Wire-driven hand exoskeleton rehabilitation training system

Abstract

The application provides a wire-driven hand exoskeleton rehabilitation training system, which comprises a connecting seat assembly and a finger exoskeleton assembly. The connecting seat assembly comprises a palm back main seat and a thumb fixing seat. In the palm back width direction, the thumb fixing seat is installed on the inner side of the palm back main seat and is configured to be rotatable relative to the palm back main seat. The palm back main seat is formed with a first sliding groove, and the thumb fixing seat is formed with a second sliding groove. The finger exoskeleton assembly comprises a thumb exoskeleton mechanism, an index finger exoskeleton mechanism, a middle finger exoskeleton mechanism, a ring finger exoskeleton mechanism and a little finger exoskeleton mechanism. The bottom of the corresponding metacarpophalangeal joint part of the exoskeleton mechanism of the four fingers is provided with a first sliding hinge base, each first sliding hinge base is installed in the first sliding groove, so that at least the index finger exoskeleton mechanism, the middle finger exoskeleton mechanism and the ring finger exoskeleton mechanism can slide in the first sliding groove. The bottom of the thumb exoskeleton mechanism is provided with a second sliding hinge base, and the second sliding hinge base is installed in the second sliding groove.

Description

Technical Field

[0001] This invention relates to the field of hand rehabilitation equipment technology, and in particular to a wire-driven hand exoskeleton rehabilitation training system. Background Technology

[0002] Stroke is a disease caused by insufficient blood supply to the brain due to blockage or rupture of blood vessels in the brain, resulting in brain tissue damage. It is characterized by high incidence and high disability rate. Stroke patients experience varying degrees of disability, among which hand motor dysfunction has a particularly severe impact, significantly affecting patients' daily living abilities (such as grasping, dressing, and eating) and social participation. Clinical practice shows that early and scientific hand rehabilitation training is a key means to promote the recovery of motor function in stroke patients with hemiplegia. Its core goal is to promote the remodeling of damaged neural pathways through targeted motor stimulation, improving finger joint mobility, muscle control, and inter-finger coordination.

[0003] With the development of rehabilitation robot technology, hand exoskeleton rehabilitation training devices have gradually become important auxiliary equipment in clinical rehabilitation because they can provide patients with standardized and quantifiable training support. Among them, the wire-driven hand exoskeleton device, with its advantages of lightweight structure, smooth transmission, and high mobility, is more suitable for the rehabilitation needs of fine motor skills in the hand and is widely used in hand training for stroke patients with hemiplegia.

[0004] However, existing wire-driven hand exoskeleton rehabilitation training devices still have significant technical shortcomings in terms of adaptability and training accuracy, making it difficult to fully meet the personalized rehabilitation needs of different patients. Specifically, these shortcomings are as follows:

[0005] 1. Significant individual differences exist in palm width and finger spacing among stroke patients, and some patients may also experience secondary injuries such as hand swelling and muscle atrophy, leading to dynamic changes in palm size. Existing hand exoskeleton devices mostly feature fixed-installation finger exoskeleton structures, which cannot flexibly adjust their position along the width of the palm. This easily results in problems such as wearing them too tightly (compressing joints and affecting blood circulation) or too loosely (leading to transmission failure and poor training effects), severely limiting the range of suitable users for these devices.

[0006] 2. During the core rehabilitation training movement of finger flexion and extension, the existing finger exoskeleton mechanism cannot move laterally in sync with changes in hand posture. It is difficult to simulate the slight lateral displacement trajectory of the fingers when the human hand is naturally flexing and extending, which leads to a disconnect between the training movement and the human physiological movement pattern. Not only can it fail to effectively activate the target rehabilitation muscle groups, but it may also produce compensatory movements due to deviations in movement trajectory, which seriously affects the rehabilitation training effect and further limits the range of people to whom the device is applicable.

[0007] In response to the core technical problems of existing wire-driven hand exoskeleton rehabilitation training devices, such as poor adaptability to hand size and inability to move laterally during finger flexion and extension leading to poor rehabilitation effects, there is an urgent need to develop a hand exoskeleton rehabilitation training system with flexible adjustment function, adaptable to different individual differences of patients and in line with human physiological movement patterns, so as to meet the actual needs of hand movement disorder rehabilitation for hemiplegic patients after stroke. Summary of the Invention

[0008] In view of this, embodiments of the present invention provide a wire-driven hand exoskeleton rehabilitation training system to eliminate or improve one or more defects existing in the prior art.

[0009] A wire-driven hand exoskeleton rehabilitation training system includes: a connecting base assembly and a finger exoskeleton assembly; wherein, the connecting base assembly includes a palmar dorsal base and a thumb fixation base, the thumb fixation base being mounted inside the palmar dorsal base in the palmar dorsal width direction and configured to be rotatable relative to the palmar dorsal base; a first sliding groove extending in the palmar dorsal width direction is formed on the palmar dorsal base, and a second sliding groove extending in the palmar dorsal width direction is formed on the thumb fixation base; the finger exoskeleton assembly includes a thumb exoskeleton mechanism, an index finger exoskeleton mechanism, a middle finger exoskeleton mechanism, and a ring finger exoskeleton mechanism. The exoskeleton mechanism comprises a little finger and a thumb exoskeleton mechanism. The bottom of the corresponding metacarpophalangeal joint of each of the exoskeleton mechanisms (index, middle, ring, and little fingers) is provided with a first sliding hinge seat, and each of the first sliding hinge seats is installed within a first sliding groove, allowing at least the exoskeleton mechanisms of the index, middle, and ring fingers to slide within the first sliding groove. The bottom of the corresponding metacarpophalangeal joint of the thumb exoskeleton mechanism is provided with a second sliding hinge seat, which is installed within a second sliding groove, allowing the thumb exoskeleton mechanism to slide within the second sliding groove.

[0010] In some embodiments, the system further includes a metacarpophalangeal joint angle detection module, which includes at least a little finger angle sensor;

[0011] The little finger angle sensor is fixedly mounted relative to the first sliding hinge seat in the little finger exoskeleton mechanism via a sensor bracket. The first sliding hinge seat in the little finger exoskeleton mechanism is an extended sliding hinge seat, with the outer end of the extended sliding hinge seat extending from the first sliding groove and fixedly connected to the sensor bracket, so that the little finger angle sensor is synchronously driven when the little finger exoskeleton mechanism slides laterally; or, the little finger angle sensor is fixedly mounted relative to the back of the hand via a sensor bracket.

[0012] In some embodiments, the motion state of the entire metacarpophalangeal joint region is obtained based on the real-time angle parameters of the little finger metacarpophalangeal joint detected by the metacarpophalangeal joint angle detection module. The system further includes at least one of the following units:

[0013] The five-finger coordinated motion control unit is used to determine the angular velocity of the little finger based on the real-time angle parameters of the metacarpophalangeal joint of the little finger, and to synchronously match the driving angular velocities of other fingers based on the angular velocity of the little finger.

[0014] An adaptive impedance control unit is used to determine the rate and amplitude of the little finger angle change based on the real-time angle parameters of the little finger metacarpophalangeal joint, and to adjust the impedance of all exoskeleton mechanisms of the little finger exoskeleton mechanism or finger exoskeleton assembly.

[0015] An angular velocity adjustment control unit is used to determine the angular velocity of the little finger based on the real-time angle parameters of the little finger metacarpophalangeal joint, and to pre-set the maximum flexion / extension angle of the little finger metacarpophalangeal joint corresponding to the patient, and to automatically adjust the angular velocity of the little finger metacarpophalangeal joint in real time.

