Rigid-flexible coupling type hand rehabilitation robot capable of being bent and stretched or folded and unfolded

Abstract

The invention discloses a flexion-extension / contraction-extension rigid-flexible coupling type hand rehabilitation robot which comprises an integral frame, six finger restraining mechanisms, a finger contraction-extension driving mechanism and a finger flexion-extension driving mechanism, the finger restraining mechanisms are all mounted on the integral frame, and the finger flexion-extension driving mechanism is mounted on the integral frame. The finger folding and unfolding driving mechanism and the finger bending and stretching driving mechanism are also installed on the overall frame, the finger folding and unfolding driving mechanism comprises a first power unit and a transmission gear set, and the finger bending and stretching driving mechanism comprises a second power unit; the second power unit can drive the pull wire through the steering engine to pull the finger restraining mechanism to complete finger bending action, and the tension spring is connected with the pull wire to pull the finger restraining mechanism to complete finger stretching action. By means of the mode, folding, unfolding and bending and stretching actions of each finger can be achieved, and the hand function recovery effect of a hand dysfunction patient can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a flexible-rigid coupling hand rehabilitation robot that can bend / extend. Background Technology

[0002] Currently, my country has become the country with the highest incidence of stroke in the world, and the incidence rate is showing an increasing trend year by year. According to the literature Ji C, Ge X, Zhang J, et al. The stroke burden in China and its Long-term trends: insights from the global burden of disease (GBD) study 1990-2021[J]. Nutrition, Metabolism and Cardiovascular Diseases, 2025: 103848, there are more than 26 million stroke patients in my country, ranking first in the world. According to incomplete statistics, stroke not only poses a serious threat to the life and health of patients, but also brings a heavy socio-economic burden. The direct cost of stroke rehabilitation in China exceeds 10 billion yuan per year. After adding various indirect economic losses, the total annual expenditure is close to 20 billion yuan, which puts a huge pressure on the national treasury and patients' families. Among the various functional impairments caused by stroke, hand dysfunction is particularly common, mainly manifested as a significant decline in hand motor ability, coordination ability, sensory function and flexibility, which seriously affects the patient's ability to take care of themselves in daily life. Clinical practice and medical research have confirmed that early hand rehabilitation training is a key means to improve hand function after stroke. It can not only effectively promote the recovery of hand motor function, but also significantly improve the brain's relearning ability to avoid permanent hand disability. However, the current hand rehabilitation robot rehabilitation training mode is singular and cannot cover the flexion, extension and adduction training of each finger, which may lead to incomplete recovery of hand function in patients. According to the literature Li G, Cheng L, Sun N. Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation[J]. Mechanism and Machine Theory, 2022, 167: 104526., breaking down complex movements into simpler, anatomically isolated movements can produce better rehabilitation results. In other words, for rehabilitation training of hand dysfunction, if each finger can receive different types of functional exercises, it will be more conducive to improving the stimulation of hand nerve reconstruction and enhancing the rehabilitation effect. However, existing hand rehabilitation robots cannot cover the rehabilitation training of flexion, extension and adduction of each finger. Therefore, it is necessary to further optimize the mechanism and expand the functions of existing rehabilitation robots so that hand rehabilitation robots can help patients complete the rehabilitation training of flexion, extension and adduction of all five fingers and improve the effect of rehabilitation training. Summary of the Invention

[0003] The main technical problem solved by this invention is to provide a novel hand rehabilitation robot that can drive each of the patient's fingers to complete flexion, extension, and adduction rehabilitation training.

[0004] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is: providing a flexible-flexible hand rehabilitation robot with rigid-flexible coupling, comprising: an overall frame, a finger restraint mechanism, a finger retraction / extension drive mechanism, and a finger flexion / extension drive mechanism. The finger restraint mechanism includes two thumb restraint structures and four single-finger restraint structures, all of which are mounted on the overall frame. The finger retraction / extension drive mechanism and the finger flexion / extension drive mechanism are also mounted on the overall frame. The finger retraction / extension drive mechanism includes a first power unit and a transmission gear set. The first power unit can drive the transmission gear set to rotate, thereby driving the finger restraint mechanism to complete the finger abduction action. The finger flexion / extension drive mechanism includes a second power unit. The second power unit can drive the traction cable through a servo motor to pull the finger restraint mechanism to achieve the finger flexion action, and a tension spring connected to the traction cable can pull the finger restraint mechanism to complete the finger extension action.

