Finger exoskeleton rehabilitation robot driven by double joints cooperatively

Abstract

The invention discloses a finger exoskeleton rehabilitation robot driven by double joints cooperatively, which belongs to the technical field of rehabilitation auxiliary equipment and comprises a fixing unit, a first finger connecting rod driving device, a second finger connecting rod driving device, a third finger connecting rod driving device, a fourth finger connecting rod driving device and a fifth finger connecting rod driving device. The first finger connecting rod driving device, the second finger connecting rod driving device, the third finger connecting rod driving device, the fourth finger connecting rod driving device and the fifth finger connecting rod driving device are all arranged on the upper side of the fixing device, and by the adoption of the structure, the structure is compact, the number of driving parts is small, and the flexible buffering and joint cooperative driving capacity is achieved.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation assistive device technology, and in particular to a finger exoskeleton rehabilitation robot with dual-joint collaborative drive. Background Technology

[0002] Stroke often results in limited upper limb movement, especially in the fingers, severely impacting daily living abilities and necessitating finger rehabilitation training. Research indicates that high-intensity, repetitive hand training can activate cortical neural networks, promote neural function remodeling, and accelerate motor recovery. Current treatment primarily relies on therapists performing passive flexion and extension exercises manually, which suffers from several drawbacks: high dependence on human intervention, limited capacity to serve only one person at a time, difficulty in maintaining training intensity and precision long-term, lack of standardization, and insufficient quantitative assessment, all of which affect training efficiency and effectiveness.

[0003] Although some finger flexion and extension training devices have emerged, existing finger rehabilitation training devices typically suffer from the following problems: First, they use rigid linkages or rigid transmissions to apply driving force to the fingers, which can easily cause discomfort or even adverse external forces when the wearer's finger range of motion is limited or muscle tension is present; Second, in order to achieve coordinated flexion and extension of the metacarpophalangeal joints and proximal interphalangeal joints, multiple motors are often used to drive different joints separately, resulting in complex structures, increased size and weight, and difficulties in assembly and adjustment; Third, the joint movements lack a reasonable coupling law, making it difficult to achieve a natural and continuous flexion and extension training trajectory. Summary of the Invention

[0004] The purpose of this invention is to provide a finger exoskeleton rehabilitation robot with dual-joint collaborative drive, which has a compact structure, fewer drive components, and compliant buffering and joint collaborative drive capabilities.

[0005] To achieve the above objectives, the present invention provides a dual-joint collaboratively driven finger exoskeleton rehabilitation robot, comprising a fixed unit, a first finger link drive device, a second finger link drive device, a third finger link drive device, a fourth finger link drive device, and a fifth finger link drive device, wherein the first finger link drive device, the second finger link drive device, the third finger link drive device, the fourth finger link drive device, and the fifth finger link drive device are all disposed on the upper side of the fixed unit.

[0006] Preferably, the fixing unit includes a main fixing plate and a secondary fixing plate. The first finger linkage driving device, the second finger linkage driving device, the third finger linkage driving device and the fourth finger linkage driving device are all disposed on the upper side of the main fixing plate, and the fifth finger linkage driving device is disposed on the upper side of the secondary fixing plate. The side of the main fixing plate closest to the first finger linkage driving device is connected to the secondary fixing plate through a hinge structure.

[0007] Preferably, the main fixing plate is provided with a first fixing hole group, a second fixing hole group, a third fixing hole group and a fourth fixing hole group, and the auxiliary fixing plate is provided with a fifth fixing hole group. A main hand strap is provided on the lower side of the main fixing plate, and an auxiliary hand strap is provided on the lower side of the auxiliary fixing plate. The first fixing hole group, the second fixing hole group, the third fixing hole group, the fourth fixing hole group and the fifth fixing hole group all include a support plate fixing hole group and a gearbox fixing hole group.

[0008] Preferably, the first finger linkage drive device and the fourth finger linkage drive device are axially symmetrical along the center line of the upper side of the main fixing plate in the direction of the palm, and the second finger linkage drive device and the third finger linkage drive device are axially symmetrical along the center line of the upper side of the main fixing plate in the direction of the palm.