[0016] In some embodiments, the index finger exoskeleton, middle finger exoskeleton, ring finger exoskeleton, and little finger exoskeleton are all designed as three-joint motion-driven structures, including:

[0017] First drive swing arm, first proximal link upper connecting rod, first proximal link lower connecting rod and first proximal push seat;

[0018] The first middle section L-shaped follower swing arm, the first middle section lower connecting rod, and the first middle section push seat;

[0019] The first distal L-shaped follower swing arm and the first distal pusher;

[0020] Wherein, the lower end of the first driving swing arm is hinged to the upper part of the first sliding hinge seat, the upper end of the first driving swing arm is hinged to the proximal end of the first proximal segment upper connecting rod, the distal end of the first proximal segment upper connecting rod is hinged to the middle part of the first middle segment L-shaped follower swing arm, the proximal end of the first proximal segment lower connecting rod is hinged to the upper part of the first sliding hinge seat, and the middle part of the first proximal segment lower connecting rod is hinged to the proximal end of the first middle segment L-shaped follower swing arm;

[0021] The proximal end of the first middle section L-shaped follower rocker arm is also hinged to the upper part of the first proximal section push seat, the distal end of the first middle section L-shaped follower rocker arm is hinged to the middle part of the first distal section L-shaped follower rocker arm, the proximal end of the first middle section lower connecting rod is hinged to the distal end of the first proximal section lower connecting rod, and the distal end of the first middle section lower connecting rod is hinged to the proximal end of the first distal section L-shaped follower rocker arm.

[0022] The proximal end of the first distal L-shaped follower rocker arm is also hinged to the upper part of the first middle section push seat, and the distal end of the first distal L-shaped follower rocker arm is hinged to the upper part of the first distal push seat.

[0023] In some embodiments, the thumb exoskeleton mechanism is designed as a two-joint motion-driven structure, including:

[0024] Second drive swing arm, second proximal link upper connecting rod, second proximal link lower connecting rod, and second proximal pusher;

[0025] The second distal L-shaped follower swing arm, the second distal lower connecting rod, the front push rod, and the second distal push seat;

[0026] Wherein, the lower end of the second drive swing arm is hinged to the upper part of the second sliding hinge seat, the upper end of the second drive swing arm is hinged to the proximal end of the second proximal joint upper connecting rod, the distal end of the second proximal joint upper connecting rod is hinged to the middle part of the second distal joint L-shaped follower swing rod, the proximal end of the second proximal joint lower connecting rod is hinged to the upper part of the second sliding hinge seat, and the middle part of the second proximal joint lower connecting rod is hinged to the proximal end of the second distal joint L-shaped follower swing rod;

[0027] The proximal end of the second distal L-shaped follower rocker arm is also hinged to the upper part of the second proximal pusher seat. The distal end of the second distal L-shaped follower rocker arm is hinged to the upper end of the front push rod. The proximal end of the second distal lower connecting rod is hinged to the distal end of the second proximal lower connecting rod. The distal end of the second distal lower connecting rod is connected to the lower end of the front push rod. The lower end of the front push rod is hinged to the upper part of the second distal pusher seat.

[0028] In some embodiments, the upper ends of the first and second drive arms are formed with an upper pull-up cable connection portion and a lower pull-up cable connection portion, and the lower ends of the first and second drive arms are formed with a lower pull-up cable guide portion; in the finger's length extension direction, the upper pull-up cable connection portion is located on the side of the drive arm away from the fingertip and is used for the fixed connection of the upper pull-up cable; in the finger's length extension direction, the lower pull-up cable connection portion is located on the side of the drive arm near the fingertip and is used for the fixed connection of the lower pull-up cable; in the finger's length extension direction, the lower pull-up cable guide portion is located on the side of the drive arm near the fingertip and is used for the winding guide of the lower pull-up cable.

[0029] In some embodiments, a support frame is provided on both the palm back main seat and the thumb fixing seat, and each support frame is provided on the side of each finger exoskeleton mechanism away from the fingertip; the support frame has two through holes, upper and lower, for threading the pull wire assembly.

[0030] In some embodiments, the system further includes a drive control module, which includes a protective housing, a pull wire support component, and a drive assembly; wherein the drive assembly and the pull wire support component are fixedly disposed in the protective housing, the drive assembly includes five drive sub-assemblies for driving the flexion / extension movements of each finger exoskeleton mechanism in a corresponding manner; the pull wire support component is used for each pull wire assembly to pass through, so as to guide and fix it.

[0031] In some embodiments, the drive sub-assembly includes a winding reel, a servo motor, and a servo motor bracket. The servo motor bracket is fixedly installed inside the protective housing, the servo motor is mounted on the servo motor bracket, and the output structure of the servo motor is fixedly connected to the winding reel.

[0032] In some embodiments, the winding reel has a first groove and a second groove for winding the upper and lower pull wires of the same finger exoskeleton mechanism, respectively, with the upper and lower pull wires wound in opposite directions in the two grooves.

[0033] In this invention, each finger exoskeleton mechanism can slide along a corresponding groove, allowing the exoskeleton to move laterally in sync with changes in hand posture during the core rehabilitation exercise of flexion and extension. This precisely simulates the finger displacement trajectory during natural flexion and extension of the human hand, ensuring the training movements closely match the body's physiological movement patterns. This invention effectively activates the target rehabilitation muscle groups, avoids compensatory movements caused by deviations in movement trajectory, significantly improves the targeting and effectiveness of rehabilitation training, and helps patients recover hand motor function more quickly.

[0034] Additional advantages, objects, and features of the invention will be set forth in part in the description which follows, and will also become apparent in part to those skilled in the art upon studying the description, or may be learned by practice of the invention. The objects and other advantages of the invention can be realized and obtained by means of the structures specifically pointed out in the description and drawings.

[0035] Those skilled in the art will understand that the objectives and advantages achievable with the present invention are not limited to those specifically described above, and that the above and other objectives achievable with the present invention will become clearer from the following detailed description. Attached Figure Description

[0036] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, are not intended to limit the scope of the invention. The components in the drawings are not drawn to scale but are merely illustrative of the principles of the invention. For ease of illustration and description of certain parts of the invention, corresponding portions in the drawings may be enlarged, i.e., may appear larger relative to other components in an exemplary device actually manufactured according to the invention.

[0037] Figure 1 This is a schematic diagram of the overall structure of a wire-driven hand exoskeleton rehabilitation training system according to an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of the main structure of the wearable hand part in one embodiment of the present invention.

[0039] Figure 3 This is a schematic diagram of the back of the hand support in one embodiment of the present invention.

[0040] Figure 4 This is a schematic diagram of the exoskeleton mechanism of the index finger in one embodiment of the present invention.

[0041] Figure 5 This is a schematic diagram of the thumb exoskeleton mechanism in one embodiment of the present invention.

[0042] Figure 6 This is a schematic diagram of the installation of the metacarpophalangeal joint angle detection module in one embodiment of the present invention.

[0043] Figure 7 This is a schematic diagram of the installation of the pull wire assembly of the corresponding index finger exoskeleton mechanism in one embodiment of the present invention.

[0044] Figure 8 This is a schematic diagram of the drive control module in one embodiment of the present invention.

[0045] Figure 9 This is a schematic diagram of the structure of a driver sub-component in one embodiment of the present invention.