[0005] In a preferred embodiment of the present invention, the thumb restraint mechanism includes a thumb flexion-extension restraint structure and a thumb retraction-extension restraint structure. The thumb flexion-extension restraint structure includes an end restraint track, an end bent rod, a proximal restraint track, and a proximal bent rod. One end of the end restraint track is provided with a hinge hole connected to the back plate frame, and the other end is provided with an arc-shaped groove. One end of the end bent rod is connected to a pulley, and the other end and the proximal restraint track are fixed to the middle thumb restraint finger sleeve. One end of the proximal bent rod is connected to a pulley, and the other end is connected to the distal thumb restraint finger sleeve. The traction line of the second power unit passes through the upper and lower holes of the finger sleeve. The thumb retraction-extension restraint structure includes a back hand connecting rod, a right-angle connecting rod, a proximal restraint track, and a proximal bent rod. One end of the back hand connecting rod is provided with a thumb mounting hole connected to the back plate frame, and the other end is provided with a straight groove. Each end of the right-angle connecting rod has a connecting hole. The back hand connecting rod is mounted on the back plate frame through the thumb mounting hole. One end of the right-angle connecting rod slides in the back hand connecting rod through a pin, and the other end is connected to the proximal restraint track through a pin.

[0006] In a preferred embodiment of the present invention, the single-finger constraint structure includes a drive frame, a proximal finger connecting crank, a first bent rod, a second connecting rod, and a third connecting rod. The drive frame is provided with mounting holes for connection to the backplate frame, connecting rod hinge holes, a straight slot, and an arc-shaped groove. Connecting pulleys are installed in the straight slot and the arc-shaped groove. The first bent rod and the second connecting rod are connected end-to-end. The end of the first bent rod is mounted on the hinge hole of the drive frame. A mid-end constraint finger sleeve is installed at the tail of the second connecting rod. One end of the third connecting rod is connected to a pulley, and the other end is connected to the mid-end of the second connecting rod. The end connecting hole of the proximal finger connecting crank is connected to a pulley, and a proximal constraint finger sleeve is provided at its tail end. The traction line of the second drive unit passes through the upper and lower limiting holes of the finger sleeve. The bending angle of the proximal finger connecting crank is 110°.

[0007] In a preferred embodiment of the present invention, the overall frame structure includes a backplate frame, a tension spring frame, an arm support slot, and an equipment box. The backplate of the backplate frame is shaped similarly to the back of a hand, the finger extension and retraction drive mechanism is mounted on the backplate frame, and the second power unit assembly is mounted on the tension spring frame and the equipment box. The finger extension / retraction drive mechanism includes a first power unit and a transmission gear set. The first power unit can drive the transmission gear set to operate. The first power unit includes a first drive servo and a second drive servo. The transmission gear set includes a first transmission gear set and a second transmission gear set. The first transmission gear set includes a first transmission gear, a little finger transmission gear, and a ring finger transmission gear. The second transmission gear set includes a second transmission gear, a first idler gear, an index finger transmission gear, a second idler gear, and a thumb transmission gear. The axles of the four finger transmission gears pass through the back plate and are connected to the three single-finger constraint structures and the thumb extension / retraction constraint structure by bolts. The first transmission gear and the first drive servo engage with the little finger transmission gear and the ring finger transmission gear respectively. The second transmission gear and the second drive servo engage with the first idler gear and the second idler gear. The first idler gear engages with the index finger transmission gear, and the second idler gear engages with the thumb transmission gear.

[0008] In a preferred embodiment of the present invention, the thumb extension constraint structure and the four single-finger constraint structures use their installation positions on the back plate frame to interfere and control the extension angle, wherein the maximum extension angle between adjacent single-finger constraint structures does not exceed 45°, and the maximum extension angle between the thumb extension constraint structure and the single-finger constraint structure installed on the adjacent index finger does not exceed 50°.

[0009] In a preferred embodiment of the present invention, the second power unit includes a third drive servo assembly, a winding wheel, and a tension spring. The drive servo is connected to the four single-finger constraint structures and the thumb flexion-extension constraint structure via a traction line passing through the lower limit hole of the finger sleeve. The third drive servo assembly can drive the winding wheel to rotate, thereby causing the single-finger constraint structure and the thumb flexion-extension constraint structure to complete the flexion action. The tension spring is connected to the single-finger constraint structure and the thumb flexion-extension constraint structure via a traction line passing through the upper limit hole of the finger sleeve, thereby causing the single-finger constraint structure and the thumb flexion-extension constraint structure to complete the extension action. The third drive servo assembly is distributed in two layers in the equipment box, with two servos fixed on both sides of the upper layer and three servos fixed in the middle of the lower layer.