[0009] Preferably, the first finger linkage drive device includes a drive unit, a gear unit, and a double-branch linkage unit. The drive unit is fixed to the main fixed plate through the support plate fixing hole, and the gear unit is also fixed to the main fixed plate through the gearbox fixing hole group. The double-branch linkage unit is connected to the gear unit, and the drive unit is also connected to the double-branch linkage unit.

[0010] Preferably, the drive unit includes a drive motor, a motor support plate, a crank, and a drive connecting rod. The motor support plate is fixed to the main fixed plate through the support plate fixing hole. The drive motor is located at one end of the motor support plate and passes through the motor support plate to be connected to the crank. The crank is located at the other end of the motor support plate. One end of the drive connecting rod is connected to the end of the crank away from the motor support plate, and the other end of the drive connecting rod is connected to the double-branch connecting rod unit.

[0011] Preferably, the gear unit is fixed to the main fixing plate through the gearbox fixing hole group, including a gearbox, a large gear, a small gear, and an idler gear. The large gear, small gear, and idler gear are all fixed in the gearbox through a rotating shaft. The large gear meshes with the idler gear, and the end of the idler gear away from the large gear meshes with the small gear. The large gear is connected to the double-branch linkage unit through a first gear connecting rod, and the small gear is connected to the double-branch linkage unit through a second gear connecting rod. The ends of the first gear connecting rod and the second gear connecting rod away from the double-branch linkage unit are both set on their adjacent rotating shafts. The tooth ratio of the large gear and the small gear is 2:1, and the modules of the large gear, small gear, and idler gear are the same and are all 0.5.

[0012] Preferably, the dual-branch linkage unit includes a first link, a second link, a third link, and a fourth link. The drive link is hinged to the first link. One end of the first link is connected to the first gear connecting rod. One end of the second link is connected to the end of the first link away from the first gear connecting rod. The other end of the second link passes through the third link and is provided with a first strap assembly. A finger sleeve is provided on the lower side of the first strap assembly. One end of the third link is connected to the second gear connecting rod. One end of the fourth link is connected to the other end of the third link. The other end of the fourth link is provided with a second strap assembly. A finger sleeve is also provided on the lower end of the second strap assembly. A spring is provided at the connection between the first and second links and at the connection between the third and fourth links, and a spring cover is provided on the outside of each spring.

[0013] Preferably, the second, third, and fourth finger linkage drive devices have the same structure as the first finger linkage drive device. The second, third, and fourth finger linkage drive devices are fixed to the main fixing plate through the second, third, and fourth fixing hole groups, respectively. The drive link in the fourth finger linkage drive device has the same length as the drive link in the first finger linkage drive device. The drive links in the second and third finger linkage drive devices have the same length and are longer than the drive link in the first finger linkage drive device.

[0014] Preferably, the structure of the fifth finger linkage drive device is the same as that of the first finger linkage drive device, and it is fixed to the sub-fixed plate through the fifth fixing hole group.