[0046] Figure label:

[0047] 1. Connecting seat assembly; 11. Back of hand main seat; 111. Base plate; 112. First slide groove; 113. Support frame; 114. Hinge seat; 115. Long slot hole; 12. Thumb fixing seat; 122. Second slide groove;

[0048] 2. Finger exoskeleton assembly; 201. First sliding hinge; 202. Second sliding hinge; A. Upper pull-up cable connector; B. Lower pull-up cable guide; C. Lower pull-up cable connector;

[0049] 21. Thumb exoskeleton mechanism; 210. Second drive swing arm; 213. Second proximal segment upper link; 214. Second proximal segment lower link; 215. Second distal segment L-shaped follower swing arm; 216. Front push rod; 217. Second distal segment lower link; 218. Second distal segment push seat; 219. Second proximal segment push seat;

[0050] 22. Index finger exoskeleton mechanism; 220. First drive swing arm; 221. First proximal segment upper link; 222. First proximal segment lower link; 223. First middle segment L-shaped follower swing arm; 224. First distal segment L-shaped follower swing arm; 225. First middle segment lower link; 226. First distal segment push seat; 227. First middle segment push seat; 228. First proximal segment push seat;

[0051] 23. Middle finger exoskeleton mechanism;

[0052] 24. Ring finger exoskeleton mechanism;

[0053] 25. Little finger exoskeleton mechanism; 251. Extended sliding hinge seat;

[0054] 3. Metacarpophalangeal joint angle detection module; 31. Linkage shaft; 32. Little finger angle sensor; 33. Sensor bracket;

[0055] 4. Pull cable assembly; 41. Upper pull cable outer tube; 42. Upper pull cable; 43. Lower pull cable outer tube; 44. Lower pull cable;

[0056] 5. Drive control module; 51. Protective housing; 52. Cable support component; 53. Drive assembly; 531. Winding reel; 531-1. First cable groove; 531-2. Second cable groove; 532. Servo motor; 533. Servo motor bracket; 54. Control board. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments and accompanying drawings. Here, the illustrative embodiments and descriptions of this invention are used to explain the invention, but are not intended to limit the invention.

[0058] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0059] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, element, step, or component, but does not exclude the presence or addition of one or more other features, elements, steps, or components.

[0060] It should also be noted that, unless otherwise specified, the term "connection" in this article can refer not only to a direct connection, but also to an indirect connection involving an intermediary.

[0061] In the following description, embodiments of the invention will be illustrated with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar parts, or the same or similar steps.

[0062] To address the core technical problems of existing wire-driven hand exoskeleton rehabilitation training devices, such as poor hand size adaptability and the inability to move laterally during finger flexion and extension leading to poor rehabilitation effects, this invention proposes a wire-driven hand exoskeleton rehabilitation training system (hereinafter referred to as the system). By setting up a sliding and adjustable finger exoskeleton mechanism and a rotatable thumb fixation seat, the system overcomes the shortcomings of the existing technology and improves the adaptability and effectiveness of rehabilitation training.

[0063] like Figures 1-5 As shown, the wire-driven hand exoskeleton rehabilitation training system in this embodiment of the invention may include: a connecting seat assembly 1 and a finger exoskeleton assembly 2, etc.

[0064] Among them, reference Figure 2 The connecting seat assembly 1 includes a palm back main seat 11 and a thumb fixing seat 12. In the palm back width direction, the thumb fixing seat 12 is mounted on the inner side of the palm back main seat 11 (the thumb side is the inner side, and the little finger side is the outer side), and is configured to be rotatable relative to the palm back main seat 11. A first sliding groove 112 extending in the palm back width direction is formed on the palm back main seat 11, and a second sliding groove 122 extending in the palm back width direction is formed on the thumb fixing seat 12. Optionally, as... Figure 3 As shown, a hinge seat 114 is provided on the inner side of the base plate 111 of the palm back main seat 11 to achieve a rotatable connection with the thumb fixing seat 12.

[0065] The finger exoskeleton assembly 2 includes a thumb exoskeleton mechanism 21, an index finger exoskeleton mechanism 22, a middle finger exoskeleton mechanism 23, a ring finger exoskeleton mechanism 24, and a little finger exoskeleton mechanism 25. The bottom of the corresponding metacarpophalangeal joint portion of the index finger exoskeleton mechanism 22, the middle finger exoskeleton mechanism 23, the ring finger exoskeleton mechanism 24, and the little finger exoskeleton mechanism 25 is provided with a first sliding hinge seat 201. Each first sliding hinge seat 201 is installed within a first sliding groove 112, allowing at least the index finger exoskeleton mechanism 22, the middle finger exoskeleton mechanism 23, and the ring finger exoskeleton mechanism 24 to slide within the first sliding groove 112. The bottom of the corresponding metacarpophalangeal joint portion of the thumb exoskeleton mechanism 21 is provided with a second sliding hinge seat 202, which is installed within a second sliding groove 122, allowing the thumb exoskeleton mechanism 21 to slide within the second sliding groove 122.

[0066] This invention allows the spacing of each finger exoskeleton mechanism to be flexibly adjusted along the width of the palm, which can accurately match individual differences such as the palm width and finger spacing of different patients, and can also adapt to the dynamic changes in palm size caused by hand swelling and muscle atrophy. It effectively solves the problem of traditional fixed structures being too tight or too loose, ensuring wearing comfort while ensuring stable transmission of line drive power and improving training effectiveness.

[0067] In this invention, each finger exoskeleton mechanism can slide along a corresponding groove, allowing the exoskeleton to move laterally in sync with changes in hand posture during the core rehabilitation exercise of flexion and extension. This precisely simulates the finger displacement trajectory during natural flexion and extension of the human hand, ensuring the training movements closely match the body's physiological movement patterns. This invention effectively activates the target rehabilitation muscle groups, avoids compensatory movements caused by deviations in movement trajectory, significantly improves the targeting and effectiveness of rehabilitation training, and helps patients recover hand motor function more quickly.

[0068] In this invention, the thumb fixation seat 12 can rotate relative to the palmar back main seat 11, and the thumb exoskeleton mechanism 21 is slidably adjusted within the second slide groove 122 via the second sliding hinge seat 202. This dual adjustment structure can flexibly adapt to the physiological posture of the patient's thumb, and the position and angle of the thumb exoskeleton mechanism 21 can be adjusted according to training needs to accurately match the coordinated movement trajectory of the thumb with the index, middle, and other four fingers. It is especially suitable for targeted training of thumb adduction, stiffness, and other impairments in stroke hemiplegic patients, effectively improving the coordinated movement control ability of the thumb and the other four fingers, and making the training scenario closer to the core movements such as grasping and palm opposition in daily life.

[0069] The exoskeleton mechanism of this invention allows for independent lateral sliding adjustment of each finger via a sliding groove. This enables flexible adjustment of the relative lateral positions of each mechanism according to the patient's hand movement, avoiding interference problems such as collisions and pulling that occur during finger flexion and extension in traditional fixed structures. Simultaneously, the coordinated design of the linear drive transmission and the sliding groove structure allows for smoother flexion and extension movements of each finger, further enhancing the stability and safety of the training process and providing a more patient-friendly training experience.

[0070] In some embodiments, in order to monitor the motion state of the metacarpophalangeal joints in real time, the system further includes a metacarpophalangeal joint angle detection module 3, which may include at least a little finger angle sensor 32, etc.

