air pipe.

6. The hybrid finger wearable rehabilitation device based on electric hybrid drive according to claim 5, characterized in that: The second sliding pair assembly structure is the same as the first sliding pair assembly, and is also equipped with a pneumatic push mechanism; the third sliding pair includes a slide rail (33) fixed on the upper surface of the slide rail base platform (34) and a slider (32) connected to the bottom end of the fifth link (31) and slidingly engaged with the slide rail; the four slide rails (33) are arranged in parallel to each other, so that the moving directions of the four third sliding pairs are parallel to each other.

7. The hybrid finger wearable rehabilitation device based on electric hybrid drive according to claim 6, characterized in that: The first joint support, the second joint support of the thumb, the second joint support, and the third joint support all have grooves on the side facing the human hand, and each groove is provided with a joint Velcro for the finger joints to slip through.

8. The hybrid finger wearable rehabilitation device based on electric hybrid drive according to claim 7, characterized in that: Two sixth revolute joints (161) and the third Hooke hinge (15) are arranged in an equilateral triangle; three fourth revolute joints (51) are arranged in an isosceles triangle on the upper surface of the wristband platform (52); two first Hooke hinges (143) and the second Hooke hinge (153) are distributed in an equilateral triangle on the thumb second joint support (13).

9. The hybrid finger wearable rehabilitation device based on electric hybrid drive according to claim 8, characterized in that: The axes of the first, second, and third sliding joints in the first branch (1) are all parallel to each other; the axes of all sliding joints in the second branch are all parallel to each other.

10. The hybrid finger wearable rehabilitation device based on electric hybrid drive according to claim 9, characterized in that: The first micro electric cylinder (142), the second micro electric cylinder (152), and the third micro electric cylinder (42) are all drivers and are electrically connected to the controller respectively.

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