[0015] Therefore, this invention provides a dual-joint collaboratively driven finger exoskeleton rehabilitation robot with the above-mentioned structure. The transmission coupling between the first and third links is achieved through a gear unit, enabling the proximal finger joint and metacarpophalangeal joint to flex and extend synchronously according to a preset pattern and reducing the number of drive components required for multi-joint collaboration. At the same time, the spring provides compressible / stretchable compliant buffering characteristics, thereby achieving safe adaptation and reducing discomfort and risks under conditions such as changes in finger resistance, joint stiffness, or spasm. Furthermore, the 2:1 transmission ratio makes the angular velocity of the proximal finger joint higher than that of the metacarpophalangeal joint to form a more continuous flexion and extension training trajectory. In addition, the fixing unit has reserved multiple holes to adjust the position of the gearbox, motor support plate, and each finger link drive device to adapt to different hand shapes and finger lengths.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is a front view of a dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to the present invention. Figure 2 This is a front view of the fixed unit of a dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to the present invention. Figure 3 This is a schematic diagram of the first finger linkage drive device of a dual-joint collaboratively driven finger exoskeleton rehabilitation robot of the present invention. Figure 4 This is a schematic diagram of the gear unit of a dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to the present invention. Figure 5 This is a schematic diagram of the dual-branch linkage unit of a dual-joint collaboratively driven finger exoskeleton rehabilitation robot of the present invention. Figure 6 This is a schematic diagram of the kinematic equivalent loop of a dual-joint collaboratively driven finger exoskeleton rehabilitation robot of the present invention; Figure 7 This invention relates to a four-bar linkage of a dual-joint collaboratively driven finger exoskeleton rehabilitation robot. A schematic diagram of kinematic analysis; Figure 8 This invention relates to a four-bar linkage of a dual-joint collaboratively driven finger exoskeleton rehabilitation robot. Simplified structural diagram; Figure 9 This invention relates to a five-bar loop for a dual-joint collaboratively driven finger exoskeleton rehabilitation robot. A schematic diagram of kinematic analysis; Figure 10 This invention relates to a five-bar loop for a dual-joint collaboratively driven finger exoskeleton rehabilitation robot. A schematic diagram of the geometric relationship; Figure labels; 1. Fixing unit; 11. Main fixing plate; 111. First fixing hole group; 1111. Support plate fixing hole group; 1112. Gearbox fixing hole group; 112. Second fixing hole group; 113. Third fixing hole group; 114. Fourth fixing hole group; 115. Main hand strap; 12. Secondary fixing plate; 121. Fifth fixing hole group; 122. Secondary hand strap; 13. Hinge structure; 2. First finger linkage drive device; 21. Drive unit; 211. Drive motor; 212. Motor support plate; 213. Crank; 214. Drive linkage; 22. Gear unit; 221. Gear 222. Gearbox; 223. Large gear; 224. Small gear; 225. Idler gear; 226. Rotating shaft; 227. First gear connecting rod; 228. Second gear connecting rod; 23. Double-chain linkage unit; 231. First link; 232. Second link; 233. Third link; 234. Fourth link; 235. First strap assembly; 236. Second strap assembly; 237. Finger sleeve; 238. Spring; 239. Spring cover; 3. Second finger linkage drive device; 4. Third finger linkage drive device; 5. Fourth finger linkage drive device; 6. Fifth finger linkage drive device. Detailed Implementation

[0018] Example To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0020] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0021] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0022] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0024] like Figures 1-5 As shown, the present invention discloses a dual-joint collaboratively driven finger exoskeleton rehabilitation robot, comprising a fixed unit 1, a first finger link drive device 2, a second finger link drive device 3, a third finger link drive device 4, a fourth finger link drive device 5, and a fifth finger link drive device 6. The first finger link drive device 2, the second finger link drive device 3, the third finger link drive device 4, the fourth finger link drive device 5, and the fifth finger link drive device 6 are all disposed on the upper side of the fixed unit.

[0025] The fixing unit 1 includes a main fixing plate 11 and a secondary fixing plate 12. The first finger link drive device 2, the second finger link drive device 3, the third finger link drive device 4 and the fourth finger link drive device 5 are all located on the upper side of the main fixing plate 11, and the fifth finger link drive device 6 is located on the upper side of the secondary fixing plate 12. The side of the main fixing plate 11 closest to the first finger link drive device 2 is connected to the secondary fixing plate 12 through a hinge structure 13.

[0026] The main fixing plate 11 is provided with a first fixing hole group 111, a second fixing hole group 112, a third fixing hole group 113 and a fourth fixing hole group 114, and the auxiliary fixing plate 12 is provided with a fifth fixing hole group 121. The main fixing plate 11 is provided with a main hand strap 115 on the lower side, and the auxiliary fixing plate 12 is provided with a secondary hand strap 122 on the lower side. The first fixing hole group 111, the second fixing hole group 112, the third fixing hole group 113, the fourth fixing hole group 114 and the fifth fixing hole group 121 all include a support plate fixing hole group 1111 and a gearbox fixing hole group 1112.

[0027] The first finger linkage drive device 2 and the fourth finger linkage drive device 5 are axially symmetrical along the center line of the upper side of the main fixing plate 11 in the direction of the palm, and the second finger linkage drive device 3 and the third finger linkage drive device 4 are axially symmetrical along the center line of the upper side of the main fixing plate 11 in the direction of the palm.