[0071] Considering the placement and detection method of the angle sensor, as one possible approach, the metacarpophalangeal joint angle detection module 3 includes a little finger angle sensor 32, such as... Figure 6As shown, the little finger angle sensor 32 is fixedly mounted relative to the first sliding hinge 201 in the little finger exoskeleton mechanism 25 via a sensor bracket 33. The first sliding hinge 201 in the little finger exoskeleton mechanism 25 can be configured as an extended sliding hinge 251, with its outer end extending from the first slide groove 112 and fixedly connected to the sensor bracket 33. This allows the little finger angle sensor 32 to move laterally simultaneously when the little finger exoskeleton mechanism 25 slides laterally. This method is suitable for scenarios where the little finger exoskeleton mechanism 25 has sliding freedom within the slide groove, resulting in a wider range of lateral adjustment for each mechanism in the finger exoskeleton assembly 2 and better applicability.

[0072] Specifically, the little finger angle sensor 32 is connected to the little finger exoskeleton mechanism 25 via a connecting shaft 31. The connecting shaft 31 is fixedly connected to the little finger exoskeleton mechanism 25 (specifically, it can be the first proximal phalanx lower connecting rod 222 or the first drive swing arm 220 of the little finger exoskeleton mechanism 25). The connecting shaft 31 is also rotatably configured relative to the hinge axis, so that the connecting shaft 31 and the little finger exoskeleton mechanism 25 rotate synchronously. The slidable configuration of the little finger exoskeleton mechanism 25 can be achieved by extending the sliding hinge seat 251, that is, the extended sliding hinge seat 251 of the little finger exoskeleton mechanism 25 extends outward along the slide groove and can be fixedly connected to the sensor bracket 33 by fasteners. In this embodiment, the little finger exoskeleton mechanism 25 is slidably configured within the first slide groove 112 to ensure the stability of mechanical transmission and the reliability of detection signals. The little finger angle sensor 32 can be a contact sensor, such as a potentiometer sensor or a photoelectric encoder.

[0073] Furthermore, the part of the connecting rod shaft 31 that is fixedly connected to the little finger exoskeleton mechanism 25 can be a plate-like part perpendicular to the axis, and can be fixedly connected to the little finger exoskeleton mechanism 25 by fasteners. The synchronous rotation design of the connecting rod shaft 31 can transmit the angle change of the little finger exoskeleton mechanism 25 to the sensor in real time, with high detection accuracy and low signal delay, and is suitable for scenarios with high data accuracy requirements such as fine flexion and extension training and joint range of motion limit testing.

[0074] In addition, as another possible implementation, the little finger angle sensor 32 can also be fixedly mounted relative to the base plate 111 of the palm back main seat 11 via a sensor bracket 33. Alternatively, the sensor bracket 33 can be directly fixedly mounted on one side of the palm back main seat 11, or connected via the aforementioned extended sliding hinge 251, in which case the extended sliding hinge 251 must also be fixedly connected to the base plate 111 of the palm back main seat 11. This method avoids interference from sliding displacement on mechanical transmission, ensuring the stability of the detection data, and is particularly suitable for the rehabilitation phase involving repetitive training of a fixed joint angle range.

[0075] Optionally, the little finger angle sensor 32 can be a non-contact sensor, such as a rotary transformer or a magnetic encoder. The little finger exoskeleton mechanism 25 is fixedly or slidably disposed within the first slide groove 112. The non-contact sensor (rotary transformer, magnetic encoder) does not need to establish a rigid mechanical connection with the little finger exoskeleton mechanism 25, and can achieve angle detection by relying on electromagnetic induction or magnetic field changes; in this way, the little finger exoskeleton mechanism 25 can be fixedly or slidably disposed within the first slide groove 112, adapting to more training scenario requirements.

[0076] The detection method without rigid mechanical connections eliminates equipment wear caused by contact abrasion, extends the lifespan of sensors, and reduces the equipment maintenance costs for long-term rehabilitation training. The slidable feature of the little finger exoskeleton mechanism 25 allows it to be combined with the size adaptation function of the slide groove. While detecting joint angles, it meets the needs of different patients with different hand sizes, realizing the dual functions of size adaptation and angle detection, and improving the system's personalized adaptation capability.

[0077] In addition, in other implementations, angle detection can also be performed using a gyroscope or a visual sensor.

[0078] In other embodiments, the metacarpophalangeal joint angle detection module 3 includes a thumb angle sensor, an index finger angle sensor, a middle finger angle sensor, a ring finger angle sensor, and a second little finger angle sensor. These sensors are positioned 1-3 cm behind the joint (proximal side) of each finger's exoskeleton mechanism. Specifically, they can be directly mounted on a support frame corresponding to each finger's exoskeleton mechanism. With the fixed support of the support frame, the sensors are stably positioned and accurately detected, providing real-time and reliable angle data support for five-finger coordinated rehabilitation training.

[0079] Specifically, an active gear is installed at the proximal end of the joint hinge shaft of the finger exoskeleton mechanism, and the active gear is rigidly connected to the joint hinge shaft. A sensor is fixed at a preset position on the corresponding support frame, and a driven gear is mounted on the sensor's detection shaft. The driven gear meshes with the active gear, and the gear ratio is 1:1. When the joint rotates, the hinge shaft drives the active gear to rotate synchronously, and the active gear drives the driven gear to rotate, which in turn drives the sensor's detection shaft to rotate, directly converting the joint's mechanical rotation angle into an electrical signal output. The advantages of this structure are high detection accuracy, low signal delay, and the fixing effect of the support frame can prevent the sensor from shifting due to finger movement, making it suitable for delicate rehabilitation training scenarios with stringent requirements for angle detection accuracy.

[0080] In some other embodiments, the metacarpophalangeal joint angle detection module 3 may include a thumb angle acquisition unit, an index finger angle acquisition unit, a middle finger angle acquisition unit, a ring finger angle acquisition unit, and a little finger angle acquisition unit. This type of angle acquisition unit abandons the traditional direct contact detection method using sensors, and instead determines the current rotation angle of the corresponding finger exoskeleton mechanism through indirect detection logic such as calculating the length of the pull wire or converting the rotation angle of the winding disc.

[0081] In some embodiments, the motion state of the entire metacarpophalangeal joint region is obtained based on the real-time angle parameters of the little finger metacarpophalangeal joint detected by the metacarpophalangeal joint angle detection module 3. The system further includes at least one of the following units: a five-finger coordinated motion control unit, an adaptive impedance control unit, and an angular velocity adjustment control unit.

[0082] The five-finger coordinated motion control unit is used to determine the angular velocity of the little finger based on the real-time angle parameters of the little finger's metacarpophalangeal joint, and to synchronously match the driving angular velocities of the other fingers based on the little finger's angular velocity. Optionally, the real-time angular velocity of the little finger (reflecting the speed of the little finger's flexion and extension movements) can be obtained through differential calculation; then, according to a preset "five-finger coordinated matching rule," the angular velocity of the little finger is used as a benchmark to synchronously adjust the linear driving angular velocities of the exoskeleton mechanisms 24 of the index, middle, and ring fingers, ensuring the synchronicity and coordination of the five-finger flexion and extension movements. Optionally, this unit can also be used for isolated movement training, that is, controlling the little finger angle to remain fixed while driving the other fingers to move independently, or vice versa, to specifically improve the patient's finger isolated control ability.

[0083] In the above embodiments, stroke patients with hemiplegia often exhibit impaired finger coordination, such as stiff, coordinated movement of all five fingers during finger flexion and lack of synchronization during finger extension. This unit synchronizes the movements of other fingers based on the angular velocity of the little finger, which can accurately correct abnormal coordination patterns: on the one hand, it avoids compensatory movements caused by excessively fast or slow movements of a single finger (such as using wrist force to replace finger movement); on the other hand, through standardized coordination rhythm training, it promotes the remodeling of damaged neural pathways, helps patients restore normal hand motor coordination ability, and makes the training closer to the natural movement patterns of grasping and extending in daily life.

