A flexible finger rehabilitation driver based on a bionic spiral structure

Abstract

This invention discloses a flexible finger rehabilitation actuator based on a biomimetic spiral structure, belonging to the fields of rehabilitation medicine and additive manufacturing. It includes components such as a finger joint assembly, a Kevlar traction rope, an electromagnetic clutch, a microcontroller, a human-computer interaction display screen, a tensioning device, and a micro servo motor, all formed through additive manufacturing. The finger joint assembly is based on a logarithmic spiral biomimetic design, featuring a five-segment multi-material composite structure with rigid-flexible partitions adapted to human movement and wear. The transmission system achieves precise power transmission through the traction rope, arc-shaped slide rail, and electromagnetic clutch. The tensioning device features anti-loosening self-locking, and the fixing components are adjustable to fit different patients. The device uses a microcontroller and display screen to set training parameters, monitor in real time, and track data. This invention solves the problems of motion interference, poor adaptability, and unstable drive in existing devices, combining biomimetic adaptability, comfort, and intelligent control capabilities.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation medicine and additive manufacturing technology, specifically relating to a flexible finger rehabilitation actuator based on a biomimetic spiral structure. Background Technology

[0002] Finger rehabilitation actuators, as a commonly used orthopedic rehabilitation device in clinical practice, are mainly aimed at patients with hand motor dysfunction caused by stroke, peripheral nerve injury, and age-related degenerative diseases. Their core function is to help patients achieve finger joint flexion and extension training by providing precise and controllable auxiliary power, delaying muscle atrophy, rebuilding neuromotor feedback pathways, and gradually restoring fine motor skills and daily living self-care abilities.

[0003] With the continuous development of rehabilitation medicine and advanced manufacturing technology, traditional finger rehabilitation actuators, while having a certain foundation in clinical applications, are gradually revealing systemic technical bottlenecks in areas such as material systems, kinematic matching, personalized adaptation, actuator reliability, and intelligence level. Existing devices mostly use a single homogeneous material, making it difficult to balance structural support stiffness and wearing comfort. Joint transmission relies on hinges or rigid guide rails, with motion trajectories that are fixed arcs or straight lines, resulting in geometric deviations from the variable curvature composite flexion-extension trajectory of the human finger, easily leading to motion interference, stress concentration, and the risk of secondary injury. Personalized adjustment capabilities are weak, failing to accurately adapt to the patient's hand size, type of functional impairment, and rehabilitation stage. Traction output decays rapidly, long-term reliability is poor, and problems such as rope slack, path deviation, and loose connections frequently occur. Simultaneously, due to the lack of multimodal sensing feedback and intelligent control mechanisms, it is difficult to achieve real-time dynamic adjustment of training parameters and a closed-loop human-computer interaction, thus limiting the scientific nature, compliance, and personalization of rehabilitation training. Therefore, there is an urgent need to develop a new type of flexible finger rehabilitation drive device that combines biomimetic motion compliance, rigid-flexible partition structure, lightweight integration characteristics and intelligent control capabilities, in order to break through the existing technical bottlenecks and meet patients' urgent needs for efficient, comfortable and precise rehabilitation equipment. Summary of the Invention

[0004] The purpose of this invention is to solve the above-mentioned problems. This invention overcomes the technical defects of existing finger rehabilitation actuators in terms of material adaptability, transmission reliability and personalized wear adjustment, and provides a flexible finger rehabilitation actuator based on a biomimetic spiral structure.

[0005] A flexible finger rehabilitation actuator based on a biomimetic spiral structure includes: a finger joint assembly 1, a flat-headed male and female rivet, a fiber joint traction rope, an electromagnetic clutch 4, a microcontroller fixing base plate 5, a microcontroller 6, a human-computer interaction display screen 7, an actuator housing 8, a tensioning device 9, a wrist fixing buckle 10, and a traction rope micro drive servo motor 11.

[0006] According to bionics, the finger joint component 1 consists of five single finger joints 100 connected in sequence;

[0007] The single finger joint 100 includes a U-shaped finger joint fitting part 104 and a finger joint fixing strap 105 installed on its lower side.

[0008] The finger joint fitting part 104 is provided with adjacent joint rivet holes 103 on both sides. The multiple single finger joints 100 are hinged together by flat-head female rivets and their respective adjacent joint rivet holes 103 to form a rotating pair.