[0028] The first finger linkage drive device 2 includes a drive unit 21, a gear unit 22, and a double-branch linkage unit 23. The drive unit 21 is fixed to the main fixing plate 11 through the support plate fixing hole. The gear unit 22 is also fixed to the main fixing plate 11 through the gear box fixing hole group 1112. The double-branch linkage unit 23 is connected to the gear unit 22, and the drive unit 21 is also connected to the double-branch linkage unit 23.

[0029] The drive unit 21 includes a drive motor 211, a motor support plate 212, a crank 213, and a drive connecting rod 214. The motor support plate 212 is fixed to the main fixing plate 11 through the support plate fixing hole. The drive motor 211 is located at one end of the motor support plate 212 and passes through the motor support plate 212 to be connected to the crank 213. The crank 213 is located at the other end of the motor support plate 212. One end of the drive connecting rod 214 is connected to the end of the crank 213 away from the motor support plate 212, and the other end of the drive connecting rod 214 is connected to the double-branched connecting rod unit 23.

[0030] Gear unit 22 is fixed to the main fixing plate 11 through gearbox fixing hole assembly 1112, including gearbox 221, large gear 222, small gear 223, and idler gear 224. The large gear 222, small gear 223, and idler gear 224 are all fixed inside gearbox 221 via rotating shaft 225. The large gear 222 meshes with the idler gear 224, and the end of the idler gear 224 away from the large gear 222 meshes with the small gear 223. The large gear 222 is connected to the double-branch linkage unit 23 via the first gear connecting rod 226. The small gear 222... 3. The first gear connecting rod 226 and the second gear connecting rod 227 are connected to the double-branch linkage unit 23. The ends of the first gear connecting rod 226 and the second gear connecting rod 227 away from the double-branch linkage unit 23 are both set on their adjacent rotating shaft 225. The ratio of the number of teeth of the large gear 222 and the small gear 223 is 2:1. The modules of the large gear 222, the small gear 223 and the idler gear 224 are the same and all are 0.5. The preset transmission ratio is 2:1, so that the angular velocity of the proximal finger joint is twice that of the metacarpophalangeal joint, so as to achieve flexion and extension training that conforms to the joint coordination law.

[0031] The first gear connecting rod 226 and the second gear connecting rod 227 are respectively fixedly connected to the first connecting rod 231 and the third connecting rod 233 in a detachable manner.

[0032] The double-branch linkage unit 23 includes a first link 231, a second link 232, a third link 233, and a fourth link 234. A drive link 214 is hinged to the first link 231 to drive the first link 231 to swing around its mounting axis. One end of the first link 231 is connected to a first gear connecting rod 226. One end of the second link 232 is connected to the end of the first link 231 away from the first gear connecting rod 226. The other end of the second link 232 passes through the third link 233 and is provided with a first strap assembly 235. A finger sleeve 237 is provided on the lower side of the first strap assembly 235. One end of the third link 233 is connected to the second gear connecting rod 227. One end of the four-link 234 is connected to the other end of the third link 233. The other end of the fourth link 234 is provided with a second strap assembly 236. The lower end of the second strap assembly 236 is also provided with a finger sleeve 237. A spring 238 is provided at the connection between the first link 231 and the second link 232 and at the connection between the third link 233 and the fourth link 234. A spring cover 239 is provided on the outside of each spring 238. The spring cover 239 is used to limit the axial disengagement of the spring 238 and limit the extreme positions of the second link 232 and the fourth link 234. The smooth cushioning of the spring 238 improves the wearing safety and fit, and is suitable for finger rehabilitation training.

[0033] The gear transmission assembly is connected to the first link 231 and the third link 233 respectively, and is used to transmit the swing motion of the first link 231 to the third link 233 according to a preset transmission ratio, thereby realizing the coordinated flexion and extension motion of the metacarpophalangeal joint and the proximal interphalangeal joint.