[0084] The adaptive impedance control unit is used to determine the rate and amplitude of the little finger angle change based on the real-time angle parameters of the little finger metacarpophalangeal joint, and adjust the impedance of all exoskeleton mechanisms of the little finger exoskeleton mechanism 25 or the finger exoskeleton assembly 2. Optionally, after acquiring the real-time angle parameters of the little finger metacarpophalangeal joint, the unit generates an angle-time change curve; two features, the rate of angle change (reflecting the smoothness of movement) and the amplitude of angle change (reflecting the range of motion in a single flexion and extension), can be extracted from the curve. The impedance is dynamically adjusted according to the feature parameters: if the rate of angle change drops sharply (indicating muscle spasm, movement obstruction, etc.), the impedance of the corresponding exoskeleton mechanism (little finger or whole finger) can be reduced to avoid overstretching; if the angle change is smooth and the amplitude is stable (indicating normal muscle tension, etc.), the impedance can be maintained or moderately increased to enhance the resistance effect of training.

[0085] The angular velocity adjustment control unit is used to determine the angular velocity of the little finger based on the real-time angle parameters of the little finger metacarpophalangeal joint, and to pre-set the maximum flexion / extension angle of the little finger metacarpophalangeal joint corresponding to the patient, and automatically adjust the angular velocity of the little finger metacarpophalangeal joint in real time. Optionally, this unit receives the real-time angle parameters of the little finger metacarpophalangeal joint and the calculated real-time angular velocity, and recalls the pre-stored maximum flexion angle and maximum extension angle of the patient's little finger metacarpophalangeal joint (personalized parameters, set based on the patient's rehabilitation assessment results); then it judges in real time whether the current angle is close to the preset maximum flexion / extension angle (such as reaching 80% of the maximum angle); when the angle is close to the limit threshold, it automatically reduces the angular velocity of the little finger exoskeleton mechanism 25 to avoid rapid impact on the joint limit and damage; when the angle is far from the limit threshold, it maintains or moderately increases the angular velocity to ensure training efficiency.

[0086] In some embodiments, the system may further include a gripping motion control unit and a thumb sliding traction unit, used to control the sliding motion of the thumb exoskeleton mechanism 21 along the second slide groove 122 based on the real-time angle parameters of the little finger metacarpophalangeal joint. For example, when the little finger angle is detected to reach a target value, the corresponding sliding hinge is triggered to move within the slide groove. This design can control the thumb to slide to the opposing palm position when the little finger is flexed, simulating everyday gripping motion.

[0087] The system in this invention can break free from the limitations of traditional passive fixed-track training, and can dynamically adjust training parameters according to the patient's real-time movement status, realizing intelligent and personalized rehabilitation training, significantly improving the clinical applicability of the system, and is especially suitable for the full-cycle rehabilitation needs of stroke patients from the acute phase to the recovery phase.

[0088] In some embodiments, such as Figure 2 and Figure 4As shown, the exoskeleton mechanisms 22 (index finger), 23 (middle finger), 24 (ring finger), and 25 (little finger) are all designed as three-joint motion drive structures, which may include: a first drive arm 220, a first proximal phalanx upper link 221, a first proximal phalanx lower link 222, and a first proximal phalanx pusher 228; a first middle phalanx L-shaped follower arm 223, a first middle phalanx lower link 225, and a first middle phalanx pusher 227; and a first distal phalanx L-shaped follower arm 224 and a first distal phalanx pusher 226, etc. The components work together to achieve the linkage drive of the three joints.

[0089] It should be noted that in the following text, "proximal" and "distal" are terms relative to human anatomical position, with the distance between the component and the palm as the criterion. The proximal end refers to the end of the component closest to the palm (or the palmar main seat 11, sliding hinge seat), which is the input end of the driving force or the connection end with the fixed structure. The distal end refers to the end of the component furthest from the palm and closest to the fingertips, which is the output end of the driving force or the connection end with subsequent moving components. The middle part can be the middle position of the rod or any position between the two ends. A hinge can refer to a connecting shaft passing through a hole to achieve a rotatable connection; the specific connection structure can be arbitrary.

[0090] Wherein, the lower end of the first drive swing arm 220 is hinged to the upper part of the first sliding hinge seat 201, the upper end of the first drive swing arm 220 is hinged to the proximal end of the first proximal upper connecting rod 221, the distal end of the first proximal upper connecting rod 221 is hinged to the middle part of the first middle L-shaped follower swing arm 223, the proximal end of the first proximal lower connecting rod 222 is hinged to the upper part of the first sliding hinge seat 201, and the middle part of the first proximal lower connecting rod 222 is hinged to the proximal end of the first middle L-shaped follower swing arm 223.

[0091] The proximal end of the first middle section L-shaped follower rocker arm 223 is also hinged to the upper part of the first proximal section push seat 228. The distal end of the first middle section L-shaped follower rocker arm 223 is hinged to the middle part of the first distal section L-shaped follower rocker arm 224. The proximal end of the first middle section lower connecting rod 225 is hinged to the distal end of the first proximal section lower connecting rod 222. The distal end of the first middle section lower connecting rod 225 is hinged to the proximal end of the first distal section L-shaped follower rocker arm 224.

[0092] The proximal end of the first distal L-shaped follower rocker arm 224 is also hinged to the upper part of the first middle section push seat 227, and the distal end of the first distal L-shaped follower rocker arm 224 is hinged to the upper part of the first distal push seat 226.

[0093] This invention, through the articulated connection of multiple components such as the first driving swing arm 220, the proximal joint link, and the middle L-shaped follower swing arm, can precisely transmit driving force, enabling synchronous flexion and extension of the proximal, middle, and distal joints. This perfectly matches the linkage characteristics of the natural movement of the human finger, avoiding the distortion of training patterns caused by independent movement of a single joint and ensuring the physiological adaptability of rehabilitation training. The rigid articulated structure of the multi-link can effectively constrain the degrees of freedom of movement of each joint, avoiding deviations such as offset and wobbling during movement, ensuring that the movement angle and speed of each joint are precisely matched with the driving command, meeting the requirements of precision in hand fine rehabilitation training. The multi-link structure can disperse and buffer the driving force, allowing the driving force to be smoothly transmitted from the first driving swing arm 220 to the joint push seats, reducing pressure or impact damage caused by local force concentration; at the same time, the movement constraint of the mechanism itself can limit excessive movement when the patient's muscles are in spasm, further improving the safety of training.

[0094] Furthermore, the linkage mechanism can adopt a modular hinge design. When the finger exoskeleton mechanism slides along the first slide groove 112 through the first sliding hinge seat 201 to adjust its position, the relative angle between the linkages can be adaptively adjusted without mechanism jamming, ensuring that the size adaptation and the three-joint drive functions are coordinated to meet the needs of patients with different hand sizes.

[0095] In some embodiments, such as Figure 5 As shown, considering the physiological structural characteristics of the human thumb, the thumb exoskeleton mechanism 21 is designed as a motion drive structure with two joints, which may include: a second drive swing arm 210, a second proximal phalanx upper connecting rod 213, a second proximal phalanx lower connecting rod 214, and a second proximal phalanx push seat 219; a second distal phalanx L-shaped follower swing arm 215, a second distal phalanx lower connecting rod 217, a front push rod 216, and a second distal phalanx push seat 218, etc.