[0009] The U-shaped knuckle fitting part 104 is provided with fiber rope arc-shaped slide rails 101 on both the upper and lower sides of the exterior, and only the lower side of the foremost knuckle fitting part 104 is provided with a fiber rope steering guide wheel 102.

[0010] The wrist fixing buckle 10 is fixed to the wrist during use, and the driver housing 8 is fixed to it.

[0011] A pair of traction rope micro-drive servo motors 11 are fixed to the lower side of the wrist fixing buckle 10, and another pair of traction rope micro-drive servo motors 11 are fixed to the driver housing 8, with a pair of extension drive servo motors on the upper side and a pair of flexion drive servo motors on the lower side.

[0012] Each of the miniature drive servos 11 for the traction rope is fixed with an electromagnetic clutch 4 on its output shaft.

[0013] The two pairs of electromagnetic clutches 4 on the upper or lower side are each connected by a fiber joint traction rope.

[0014] The upper fiber joint traction rope passes through the five single finger joints 100 in sequence from the inside to the outside and then from the outside to the inside. The fiber rope arc slide rails 101 on both sides of the upper part of the rope pass through the middle part of the rope.

[0015] The lower fiber joint traction rope first passes through the fiber rope guide wheel 102 from the inside to the outside, and then passes through the fiber rope arc slide rail 101 on both sides of the lower part of the five single finger joints 100 from the outside to the inside.

[0016] The finger joint assembly 1 is driven and controlled by two pairs of micro-drive servo motors 11, which are located above and below the traction ropes, thereby realizing the flexion and extension movements of the joints.

[0017] The tensioning device 9 includes a housing connection structure 901, a tensioning device connection pin 902, a fiber rope roller 903, and a rolling bearing 904.

[0018] Tensioning devices 9 are provided on both sides of the driver housing 8 and are fixedly connected to the housing connection structure 901;

[0019] The outer shell connection structure 901 is connected outwardly to at least two tensioning device connecting pins 902;

[0020] The tensioning device is connected to the pin 902 and is equipped with a torsion spring. The end of the outer tensioning device connecting pin 902 is connected to the fiber rope roller 903 through a rolling bearing 904.

[0021] The pair of fiber rope rollers 903 abut against the middle of the upper fiber joint traction rope, and the tension of the upper fiber joint traction rope is adjusted in real time through the action of torsion springs.

[0022] The fiber rope arc-shaped slide rail 101 is precisely matched with the rotation center of the human finger joint, and the five movable segments of the bionic finger are set one-to-one.

[0023] The finger joint assembly 1 is designed based on the logarithmic spiral equation, and the width of its five single finger joints 100 decreases sequentially from the inside to the outside. The maximum bending angle of the finger joint assembly 1 is limited to within 90°.

[0024] The driver housing 8 includes an upper half retainer connecting bolt 801, a retainer slide rail 802, and a retainer positioning adjustment slide bar 803;

[0025] The fixing device positioning adjustment slide bar 803 is fixed to the lower side of the driver housing 8 body by the fixing device connecting bolt 801;

[0026] The retainer slide rail 802 is fixed to the upper end of the wrist retainer buckle 10;

[0027] The position of the fixture slide rail 802 and the fixture positioning adjustment slide bar 803 can be adjusted and fixed.

[0028] The single-chip microcomputer fixing base plate 5 has a pull-out part 501 that slides in contact with the inside sides of the driver housing 8.

[0029] The single-chip microcomputer 6 and the human-computer interaction display screen 7 are provided on the pull-out part 501 of the single-chip microcomputer fixed base plate.

[0030] The microcontroller 6 is electrically connected to the human-machine interaction display screen 7 and the micro drive servo motor 11 of the traction rope.

[0031] The human-computer interaction display screen 7 can realize the setting of rehabilitation training parameters, real-time monitoring of the training process, and recording and storage of training data. The rehabilitation training parameters include training intensity, training time, and finger movement mode.

[0032] The electromagnetic clutch 4 includes an inner electromagnetic clutch ring 402 and an outer electromagnetic clutch roller 401 arranged inside and outside. The inner electromagnetic clutch ring 402 is fixedly connected to the output shaft of the traction rope micro drive servo motor 11.