[0034] Spring 238 is in a stretched state when the first link 231 swings in the direction of finger extension, and in a compressed state when it swings in the direction of finger flexion.

[0035] The second finger link drive device 3, the third finger link drive device 4, and the fourth finger link drive device 5 have the same structure as the first finger link drive device 2. The second finger link drive device 3, the third finger link drive device 4, and the fourth finger link drive device 5 are fixed to the main fixing plate 11 through the second fixing hole group 112, the third fixing hole group 113, and the fourth fixing hole group 114, respectively. The drive link 214 in the fourth finger link drive device 5 has the same length as the drive link 214 in the first finger link drive device 2. The drive link 214 in the second finger link drive device 3 and the third finger link drive device 4 have the same length and are longer than the drive link 214 in the first finger link drive device 2.

[0036] The structure of the fifth finger linkage drive device 6 is the same as that of the first finger linkage drive device 2, and it is fixed to the auxiliary fixing plate 12 through the fifth fixing hole group 121.

[0037] During operation, the device is fixed to the back of the patient's hand by the main palm strap 115 and the secondary palm strap 122. The five fingers are fixed by the first finger linkage drive device 2 to the fifth finger linkage drive device 6. Then, the drive unit 21 drives the double-branch linkage unit 23 to move, and the relevant fingers move accordingly to carry out rehabilitation training.

[0038] like Figures 6-10 The degrees of freedom and kinematic analysis of the dual-joint collaboratively driven finger exoskeleton rehabilitation robot of the present invention are as follows: (a) Degrees of freedom analysis; The first finger linkage drive device 2 is equivalent to a planar mechanism, and its kinematic pairs and component relationships are... Figure 6 The diagram shows an equivalent abstraction. Based on the Gruebler-Kutzbach planar mechanism degree-of-freedom calculation criterion, its degree of freedom F satisfies: ; in Indicates the number of components (including the frame). Indicates a lower subnumber, In this embodiment, the higher subnumber is represented. , , ,therefore , since the number of prime movers is the same as the degree of freedom, the mechanism motion is determined, and the coordinated flexion and extension motion of the metacarpophalangeal joint and the proximal interphalangeal joint can be achieved under the input of a single driving source.

[0039] (II) Coordinate system and loop equivalent decomposition; To facilitate the establishment of an analytical kinematic model, a planar rectangular coordinate system {M} is established with the center of the rotation pair of the metacarpophalangeal joint as point M. It is stipulated that the positive direction of the X-axis is to the left in the horizontal direction and the positive direction of the Y-axis is upward in the vertical direction. This closed-loop mechanism can be equivalently decomposed into two independent planar motion loops: a four-bar loop for driving the metacarpal and phalangeal segments , and a five-bar loop for driving the proximal interphalangeal joint bone segment . Angular displacement / angular velocity coupling is achieved between the two loops through a gear transmission group.

[0040] Figures 6-10 This is a kinematic equivalent schematic diagram of the first finger link driving device 2 of the present invention. In the figure, point M represents the center of the rotation pair of the metacarpophalangeal joint, point H represents the center of the rotation pair of the proximal interphalangeal joint, point G represents the center of the rotation pair of the distal interphalangeal joint, and points J, O, etc. represent the hinge points or gear transmission connection points of the mechanism. etc. represent the equivalent rod length parameters. , , etc. represent the corresponding rotation angle variables.

[0041] In the gear transmission group, the large gear 222 is coaxially connected for transmission with the first link 231, the small gear 223 is coaxially connected for transmission with the third link 233, and the idler gear 224 is used to change the transmission direction and spatial layout without changing the transmission ratio. From the tooth number ratio, the angular velocity transmission relationship can be obtained: ; ; Among them represents the angular velocity of the first link 231, represents the angular velocity of the third link 233, and are the tooth numbers of the large gear 222 and the small gear 223 respectively, makes the angular velocity of the driving branch chain of the proximal interphalangeal joint twice that of the driving branch chain of the metacarpophalangeal joint, so as to form a flexion and extension training trajectory that conforms to the finger joint coordination law.