[0096] The lower end of the second drive arm 210 is hinged to the upper part of the second sliding hinge seat 202, the upper end of the second drive arm 210 is hinged to the proximal end of the second proximal upper connecting rod 213, the distal end of the second proximal upper connecting rod 213 is hinged to the middle part of the second distal L-shaped follower arm 215, the proximal end of the second proximal lower connecting rod 214 is hinged to the upper part of the second sliding hinge seat 202, and the middle part of the second proximal lower connecting rod 214 is hinged to the proximal end of the second distal L-shaped follower arm 215.

[0097] The proximal end of the second distal L-shaped follower rocker arm 215 is also hinged to the upper part of the second proximal push seat 219. The distal end of the second distal L-shaped follower rocker arm 215 is hinged to the upper end of the front push rod 216. The proximal end of the second distal lower connecting rod 217 is hinged to the distal end of the second proximal lower connecting rod 214. The distal end of the second distal lower connecting rod 217 is hinged to the lower end of the front push rod 216. The lower end of the front push rod 216 is also hinged to the upper part of the second distal push seat 218.

[0098] In the above embodiments, the present invention can accurately transmit driving force through the articulation and series connection of multiple components such as the first driving swing arm 220, the proximal link, and the middle L-shaped follower swing arm, so that the proximal, middle, and distal joints can flex and extend synchronously, perfectly matching the linkage characteristics of the natural movement of human fingers, avoiding the distortion of training mode caused by independent movement of a single joint, and ensuring the physiological adaptability of rehabilitation training.

[0099] In the aforementioned embodiments, each pusher can be used to connect with the proximal, middle, and distal phalanges of the patient's fingers, respectively, to transmit driving force to the patient's thumb. For example, the bottom of the pusher is provided with a connecting groove extending along the width of the finger, through which a strap can be threaded to achieve a fixed connection with the finger.

[0100] Furthermore, the base plate 111 of the palm back main seat 11 may be provided with long slots 115 on both sides in the width direction, through which straps can be threaded to achieve a fixed connection between the palm back main seat 11 and the back of the patient's hand.

[0101] In some embodiments, to improve the stability, accuracy and safety of the finger exoskeleton mechanism in sliding adjustment along the width of the palm, the first slide groove 112, the second slide groove 122 and the corresponding first sliding hinge seat 201 and second sliding hinge seat 202 all adopt a T-type fit structure. At the same time, a limiting structure is provided at both ends of the slide groove. The limiting structure can be a limiting block, a limiting pin or the like, to limit the sliding stroke range of the sliding hinge seat in the slide groove.

[0102] In some embodiments, such as Figure 7 As shown, the upper ends of the first drive swing arm 220 and the second drive swing arm 210 are formed with an upper pull-line connecting part A and a lower pull-line connecting part B, and the lower ends of the first drive swing arm 220 and the second drive swing arm 210 are formed with a lower pull-line guide part C.

[0103] In the direction of finger extension, the pull-up cable connection A is located on the side of the drive arm away from the fingertip, and is used for the fixed connection of the pull-up cable 42; by pulling or releasing the pull-up cable 42, a driving force in the extension direction is provided to the drive arm, which drives the corresponding finger joint to extend.

[0104] Along the length extension direction of the finger, the pull-down cable connection part B is located on the side of the drive arm near the fingertip, and is used for the fixed connection of the pull-down cable 44; the pull-down cable guide part C is located on the side of the drive arm near the fingertip, and is used for the winding guidance of the pull-down cable 44; the pull-down cable guide part C can be equipped with structures such as an optical axis, an arc-shaped groove, and a guide pulley to change the transmission direction of the pull-down cable 44, avoid interference between the pull-down cable 44 and the drive arm or other linkage mechanisms, and ensure that the tension of the pull-down cable 44 can be accurately applied to the drive arm. Through the pulling or releasing of the pull-down cable 44, a flexion-direction driving force is provided to the drive arm, which, in conjunction with the movement of the pull-up cable 42, realizes the reciprocating rotation of the drive arm, thereby driving the finger joint to complete the flexion and extension rehabilitation training movements.

[0105] As one possible implementation, the first drive swing arm 220 and the second drive swing arm 210 can be assembled into a double-layer plate structure, with the upper and lower connecting rods of the proximal section both located between the double-layer plates. The aforementioned upper pull cable connection part A, lower pull cable connection part B and lower pull cable guide part C can be connecting shafts fixed between the double-layer plates, and can be fixedly connected to the pull cable by means of buckles, threaded locking or other methods.

[0106] The drive control module 5 controls the extension and retraction length of the pull cable assembly 4 (upper pull cable 42, lower pull cable 44), causing the drive swing arm to rotate around the hinge point with the sliding hinge seat. The rotation of the drive swing arm transmits power to each joint push seat through subsequent linkage mechanisms (such as the first proximal segment upper link 221, the second proximal segment upper link 213, etc.), ultimately driving the patient's fingers to complete flexion and extension movements. At the same time, the position design of each pull cable connection / guide part ensures that the pull cable is always within a reasonable tension range during transmission, avoiding transmission failure caused by slack or overstretching, and ensuring the stability of rehabilitation training.

[0107] In some embodiments, such as Figure 3 As shown, both the palm back main seat 11 and the thumb fixing seat 12 are equipped with support frames 113, each support frame 113 being positioned correspondingly on the side of each finger exoskeleton mechanism away from the fingertip; this design avoids the flexion and extension movement trajectory of the finger exoskeleton mechanism, preventing movement interference. Each support frame 113 has two through holes, upper and lower, the diameter of which matches the outer diameter of the pull cable outer tube, for threading the pull cable outer tube and achieving positioning and guidance of the pull cable outer tube. The pull cable outer tube may include an upper pull cable outer tube 41 and a lower pull cable outer tube 43, for threading the upper pull cable 42 and the lower pull cable 44 respectively.

[0108] The support frame 113 provides rigid support to the cable assembly 4 through the through hole, which can prevent the cable assembly 4 from shifting or shaking due to device vibration or finger movement during training. This avoids problems such as cable slack and tension fluctuation, ensures the accuracy of the driving force transmission of the cable drive system to the drive arm, and improves the accuracy of finger joint movement control.

[0109] In some embodiments, such as Figure 1 and Figure 8 As shown, to achieve precise power output and stable control of the flexion and extension movements of each finger exoskeleton mechanism, the system also includes a drive control module 5. The drive control module 5 includes a protective housing 51, a cable support component 52, and a drive assembly 53. It should be noted that if the drive control module 5 is designed to be large or heavy, it can be placed on a desktop or other fixed object, without needing to be mounted on the human body. In this case, the drive control module 5 can be connected to each finger exoskeleton mechanism via flexible cables to transmit driving force.

[0110] The drive assembly 53 and the pull wire support component 52 are fixedly installed inside the protective housing 51. The protective housing 51 serves as the main support and protection body for the module, providing installation space for the internal components and also acting as a dustproof, collision-proof, and interference-proof barrier, ensuring the stable operation of the drive assembly 53 and the pull wire support component 52 during rehabilitation training. The pull wire support component 52 is fixedly installed inside the protective housing 51 and has a through-hole structure (such as through holes, slots, etc.) adapted to each pull wire assembly 4 for the corresponding pull wire outer tube to pass through, achieving precise guidance and stable fixation of the pull wire assembly 4.

[0111] The drive component 53 includes five drive sub-components, each responsible for driving the flexion / extension movements of the exoskeleton mechanism of each finger. This allows for independent control of the flexion and extension movements of each finger, including individual adjustment of parameters such as movement speed, driving force, and movement range. This design can precisely adapt to the differences in rehabilitation status of different fingers in stroke hemiplegic patients (such as significant spasticity in some fingers or insufficient mobility in others), providing patients with personalized rehabilitation training programs.