[0010] The beneficial effects of this invention are as follows: The purpose of this invention is to optimize and improve the structure of existing hand rehabilitation robots, enabling rehabilitation training for the flexion, extension, and adduction of each finger, thus providing more comprehensive rehabilitation training for patients with hand dysfunction. In this invention, through the organic combination of two sets of gear transmission structures, a flexible traction structure, and a connecting rod and arc-shaped track constraint structure, on-site personnel can control the power unit on the hand rehabilitation training robot to drive the five fingers to perform flexion, extension, and adduction movements. Taking into account the normal finger adduction and extension angles, and considering the interference between the installation positions of the thumb adduction and extension constraint structure and the four single-finger constraint structures on the backplate frame, the abduction angle is controlled by the mutual interference of the installation positions, avoiding damage caused by excessive finger abduction and ensuring that patients can safely perform adduction, extension, flexion, and extension rehabilitation training. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of the embodiment; Figure 2 This is a top view of the structure of the embodiment shown; Figure 3 This is a schematic diagram of the thumb flexion-extension constraint structure in the illustrated embodiment; Figure 4 This is a schematic diagram of the thumb retraction and extension constraint structure in the illustrated embodiment; Figure 5 This is a schematic diagram of the single-finger constraint structure in the illustrated embodiment; Figure 6 This is a schematic diagram of the arrangement of the third drive servo motor group in the illustrated embodiment; Figure 7 This is a schematic diagram of the overall mechanism of thumb flexion and extension movement in the illustrated embodiment; Figure 8 This is a schematic diagram of the overall mechanism of single-finger flexion and extension movement in the illustrated embodiment; The components in the attached diagram are labeled as follows: 1. Thumb flexion-extension constraint structure; 2. Thumb retraction-extension constraint structure; 3. Single finger constraint structure; 4. First transmission gear set; 5. First drive servo motor; 6. Second transmission gear set; 7. Second drive servo motor; 8. Third drive servo motor set; 9. Winding wheel; 10. Backplate frame; 11. Tension spring frame; 12. Tension spring; 13. Flexion curve; 14. Extension line; 15. Arm support slot; 16. Equipment box; 101. End restraint track; 102. End bend; 103. Proximal restraint track; 104. Proximal bend; 105. Thumb distal restraint finger sleeve; 106. Thumb mid-end restraint finger sleeve; 107. Pulley; 108. Thumb hinge hole; 109. Thumb arc groove. 201. Hand back connecting rod; 202. Right angle connecting rod; 203. Thumb mounting hole; 204. Straight groove; 205. Connecting rod hinge hole; 301. Drive frame; 302. Straight groove pulley; 303. Arc groove pulley; 304. Proximal finger connecting crank; 305. Single finger proximal constraint finger sleeve; 306. Single finger mid-end constraint finger sleeve; 307. Second connecting rod; 308. Third connecting rod; 309. First bent rod; 3010. Bent rod hinge hole; 3011. Single finger mounting hole; 3012. Single finger arc groove; 3013. Straight groove opening; 3014. Single finger distal constraint finger sleeve; 401. First transmission gear; 402. Little finger transmission gear; 403. Ring finger transmission gear; 404. Middle finger fixing shaft; 601. Index finger drive gear; 602. First idler gear; 603. Second drive gear; 604. Second idler gear; 605. Thumb drive gear; Detailed Implementation The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0012] Please see Figures 1 to 8 The embodiments of the present invention include: A flexible-rigid coupling hand rehabilitation robot with flexion / extension and retraction includes an overall frame, a finger restraint mechanism, a finger abduction drive mechanism, and a finger flexion / extension drive mechanism. The finger restraint mechanism includes one thumb flexion / extension restraint structure 1, one thumb retraction / extension restraint structure 2, and four single-finger restraint structures 3. The thumb flexion / extension restraint structure 1, the thumb retraction / extension restraint structure 2, and the four single-finger restraint structures 3 are all mounted on the overall frame.