[0033] A method for using a flexible finger rehabilitation actuator based on a biomimetic spiral structure, employing the aforementioned flexible finger rehabilitation actuator based on a biomimetic spiral structure, includes the following specific steps:

[0034] Step 1: Wear the fitting

[0035] The patient adjusts the tightness of the wrist fixation buckle 10 according to their wrist size and wearing habits; the adjustment mechanism composed of the fixation rail 802 and the fixation positioning adjustment slide 803 adjusts the installation position of the driver housing 8 according to the patient's finger length, joint distribution and rehabilitation needs, and fixes the finger in the finger joint component 1 through the finger joint fixation strap 105.

[0036] Step 2: Parameter Setting

[0037] Through the touch or button interface of the human-computer interaction display screen 7, individuals can input their rehabilitation needs, customize key parameters such as training duration, flexion and extension frequency, range of motion, and target traction force, and customize a personalized rehabilitation plan.

[0038] Step 3: Rehabilitation Training

[0039] According to the received instructions, the microcontroller 6 outputs control commands to the micro servo drive motor 11 of the traction rope. The two pairs of micro drive servo motors 11 on the upper and lower sides of the traction rope work together. Power is transmitted through the fiber joint traction rope. The electromagnetic clutch 4 correspondingly separates the non-working transmission link to avoid rope interference. The fiber joint traction rope is guided by the fiber rope arc slide rail 101 and the fiber rope steering guide wheel 102 to drive the finger joint assembly 1 to complete the flexion and extension movement. The tensioning device 9 adjusts the tension of the traction rope in real time to ensure accurate power transmission.

[0040] Step 4: Process Monitoring and Data Traceability

[0041] The human-computer interaction display screen 7 displays information such as finger joint angle, traction force, training progress and equipment status in real time. After training is completed, relevant data is recorded and stored, which makes it easier for medical staff and patients to track the rehabilitation process and optimize the rehabilitation plan.

[0042] This invention provides a flexible finger rehabilitation actuator based on a biomimetic spiral structure, belonging to the fields of rehabilitation medicine and additive manufacturing. It includes components such as a finger joint assembly, a Kevlar traction rope, an electromagnetic clutch, a microcontroller, a human-computer interaction display screen, a tensioning device, and a micro servo motor. The finger joint assembly and wrist support are primarily formed using additive manufacturing technology. The finger joint assembly is based on a logarithmic spiral biomimetic design, featuring a five-segment multi-material composite structure with rigid and flexible sections adapted to human movement and wear. The transmission system achieves precise power transmission through the traction rope, arc-shaped slide rail, and electromagnetic clutch. The tensioning device features anti-loosening self-locking, and the fixing components are adjustable to fit different patients. The device uses a microcontroller and display screen to set training parameters, monitor in real time, and track data. This invention solves the problems of motion interference, poor adaptability, and unstable drive in existing devices, combining biomimetic adaptability, comfort, and intelligent control capabilities.

[0043] In summary, the flexible finger rehabilitation actuator based on a biomimetic spiral structure provided by this invention has the following beneficial effects:

[0044] 1. Excellent biomimetic adaptability: The finger joint components are designed based on a logarithmic spiral model, accurately replicating the variable curvature motion trajectory of the natural flexion and extension of the finger, eliminating motion interference, limiting the maximum bending angle to within 90°, and the stress concentration value to ≤26MPa, thus avoiding secondary damage.

[0045] 2. Excellent rigid-flexible performance: It adopts a multi-material composite printing process and a rigid-flexible partition design that balances structural support rigidity and wearing comfort. It has significant lightweight characteristics and excellent portability.

[0046] 3. Stable and reliable transmission: The Kevlar traction rope, combined with the arc-shaped sliding rail wheel assembly, improves the driving force transmission efficiency by more than 30%. The tensioning device and electromagnetic clutch ensure stable traction output and prevent rope slack and jamming.

[0047] 4. Strong personalization and adaptability: The positioning hole design of the driver housing and the adjustable structure of the wrist fixing buckle can adapt to the hand size, wearing habits and rehabilitation stage needs of different patients.

[0048] 5. High level of intelligent control: The microcontroller is integrated with the human-computer interaction display screen to realize the visualization setting of rehabilitation parameters, real-time monitoring of the training process and data traceability. It can customize personalized rehabilitation plans and improve the scientific nature and compliance of training.