[0112] like Figure 9 As shown, the drive sub-assembly includes a winding reel 531, a servo motor 532, and a servo motor bracket 533. The servo motor bracket 533 is fixedly installed inside the protective housing 51, and the servo motor 532 is mounted on the servo motor bracket 533. The output structure of the servo motor 532 is fixedly connected to the winding reel 531. As the core power output unit of the drive control module 5, the drive sub-assembly can adopt an integrated structural design to achieve precise power transmission to the corresponding finger exoskeleton mechanism.

[0113] The winding reel 531 serves as the winding and power transmission carrier for the pull wire, connecting and driving the pull wires (upper pull wire 42, lower pull wire 44) of the corresponding finger exoskeleton mechanism, converting rotational power into linear traction power for the pull wire; the servo motor 532 serves as the core power source, providing controllable rotational power to the drive sub-component, and its output speed and rotation angle can be precisely adjusted, thereby realizing speed and stroke control of finger flexion and extension movements; the servo motor bracket 533 serves as a supporting and fixing component, used to achieve stable installation of the servo motor 532 within the protective housing 51, while ensuring the relative positional accuracy between the servo motor 532 and the winding reel 531.

[0114] Furthermore, the winding reel 531 has a first groove 531-1 and a second groove 531-2 for winding the upper pull wire 42 and the lower pull wire 44 of the same finger exoskeleton mechanism, respectively. The upper pull wire 42 and the lower pull wire 44 are wound in opposite directions in the two grooves. The double-groove reverse winding design of the winding reel 531 enables coordinated control of the flexion and extension movements of the same finger. Through a single rotation of the servo motor 532, the retraction and extension of the upper pull wire 42 and the lower pull wire 44 of the same finger are synchronously completed. When the servo motor 532 rotates forward, the winding reel 531 winds up the pull-up cable 42 through the first cable groove 531-1, and simultaneously releases the pull-down cable 44 through the second cable groove 531-2. The traction force of the pull-up cable 42 drives the corresponding finger exoskeleton mechanism to complete the extension movement. When the servo motor 532 rotates in the reverse direction, the winding reel 531 winds up the pull-down cable 44 through the second cable groove 531-2, and simultaneously releases the pull-up cable 42 through the first cable groove 531-1. The traction force of the pull-down cable 44 drives the corresponding finger exoskeleton mechanism to complete the flexion movement. This design eliminates the need for additional reversing drive components, simplifies the transmission structure, reduces equipment complexity, and ensures precise coordination between the movements of the pull-up cable 42 and the pull-down cable 44, guaranteeing smooth and continuous finger flexion and extension movements, and improving the stability and reliability of rehabilitation training.

[0115] In some embodiments, such as Figure 8 As shown, a control board 54 is also provided inside the protective housing 51, allowing the system to control the drive parameters of the servo motor 532 via the control board 54. Optionally, the control board 54 is fixedly installed inside the protective housing 51 by bolts, clips, or brackets, with the installation position avoiding the drive assembly 53, the cable support component 52, and the movement trajectory of the cable to ensure no interference with other components; at the same time, the control board 54 has reserved signal interfaces with the drive assembly 53 and external detection modules (such as the metacarpophalangeal joint angle detection module 3), and electrical connections are achieved through wires to form a complete control signal transmission path.

[0116] The hand exoskeleton rehabilitation training system of this invention addresses the rehabilitation needs of patients with hand dysfunction such as hemiplegia due to stroke. Through structural innovation and technological optimization, it achieves core advantages that combine personalization, comfort, adaptability, and precision, including at least the following:

[0117] (1) The present invention adopts an adjustable structure design of sliding hinge and sliding groove, and the distance between each finger exoskeleton mechanism can be flexibly adjusted by sliding along the sliding groove. This design can accurately adapt to individual physiological differences such as palm width and finger spacing of different patients. At the same time, it can adjust the matching position in real time according to the dynamic changes such as hand swelling and muscle atrophy during the patient's training process, ensuring that the exoskeleton and fingers are always in the best fit. From the structural basis, it ensures the comfort and effectiveness of rehabilitation training and solves the pain point of poor adaptability of traditional fixed structures.

[0118] (2) This invention abandons the direct-drive motor design of traditional rigid exoskeletons and adopts a wire-driven method with the drive control module 5 externally mounted. The drive control module 5 is connected to the hand exoskeleton via the wire assembly 4. This design significantly reduces the structural weight of the hand exoskeleton, effectively reduces the burden on the back of the patient's hand, and improves the tolerance for long-term wear training. At the same time, the external drive module avoids interference from heavy components such as motors on the movement of the human hand, making it lighter to wear and more flexible to move.

[0119] (3) Each finger exoskeleton adopts an innovative multi-four-bar linkage design. This structure has a higher coupling with the natural movement trajectory of the human hand and can accurately conform to the physiological movement law of the finger joints. Compared with the traditional structure, its drive compliance is significantly improved, which can effectively avoid movement jamming or trajectory deviation during training, reduce the generation of compensatory movements, help patients establish a movement pattern that conforms to physiological logic, and improve the pertinence of rehabilitation training.

[0120] (4) The present invention integrates a metacarpophalangeal joint angle detection module 3, which can collect metacarpophalangeal joint motion angle parameters in real time and accurately through precise connection with the finger exoskeleton mechanism. Based on the detection data, it can not only accurately capture the patient's movement intention, but also realize targeted assisted rehabilitation training through feedback control logic; dynamically adjust the driving force and rhythm according to the patient's movement state, avoid "passive forced training", realize the intelligent rehabilitation goal of "on-demand assistance", and significantly improve the accuracy and safety of training.

[0121] In this invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or in place of features of other embodiments.

[0122] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations of the embodiments of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wire-driven hand exoskeleton rehabilitation training system, characterized in that, The system includes: a connector assembly (1) and a finger exoskeleton assembly (2); The connecting seat assembly (1) includes a palm back main seat (11) and a thumb fixing seat (12). In the palm back width direction, the thumb fixing seat (12) is installed on the inner side of the palm back main seat (11) and is configured to be rotatable relative to the palm back main seat (11). A first sliding groove (112) extending in the palm back width direction is formed on the palm back main seat (11), and a second sliding groove (122) extending in the palm back width direction is formed on the thumb fixing seat (12). The finger exoskeleton assembly (2) includes a thumb exoskeleton mechanism (21), an index finger exoskeleton mechanism (22), a middle finger exoskeleton mechanism (23), a ring finger exoskeleton mechanism (24), and a little finger exoskeleton mechanism (25); the bottom of the corresponding metacarpophalangeal joint of the index finger exoskeleton mechanism (22), the middle finger exoskeleton mechanism (23), the ring finger exoskeleton mechanism (24), and the little finger exoskeleton mechanism (25) is provided with a first sliding hinge (201), and each first sliding hinge (201) is installed on the... The first slide groove (112) is provided so that at least the index finger exoskeleton mechanism (22), the middle finger exoskeleton mechanism (23) and the ring finger exoskeleton mechanism (24) can slide in the first slide groove (112); the bottom of the corresponding metacarpophalangeal joint of the thumb exoskeleton mechanism (21) is provided with a second sliding hinge (202), the second sliding hinge (202) is installed in the second slide groove (122) so that the thumb exoskeleton mechanism (21) can slide in the second slide groove (122).