[0013] The finger abduction drive mechanism and the finger flexion and extension drive mechanism are also mounted on the overall frame. The finger abduction drive mechanism includes a first power unit and a transmission gear set. The first power unit can drive the first transmission gear set 4 and the second transmission gear set 6 to operate, thereby driving the thumb retraction and extension constraint structure 2 and the three single-finger constraint structures 3 to perform retraction and extension actions. The thumb retraction and extension constraint structure 2 and the three single-finger constraint structures 3 use their mounting positions on the back plate frame 10 to interfere with each other to control the extension angle. The maximum extension angle between adjacent single-finger constraint structures 3 is no more than 45°, and the maximum extension angle between the thumb retraction and extension constraint structure 2 and the single-finger constraint structure 3 installed on the adjacent index finger is no more than 50°. The thumb restraint mechanism includes a thumb flexion-extension restraint structure 1 and a thumb retraction-extension restraint structure 2. The thumb flexion-extension restraint structure includes an end restraint track 101, an end bent rod 102, a proximal restraint track 103, and a proximal bent rod 104. One end of the end restraint track 101 is provided with a hinge hole 108 for connection to the back plate frame, and the other end is provided with an arc-shaped groove 109. One end of the end bent rod 102 is connected to a pulley 107, and the other end and the proximal restraint track 103 are fixed to the middle thumb restraint finger sleeve 106. One end of the proximal bent rod 104 is connected to the pulley, and the other end is connected to the distal thumb restraint finger sleeve 105. The traction line of the second power unit passes through the upper and lower holes of the finger sleeve. The thumb extension and retraction constraint structure 2 includes a back-hand connecting rod 201, a right-angle connecting rod 202, a proximal constraint track 103, and a proximal bent rod 104. One end of the back-hand connecting rod 201 is provided with a thumb mounting hole 203 connected to the back plate frame 10, and the other side is provided with a straight groove 204. Each end of the right-angle connecting rod has a connecting hole 205. The back-hand connecting rod 201 is mounted on the back plate frame 10 through the thumb mounting hole 203. When the thumb performs flexion and extension movements, the connection between the end bent rod 102 and the pulley 107 is removed. One end of the right-angle connecting rod 202 slides in the back-hand connecting rod through a pin, and the other end is connected to the proximal constraint track 103 through a pin.

[0014] The single-finger constraint structure 3 includes a drive frame 301, a proximal finger connecting curved rod 304, a first bent rod 309, a second connecting rod 307, and a third connecting rod 308. The drive frame 301 is provided with mounting holes 3011 for connection with the back plate frame 10, connecting rod hinge holes 3010, straight slots 308, and arc-shaped slots 3012. Connecting pulleys 302 and 303 are installed in the straight slots 308 and arc-shaped slots 3012. The first bent rod 309 and the second connecting rod 307 are connected end to end. Together, the end of the first bent rod 309 is installed on the hinge hole 3010 of the drive frame 301, the tail of the second connecting rod 307 is equipped with a single-finger mid-end restraint finger sleeve 306, one end of the third connecting rod 308 is connected to the pulley 302 in the straight groove 308, and the other end is connected to the mid-end of the second connecting rod 307, the end of the proximal finger connecting curved rod 304 is connected to the pulley 303 in the arc groove 3012, and the tail end is provided with a single-finger proximal restraint finger sleeve 305. The bending angle of the proximal finger connecting crank 304 is 40°. The single finger distal restraint finger sleeve 3014, single finger mid-end restraint finger sleeve 306, and single finger proximal restraint finger sleeve 305 all have upper and lower limiting holes. The bending curve 13 passes through the lower limiting holes of the three finger sleeves and is wound around the winding wheel 9. The third drive servo unit 8 drives the winding wheel 9. The proximal finger connecting crank 304 is driven by the connecting pulley 303 to move towards its extreme position within the arc-shaped groove 3012, and is pulled by the bending curve 13. When the first bent rod 309 moves, it will drive the second connecting rod 307 to move downward. The third connecting rod 308 and the connecting pulley 302 slide in the straight groove 308, which restricts the final movement position of the second connecting rod 307. At this time, the three finger sleeves work together to make the finger bend downward. The extension line 14 is connected to the tension spring 12 through the upper limit hole of the three finger sleeves. When the finger bends downward, the tension spring 12 will be stretched. When the third drive servo motor 8 reverses, the tension of the tension spring 12 pulls the finger to extend.