[0042] (III) Kinematic equation of the four-bar loop ; As Figure 7 and Figure 8 shown, the four-bar loop is used to achieve the flexion and extension drive of the metacarpophalangeal joint. The swing angle of the first link 231 can be defined as the input angle (The angle relative to the frame), the remaining link rotation angles are denoted as follows: , , Let the lengths of the four poles in the loop be as follows: , , , Then, according to the planar four-bar closed-chain vector equation, we can obtain: ; in , , Given the rod length and input angle A given intermediate quantity satisfies the following conditions: ; The output angle is obtained by substituting the above equation and the planar four-bar closed-chain vector equation with half-angle tangent. Analytical solution: ; The geometric constraints of the four-bar linkage can then be solved. , Equal interior angles, thus obtaining the input angle. A defined mapping relationship between the output swing angle of the metacarpophalangeal joint and the metacarpophalangeal joint.

[0043] (iv) Five-pole loop The kinematic solution approach; like Figure 9 and Figure 10 As shown, a five-pole loop This method is used to implement proximal finger joint flexion-extension actuation, with the input derived from the output angle of the gear transmission. To obtain a closed-loop solution, the five-bar loop can be divided into triangular elements composed of several known bar lengths and four-bar closed-loop elements: First, the lengths of the segmented diagonals and their corresponding interior angles are obtained using the law of cosines; then, the analytical relationship between the remaining interior angles and the input angle is established based on the four-bar closed-loop equation; finally, the complete solution for each interior angle is obtained using the polygon interior angle sum constraint. This allows us to obtain the mathematical relationship between the joint variables of the proximal finger joint actuation chain and the input angle.

[0044] (v) Expressions for the pose, velocity, and acceleration of key point H; like Figure 6 As shown, let point H be the center of the proximal phalanx rotation joint, and let the length of the proximal phalanx segment be... The output posture angle of the metacarpophalangeal joint is denoted as Then, the position coordinates of point H in coordinate system {M} can be expressed as: ; ; right and Taking the first derivative with respect to time t, we can obtain the velocity of point H: ; ; Taking the first derivative again, we obtain the acceleration at point H: ; ; in and These are the angular velocities and angular accelerations output by the metacarpophalangeal joints, respectively. The angular velocity / angular acceleration can be input via the drive motor 211, combined with the crank 213-connecting rod transmission relationship and gear ratio. The above relationships can be used to establish a mapping model from the driving input to the pose, velocity, and acceleration of key joints, providing a theoretical basis for training trajectory planning, compliant control, and quantitative evaluation.

[0045] Therefore, this invention provides a dual-joint collaboratively driven finger exoskeleton rehabilitation robot with the above-mentioned structure. The transmission coupling between the first and third links is achieved through a gear unit, enabling the proximal finger joint and metacarpophalangeal joint to flex and extend synchronously according to a preset pattern and reducing the number of drive components required for multi-joint collaboration. At the same time, the spring provides compressible / stretchable compliant buffering characteristics, thereby achieving safe adaptation and reducing discomfort and risks under conditions such as changes in finger resistance, joint stiffness, or spasm. Furthermore, the 2:1 transmission ratio makes the angular velocity of the proximal finger joint higher than that of the metacarpophalangeal joint to form a more continuous flexion and extension training trajectory. In addition, the fixing unit has reserved multiple holes to adjust the position of the gearbox, motor support plate, and each finger link drive device to adapt to different hand shapes and finger lengths.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A finger exoskeleton rehabilitation robot with dual-joint collaborative drive, characterized in that: It includes a fixed unit, a first finger linkage drive device, a second finger linkage drive device, a third finger linkage drive device, a fourth finger linkage drive device, and a fifth finger linkage drive device. The first finger linkage drive device, the second finger linkage drive device, the third finger linkage drive device, the fourth finger linkage drive device, and the fifth finger linkage drive device are all located on the upper side of the fixed unit.

2. The dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to claim 1, characterized in that: The fixing unit includes a main fixing plate and a secondary fixing plate. The first finger linkage drive device, the second finger linkage drive device, the third finger linkage drive device and the fourth finger linkage drive device are all located on the upper side of the main fixing plate, and the fifth finger linkage drive device is located on the upper side of the secondary fixing plate. The side of the main fixing plate closest to the first finger linkage drive device is connected to the secondary fixing plate through a hinge structure.