2. The wire-driven hand exoskeleton rehabilitation training system according to claim 1, characterized in that, The system also includes a metacarpophalangeal joint angle detection module (3), which includes at least a little finger angle sensor (32); the little finger angle sensor (32) is configured as follows: The little finger angle sensor (32) is fixedly mounted relative to the first sliding hinge (201) in the little finger exoskeleton mechanism (25) via a sensor bracket (33). The first sliding hinge (201) in the little finger exoskeleton mechanism (25) is an extended sliding hinge (251). The outer end of the extended sliding hinge (251) extends from the first slide groove (112) and is fixedly connected to the sensor bracket (33), so that the little finger angle sensor (32) is driven synchronously when the little finger exoskeleton mechanism (25) slides laterally. Alternatively, the little finger angle sensor (32) is fixed relative to the back of the hand main seat (11) via a sensor bracket (33).

3. The wire-driven hand exoskeleton rehabilitation training system according to claim 2, characterized in that, Based on the real-time angle parameters of the little finger metacarpophalangeal joint detected by the metacarpophalangeal joint angle detection module (3), the motion state of the entire metacarpophalangeal joint region is obtained. The system also includes at least one of the following units: The five-finger coordinated motion control unit is used to determine the angular velocity of the little finger based on the real-time angle parameters of the metacarpophalangeal joint of the little finger, and to synchronously match the driving angular velocities of other fingers based on the angular velocity of the little finger. An adaptive impedance control unit is used to determine the rate and amplitude of the little finger angle change based on the real-time angle parameters of the little finger metacarpophalangeal joint, and to adjust the impedance of all exoskeleton mechanisms of the little finger exoskeleton mechanism (25) or the finger exoskeleton assembly. An angular velocity adjustment control unit is used to determine the angular velocity of the little finger based on the real-time angle parameters of the little finger metacarpophalangeal joint, and to pre-set the maximum flexion / extension angle of the little finger metacarpophalangeal joint for the corresponding patient, and to automatically adjust the angular velocity of the little finger metacarpophalangeal joint in real time.

4. The linearly driven hand exoskeleton rehabilitation training system according to any one of claims 1-3, characterized in that, The exoskeleton mechanisms of the index finger (22), middle finger (23), ring finger (24), and little finger (25) are all designed as three-joint motion-driven structures, including: First drive swing arm (220), first proximal link upper link (221), first proximal link lower link (222) and first proximal push seat (228); The first middle section L-shaped follower swing arm (223), the first middle section lower connecting rod (225), and the first middle section push seat (227); The first distal L-shaped follower swing arm (224) and the first distal pusher (226); Wherein, the lower end of the first drive swing arm (220) is hinged to the upper part of the first sliding hinge seat (201), the upper end of the first drive swing arm (220) is hinged to the proximal end of the first proximal upper connecting rod (221), the distal end of the first proximal upper connecting rod (221) is hinged to the middle part of the first middle L-shaped follower swing rod (223), the proximal end of the first proximal lower connecting rod (222) is hinged to the upper part of the first sliding hinge seat (201), and the middle part of the first proximal lower connecting rod (222) is hinged to the proximal end of the first middle L-shaped follower swing rod (223). The proximal end of the first middle section L-shaped follower rocker arm (223) is also hinged to the upper part of the first proximal section push seat (228), the distal end of the first middle section L-shaped follower rocker arm (223) is hinged to the middle part of the first distal section L-shaped follower rocker arm (224), the proximal end of the first middle section lower connecting rod (225) is hinged to the distal end of the first proximal section lower connecting rod (222), and the distal end of the first middle section lower connecting rod (225) is hinged to the proximal end of the first distal section L-shaped follower rocker arm (224). The proximal end of the first distal L-shaped follower rocker arm (224) is also hinged to the upper part of the first middle section push seat (227), and the distal end of the first distal L-shaped follower rocker arm (224) is hinged to the upper part of the first distal push seat (226).

5. The wire-driven hand exoskeleton rehabilitation training system according to claim 4, characterized in that, The thumb exoskeleton mechanism (21) is designed as a two-joint motion-driven structure, including: Second drive swing arm (210), second proximal link upper link (213), second proximal link lower link (214), and second proximal push seat (219); The second distal L-shaped follower swing arm (215), the second distal lower connecting rod (217), the front push rod (216), and the second distal push seat (218); Wherein, the lower end of the second drive swing arm (210) is hinged to the upper part of the second sliding hinge seat (202), the upper end of the second drive swing arm (210) is hinged to the proximal end of the second proximal joint upper connecting rod (213), the distal end of the second proximal joint upper connecting rod (213) is hinged to the middle part of the second distal joint L-shaped follower swing rod (215), the proximal end of the second proximal joint lower connecting rod (214) is hinged to the upper part of the second sliding hinge seat (202), and the middle part of the second proximal joint lower connecting rod (214) is hinged to the proximal end of the second distal joint L-shaped follower swing rod (215); The proximal end of the second distal L-shaped follower rocker arm (215) is also hinged to the upper part of the second proximal push seat (219). The distal end of the second distal L-shaped follower rocker arm (215) is hinged to the upper end of the front push rod (216). The proximal end of the second distal lower connecting rod (217) is hinged to the distal end of the second proximal lower connecting rod (214). The distal end of the second distal lower connecting rod (217) is hinged to the lower end of the front push rod (216). The lower end of the front push rod (216) is hinged to the upper part of the second distal push seat (218).

6. The wire-driven hand exoskeleton rehabilitation training system according to claim 5, characterized in that, The upper ends of the first drive swing arm (220) and the second drive swing arm (210) are formed with an upper pull-line connecting part (A) and a lower pull-line connecting part (B), and the lower ends of the first drive swing arm (220) and the second drive swing arm (210) are formed with a lower pull-line guide part (C). In the direction of finger extension, the pull-up cable connection (A) is located on the side of the drive arm away from the fingertip, and is used for the fixed connection of the pull-up cable (42). In the direction of finger extension, the pull-down cable connector (B) is located on the side of the drive arm near the fingertip and is used for the fixed connection of the pull-down cable (44). In the direction of finger extension, the pull-down cable guide (C) is located on the side of the drive arm near the fingertip and is used for guiding the pull-down cable (44).

7. The wire-driven hand exoskeleton rehabilitation training system according to claim 6, characterized in that, Both the palm back main seat (11) and the thumb fixing seat (12) are provided with support frames (113), and each support frame (113) is provided on the side of each finger exoskeleton mechanism away from the fingertip. The support frame (113) has two through holes, one above and one below, for threading the pull wire assembly.

8. The wire-driven hand exoskeleton rehabilitation training system according to claim 7, characterized in that, The system also includes a drive control module (5), which includes: a protective housing (51), a pull wire support component (52), and a drive assembly (53). The drive assembly (53) and the pull wire support component (52) are fixedly installed inside the protective box (51). The drive assembly (53) includes five drive sub-assemblies, which are used to drive the flexion / extension movements of each finger exoskeleton mechanism in a corresponding manner. The pull wire support component (52) is used for each pull wire assembly to pass through, so as to guide and fix it.

9. The wire-driven hand exoskeleton rehabilitation training system according to claim 8, characterized in that, The drive sub-assembly includes a winding reel (531), a servo motor (532), and a servo motor bracket (533). The servo motor bracket (533) is fixedly installed inside the protective housing (51). The servo motor (532) is installed on the servo motor bracket (533). The output structure of the servo motor (532) is fixedly connected to the winding reel (531).

10. The wire-driven hand exoskeleton rehabilitation training system according to claim 9, characterized in that, The winding reel (531) has a first groove (531-1) and a second groove (531-2) for winding the upper pull wire (42) and the lower pull wire (44) of the same finger exoskeleton mechanism, respectively. The upper pull wire (42) and the lower pull wire (44) are wound in opposite directions in the two grooves.

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