[0049] In summary, this invention combines the advantages of biomimetic adaptability, wearing comfort, precise actuation, and low cost, making it highly technologically advanced and valuable for application in the fields of rehabilitation engineering and personalized medical devices. Attached Figure Description

[0050] Figure 1This is a schematic diagram of the overall structure of a flexible finger rehabilitation actuator based on a biomimetic spiral structure according to the present invention;

[0051] Figure 2 This is a three-dimensional structural diagram of a finger joint component of a flexible finger rehabilitation actuator based on a biomimetic spiral structure according to the present invention.

[0052] Figure 3 This is a schematic diagram of a single finger joint structure of a flexible finger rehabilitation actuator based on a biomimetic spiral structure according to the present invention.

[0053] Figure 4 This is a schematic diagram of the electromagnetic clutch structure of a flexible finger rehabilitation actuator based on a biomimetic spiral structure according to the present invention.

[0054] Figure 5 This is a schematic diagram of the human-computer interaction display screen and the connection method between the microcontroller and the actuator housing of a flexible finger rehabilitation actuator based on a biomimetic spiral structure according to the present invention;

[0055] Figure 6 This is a schematic diagram of the three-dimensional structure of the wrist fixation buckle of a flexible finger rehabilitation actuator based on a biomimetic spiral structure according to the present invention;

[0056] Figure 7 This is a three-dimensional structural diagram of the actuator housing of a flexible finger rehabilitation actuator based on a biomimetic spiral structure according to the present invention;

[0057] Figure 8 This is a schematic diagram of the tensioning device of a flexible finger rehabilitation actuator based on a biomimetic spiral structure according to the present invention.

[0058] In the attached diagram:

[0059] 1. Finger joint assembly; 100. Single finger joint; 101. Fiber rope arc-shaped slide rail; 102. Fiber rope steering guide wheel; 103. Adjacent joint rivet hole; 104. Finger joint fitting part; 105. Finger joint fixation strap;

[0060] 2. 304 stainless steel flat-head rivets; 3. 0.5mm Kevlar fiber articulated traction rope;

[0061] 4. Electromagnetic clutch; 401. Outer ring roller of electromagnetic clutch; 402. Inner ring of electromagnetic clutch;

[0062] 5. Microcontroller mounting base plate; 501. Pull-out section of microcontroller mounting base plate; 502. Display screen mounting rivets;

[0063] 6. Microcontroller; 7. Human-computer interaction display screen;

[0064] 8. Driver housing; 801. Upper half retainer connecting bolts; 802. Retainer slide rail; 803. Retainer positioning and adjusting slide bar; 804. Microcontroller mounting base platform;

[0065] 9. Tensioning device; 901. Housing connection structure; 902. Tensioning device connecting pin; 903. Fiber rope roller; 904. Rolling bearing;

[0066] 10. Wrist lock buckle; 11. Miniature servo motor for traction rope. Detailed Implementation

[0067] The following is in conjunction with the instruction manual appendix. Figures 1-8 The present invention will be further described in detail below with reference to specific embodiments.

[0068] Example 1:

[0069] A flexible finger rehabilitation actuator based on a biomimetic spiral structure includes: a finger joint assembly 1, 304 stainless steel flat-head rivets 2, a 0.5mm Kevlar fiber joint traction rope 3, an electromagnetic clutch 4, a microcontroller fixing base plate 5, a microcontroller 6, a human-computer interaction display screen 7, an actuator housing 8, a tensioning device 9, a wrist fixing buckle 10, and a traction rope micro drive servo motor 11.

[0070] Based on bionics and the anatomical structure of the human hand (two movable segments each for the proximal and middle phalanges, and one movable segment for the distal phalanx), the finger joint assembly 1 is composed of five sequentially connected single finger joints 100.

[0071] The single finger joint 100 includes a U-shaped finger joint fitting part 104 and a finger joint fixing strap 105 installed on its lower side.

[0072] The protrusions on both sides of the finger joint fitting part 104 are provided with adjacent joint rivet holes 103. The multiple single finger joints 100 are hinged together by 304 stainless steel flat-head female and male rivets 2 and their respective adjacent joint rivet holes 103 to form multiple pairs of rotating pairs.

[0073] The U-shaped knuckle fitting part 104 is provided with fiber rope arc-shaped slide rails 101 on both the upper and lower sides of the exterior, and only the lower side of the foremost knuckle fitting part 104 is provided with a fiber rope steering guide wheel 102.

[0074] The wrist fixing buckle 10 is fixed to the wrist during use, and the driver housing 8 is fixed to it.