3. The dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to claim 2, characterized in that: The main fixing plate is provided with a first fixing hole group, a second fixing hole group, a third fixing hole group and a fourth fixing hole group, and the auxiliary fixing plate is provided with a fifth fixing hole group. The main fixing plate is provided with a main hand strap on the lower side, and the auxiliary fixing plate is provided with a secondary hand strap on the lower side. The first fixing hole group, the second fixing hole group, the third fixing hole group, the fourth fixing hole group and the fifth fixing hole group all include a support plate fixing hole group and a gearbox fixing hole group.

4. The dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to claim 3, characterized in that: The first finger linkage drive device and the fourth finger linkage drive device are axially symmetrical along the center line of the upper side of the main fixed plate in the direction of the palm, and the second finger linkage drive device and the third finger linkage drive device are axially symmetrical along the center line of the upper side of the main fixed plate in the direction of the palm.

5. The dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to claim 4, characterized in that: The first finger linkage drive device includes a drive unit, a gear unit, and a double-branch linkage unit. The drive unit is fixed to the main fixed plate through the support plate fixing hole, and the gear unit is also fixed to the main fixed plate through the gearbox fixing hole group. The double-branch linkage unit is connected to the gear unit, and the drive unit is also connected to the double-branch linkage unit.

6. The dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to claim 5, characterized in that: The drive unit includes a drive motor, a motor support plate, a crank, and a drive connecting rod. The motor support plate is fixed to the main fixed plate through the support plate fixing holes. The drive motor is located at one end of the motor support plate and passes through the motor support plate to connect with the crank. The crank is located at the other end of the motor support plate. One end of the drive connecting rod is connected to the end of the crank away from the motor support plate, and the other end of the drive connecting rod is connected to the double-branched connecting rod unit.

7. The dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to claim 6, characterized in that: The gear unit is fixed to the main fixing plate through the gearbox fixing hole group. It includes a gearbox, a large gear, a small gear, and an idler gear. The large gear, small gear, and idler gear are all fixed in the gearbox through a rotating shaft. The large gear meshes with the idler gear, and the end of the idler gear away from the large gear meshes with the small gear. The large gear is connected to the double-branch linkage unit through the first gear connecting rod, and the small gear is connected to the double-branch linkage unit through the second gear connecting rod. The ends of the first gear connecting rod and the second gear connecting rod away from the double-branch linkage unit are both set on their adjacent rotating shafts. The tooth ratio of the large gear and the small gear is 2:

1. The modules of the large gear, small gear, and idler gear are the same and are all 0.

5.

8. The dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to claim 7, characterized in that: The double-branch linkage unit includes a first link, a second link, a third link, and a fourth link. The drive link is hinged to the first link. One end of the first link is connected to the first gear connecting rod. One end of the second link is connected to the end of the first link away from the first gear connecting rod. The other end of the second link passes through the third link and is provided with a first strap assembly. A finger sleeve is provided on the lower side of the first strap assembly. One end of the third link is connected to the second gear connecting rod. One end of the fourth link is connected to the other end of the third link. The other end of the fourth link is provided with a second strap assembly. A finger sleeve is also provided on the lower end of the second strap assembly. A spring is provided at the connection between the first and second links and at the connection between the third and fourth links, and a spring cover is provided on the outside of each spring.

9. A dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to claim 8, characterized in that: The second, third, and fourth finger linkage drive devices have the same structure as the first finger linkage drive device. They are fixed to the main fixing plate through the second, third, and fourth fixing hole groups, respectively. The drive link in the fourth finger linkage drive device has the same length as the drive link in the first finger linkage drive device. The drive links in the second and third finger linkage drive devices have the same length and are longer than the drive link in the first finger linkage drive device.

10. A dual-joint collaboratively driven finger exoskeleton rehabilitation robot according to claim 9, characterized in that: The structure of the fifth finger linkage drive device is the same as that of the first finger linkage drive device, and it is fixed to the secondary fixing plate through the fifth fixing hole group.

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