[0015] The overall frame structure includes a backplate frame 10, a tension spring frame 11, an arm rest 15, and an equipment box 16. The backplate frame has a shape similar to the back of a hand. The finger extension / retraction drive mechanism is mounted on the backplate frame, and the second power unit assembly is mounted on the tension spring frame and the equipment box. The finger extension / retraction drive mechanism includes a first power unit and a transmission gear set. The first power unit can drive the transmission gear set to operate. The first power unit includes a first drive servo motor 5 and a second drive servo motor 7. The transmission gear set includes a first transmission gear set 4 and a second transmission gear set 6. The first gear set includes a first transmission gear 401, a little finger transmission gear 402, and a ring finger transmission gear 403. The second gear set includes a second transmission gear 603, a first idler gear 602, an index finger transmission gear 601, a second idler gear 604, and a thumb transmission gear 603. The drive gear 605, with its axles passing through the top plate, is bolted to the three single-finger constraint structures 3 and the thumb extension / retraction constraint structure 2. The first drive gear 401 and the first drive servo 5 mesh with the little finger drive gear 402 and the ring finger drive gear 403 respectively. The second drive gear 603 and the second drive servo 7 mesh with the first idler gear 602 and the second idler gear 603. The first idler gear 602 meshes with the index finger drive gear 601, and the second idler gear 604 meshes with the thumb drive gear 605. In this way, the first drive servo 5 drives the first drive gear 401 to rotate the two finger drive gears, and the second drive servo 7 drives the second drive gear 603 to rotate the two finger drive gears. The finger drive gears can then drive the corresponding single-finger constraint structure 3 and the thumb extension / retraction constraint structure 2 to complete the extension / retraction movement together with the fingers.

[0016] The second power unit includes a third drive servo group 8 and a winding wheel 9. The winding wheel 9 is connected to the lower limit hole of the finger sleeve of the four single-finger constraint structure and the thumb flexion and extension constraint structure through a flexure curve 13. The tension spring 12 is connected to the upper limit hole of the finger sleeve of the four single-finger constraint structure and the thumb flexion and extension constraint structure through an extension line 14. The five servos in the third drive servo group 8 can drive the winding wheels 901-905 to rotate respectively to complete the finger flexion and extension action.

[0017] The method of using this invention is as follows: When using the robot, first place it on the table, with the arm in the arm support. Then, insert the thumb into the thumb restraint sleeve, and insert the index, middle, ring, and little fingers into the proximal, middle, and distal restraint sleeves of the corresponding single-finger restraint structure, respectively, so that all fingers are restrained. Then, activate the third servo group to achieve flexion and extension training of one or all five fingers. When the thumb performs flexion, extension, and contraction movements, remove the connection between the end bend rod and the pulley, connect the right-angle link to the proximal restraint track, and activate the first and second drive servos to complete the contraction and contraction training of all five fingers.

[0018] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A flexible-rigid coupling hand rehabilitation robot capable of bending / extending, characterized in that, The hand rehabilitation training robot includes: an overall frame, a finger restraint mechanism, a finger extension / retraction drive mechanism, and a finger flexion / extension drive mechanism. The finger restraint mechanism includes two thumb restraint structures and four single-finger restraint structures, all of which are mounted on the overall frame. The finger extension / retraction drive mechanism and the finger flexion / extension drive mechanism are also mounted on the overall frame. The finger extension / retraction drive mechanism includes a first power unit and a transmission gear set. The first power unit can drive the transmission gear set to rotate, thereby driving the finger restraint mechanism to complete the finger extension / retraction action. The finger flexion / extension drive mechanism includes a second power unit. The second power unit can drive the traction cable through a servo motor to pull the finger restraint mechanism to achieve the finger flexion action, and a tension spring connected to the traction cable can pull the finger restraint mechanism to complete the finger extension action.