[0075] A pair of traction rope micro-drive servo motors 11 are fixed to the lower side of the wrist fixing buckle 10, and another pair of traction rope micro-drive servo motors 11 are fixed to the driver housing 8. The upper pair of traction rope micro-drive servo motors 11 are extension drive servo motors, and the lower pair of motors are flexion drive servo motors.

[0076] Each of the miniature drive servos 11 for the traction rope is fixed with an electromagnetic clutch 4 on its output shaft.

[0077] The two pairs of electromagnetic clutches 4 on the upper and lower sides are each connected by a 0.5mm Kevlar fiber articulated traction rope 3.

[0078] The 0.5mm Kevlar fiber joint traction rope 3 on the upper side first passes through the fiber rope arc slide rail 101 on one side of the upper part of the five single finger joints 100 from the inside to the outside, and then passes through the fiber rope arc slide rail 101 on the other side of the upper part of the five single finger joints 100 from the outside to the inside.

[0079] The 0.5mm Kevlar fiber joint traction rope 3 on the lower side first passes through the fiber rope arc slide rail 101 on one side of the lower part of the five single finger joints 100 from the inside to the outside, then passes through the fiber rope guide wheel 102, and then passes through the fiber rope arc slide rail 101 on the other side of the lower part of the five single finger joints 100 from the outside to the inside.

[0080] In summary, a total of two 0.5mm Kevlar fiber joint traction ropes 3 are provided, which are driven by two pairs of micro drive servos 11 respectively, thereby realizing the flexion and extension movements of the joints in the finger joint assembly 1.

[0081] The tensioning device 9 includes a housing connection structure 901, a tensioning device connection pin 902, a fiber rope roller 903, and a rolling bearing 904.

[0082] Tensioning devices 9 are provided on both sides of the driver housing 8 and are fixedly connected to the housing connection structure 901;

[0083] The outer shell connection structure 901 is connected outwards to two tensioning device connecting pins 902 in sequence;

[0084] The two tensioning devices are connected by a shaft between the connecting pins 902 and a torsion spring is provided between them. The end of the outer tensioning device connecting pin 902 is connected to the fiber rope roller 903 through a rolling bearing 904.

[0085] The pair of fiber rope rollers 903 abut against the middle of the upper 0.5mm Kevlar fiber joint traction rope 3, that is, the tensioning device 9 can realize real-time tension adjustment of the upper 0.5mm Kevlar fiber joint traction rope 3 through the action of the torsion spring.

[0086] The fiber rope arc-shaped slide rail 101 is precisely matched with the rotation center of the human finger joint, and the five movable segments of the bionic finger are set one-to-one.

[0087] The finger joint assembly 1 is designed based on a logarithmic spiral equation, with the width of its five individual finger joints 100 decreasing sequentially from the inside out. The maximum bending angle of the finger joint assembly 1 is limited to within 90°, and the stress concentration value of its bending motion is ≤26MPa. The logarithmic spiral equation is as follows:

[0088] X=2e 0.13t cos(t)

[0089] Y=2e 0.13t sin(t)

[0090] Where e is the natural constant.

[0091] The driver housing 8 is made of PLA material and is integrally printed using FDM process. It includes upper half retainer connecting bolts 801, retainer slide rail 802, retainer positioning and adjusting slide bar 803, and microcontroller fixing base plate placement platform 804.

[0092] The fixing device positioning adjustment slide bar 803 is fixed to the lower side of the driver housing 8 body by the fixing device connecting bolt 801;

[0093] The retainer slide rail 802 is fixed to the upper end of the wrist retainer buckle 10;

[0094] Both the fixation rail 802 and the fixation positioning adjustment slide 803 are provided with adjustment holes arranged inside and outside, and the positions of the two can be adjusted and fixed. That is, the drive housing 8 can move back and forth relative to the wrist fixing buckle 10 and be fixed, thereby adjusting the tightness of the 0.5mm Kevlar fiber joint traction rope 3 as a whole. In addition, users can choose different hole positions for assembly according to their own hand size, joint distribution and rehabilitation needs, so as to achieve personalized adaptation and precise positioning of the drive device.

[0095] The microcontroller fixing base plate 5 is provided on the microcontroller fixing base plate placement platform 804 inside the driver housing 8. The microcontroller fixing base plate pull-out part 501 of the microcontroller fixing base plate 5 slides in contact with the inside sides of the driver housing 8.