2. The hand rehabilitation training robot according to claim 1, characterized in that, The thumb restraint mechanism includes a thumb flexion-extension restraint structure and a thumb retraction-extension restraint structure. The thumb flexion-extension restraint structure includes an end restraint track, an end bent rod, a proximal restraint track, and a proximal bent rod. One end of the end restraint track has a hinge hole for connection to the back plate frame, and the other end has an arc-shaped groove. One end of the end bent rod is connected to a pulley, and the other end is fixed to the middle thumb restraint finger sleeve along with the proximal restraint track. One end of the proximal bent rod is connected to a pulley, and the other end is connected to the distal thumb restraint finger sleeve. The traction line of the second power unit passes through the upper and lower holes of the finger sleeve. The thumb retraction-extension restraint structure includes a backhand connecting rod, a right-angle connecting rod, a proximal restraint track, and a proximal bent rod. One end of the backhand connecting rod has a thumb mounting hole for connection to the back plate frame, and the other end has a straight groove. Each end of the right-angle connecting rod has a connecting hole. The backhand connecting rod is mounted on the back plate frame through the thumb mounting hole. One end of the right-angle connecting rod slides within the backhand connecting rod via a pin, and the other end is connected to the proximal restraint track via a pin.

3. The hand rehabilitation training robot according to claim 1, characterized in that, The single-finger constraint structure includes a drive frame, a proximal finger-end connecting crank, a first bent rod, a second connecting rod, and a third connecting rod. The drive frame is provided with mounting holes for connection to the back plate frame, connecting rod hinge holes, straight slots, and arc-shaped slots. Connecting pulleys are installed in the straight slots and arc-shaped slots. The first bent rod and the second connecting rod are connected end to end. The end of the first bent rod is installed in the hinge hole of the drive frame. A mid-end constraint finger sleeve is installed at the tail of the second connecting rod. One end of the third connecting rod is connected to the pulley, and the other end is connected to the mid-end of the second connecting rod. The end connection hole of the proximal finger-end connecting crank is connected to the pulley, and a proximal constraint finger sleeve is provided at the tail end. The traction line of the second drive unit passes through the upper and lower limit holes of the finger sleeve.

4. The hand rehabilitation training robot according to claim 3, characterized in that, The bending angle of the proximal finger-connecting crank is 100°~110°.

5. The hand rehabilitation training robot according to claim 1, characterized in that, The overall frame structure includes a backplate frame, a tension spring frame, an arm support slot, and an equipment box. The backplate of the backplate frame is shaped similarly to the back of a hand. The finger extension and retraction drive mechanism is mounted on the backplate frame, and the second power unit assembly is mounted on the tension spring frame and the equipment box.

6. The hand rehabilitation training robot according to claim 5, characterized in that, The finger extension / retraction drive mechanism includes a first power unit and a transmission gear set. The first power unit can drive the transmission gear set to operate. The first power unit includes a first drive servo and a second drive servo. The transmission gear set includes a first transmission gear set and a second transmission gear set. The first transmission gear set includes a first transmission gear, a little finger transmission gear, and a ring finger transmission gear. The second transmission gear set includes a second transmission gear, a first idler gear, an index finger transmission gear, a second idler gear, and a thumb transmission gear. The axles of the four finger transmission gears pass through the back plate and are connected to the three single-finger constraint structures and the thumb extension / retraction constraint structure by bolts. The first transmission gear and the first drive servo engage with the little finger transmission gear and the ring finger transmission gear respectively. The second transmission gear and the second drive servo engage with the first idler gear and the second idler gear. The first idler gear engages with the index finger transmission gear, and the second idler gear engages with the thumb transmission gear.

7. The hand rehabilitation training robot according to claim 1, characterized in that, The thumb extension and retraction constraint structure and the four single-finger constraint structures use their installation positions on the back plate frame to interfere with and control the extension angle. The maximum extension angle between adjacent single-finger constraint structures is no more than 45°, and the maximum extension angle between the thumb extension and retraction constraint structure and the single-finger constraint structure installed on the adjacent index finger is no more than 50°.

8. The hand rehabilitation training robot according to claim 1, characterized in that, The second power unit includes a third drive servo assembly, a winding wheel, and a tension spring. The drive servo is connected to the four single-finger constraint structures and the thumb flexion-extension constraint structure via a traction line passing through the lower limit hole of the finger sleeve. The third drive servo assembly can drive the winding wheel of each structure to rotate, thereby causing the single-finger constraint structure and the thumb flexion-extension constraint structure to complete the flexion action. The tension spring is connected to the single-finger constraint structure and the thumb flexion-extension constraint structure via a traction line passing through the upper limit hole of the finger sleeve, thereby causing the single-finger constraint structure and the thumb flexion-extension constraint structure to complete the extension action. The third drive servo assembly is distributed in two layers in the equipment box. Two servos are fixed on both sides of the upper layer of the equipment box, and three servos are fixed in the middle of the lower layer.

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