[0096] The single-chip microcomputer 6 and the human-computer interaction display screen 7 are provided on the single-chip microcomputer fixed base plate pull-out part 501. The human-computer interaction display screen 7 is fixed to the single-chip microcomputer fixed base plate pull-out part 501 by display screen fixing rivets 502.

[0097] The microcontroller 6 is electrically connected to the human-machine interaction display screen 7 and the micro drive servo motor 11 of the traction rope.

[0098] The human-computer interaction display screen 7 can realize the setting of rehabilitation training parameters, real-time monitoring of the training process, and recording and storage of training data. The rehabilitation training parameters include training intensity, training time, and finger movement mode.

[0099] The electromagnetic clutch 4 includes an inner electromagnetic clutch ring 402 and an outer electromagnetic clutch roller 401 arranged inside and outside. The inner electromagnetic clutch ring 402 is fixedly connected to the output shaft of the traction rope micro drive servo motor 11.

[0100] The electromagnetic clutch 4 is designed to accommodate the transmission link of a dual-path Kevlar fiber traction rope for finger flexion and extension. The miniature electromagnetic clutch has a compact structure, mainly composed of a stator, rotor, armature, return spring, and precision bearings. The stator has a built-in excitation coil and magnetic yoke, serving as a fixed stationary component. The rotor is fixedly connected to the power input shaft and rotates synchronously with it, with friction working surfaces on its end faces. The armature is connected to the load output shaft and maintains a separation gap with the rotor via the return spring. Bearings support the rotation of both the rotor and armature, ensuring coaxiality of the transmission. During operation, the excitation coil is energized to generate electromagnetic attraction, overcoming the spring force to engage the armature and rotor, achieving synchronous transmission of power and torque. After de-energization, the electromagnetic attraction disappears, and the return spring separates the armature from the rotor, cutting off power transmission. This clutch enables rapid, electrically controlled power switching with quick response and precise control. It also features overload protection and is suitable for power clutch control in small, precision transmission equipment. Because the total length of the Kevlar fiber joint traction rope is fixed, and there is mechanical linkage between the ropes in the flexion and extension branches, this electromagnetic clutch can achieve independent control of the flexion and extension dual-path transmission. During flexion drive, the electromagnetic clutch separates the transmission link of the extension drive branch, releasing the mechanical constraint on the extension side rope, allowing it to extend freely and at the same speed without resistance as the fingers flex. The same principle applies during extension drive. This avoids problems such as rope jamming and interruption of driving force transmission, ensuring smooth and interference-free finger flexion and extension movements. At the same time, it maintains reasonable tension of the traction rope throughout the entire process, ensuring precise power transmission and stable operation of the transmission system.

[0101] This invention also provides a method for using a flexible finger rehabilitation actuator based on a biomimetic spiral structure, employing the flexible finger rehabilitation actuator based on a biomimetic spiral structure described in Embodiment 1 above. The specific steps are as follows:

[0102] Step 1: Wear the fitting

[0103] The patient adjusts the tightness of the wrist fixing buckle 10 according to their wrist size and wearing habits to ensure that the driver housing 8 is stable and does not slip. The adjustment mechanism composed of the fixator slide rail 802 and the fixator positioning adjustment slide 803 adjusts the installation position of the driver housing 8 according to the patient's finger length, joint distribution and rehabilitation needs. The finger is fixed in the finger joint component 1 by the finger joint fixing strap 105.

[0104] Step 2: Parameter Setting

[0105] Through the touch or button interface of the human-computer interaction display screen 7, individuals can input their rehabilitation needs, customize key parameters such as training duration, flexion and extension frequency, range of motion, and target traction force, and customize a personalized rehabilitation plan.

[0106] Step 3: Rehabilitation Training

[0107] The microcontroller 6 (STM32 series microcontroller) outputs control commands to the traction rope micro servo drive motor 11 according to the received instructions, and the two pairs of traction rope micro drive servo motors 11 on the upper (extended) and lower (bent) sides work together.

[0108] Power is transmitted through a 0.5mm Kevlar fiber articulated traction rope 3; an electromagnetic clutch 4 correspondingly separates the non-working transmission link to avoid rope interference.

[0109] The Kevlar fiber joint traction rope is guided by the fiber rope arc slide rail 101 and the fiber rope steering guide wheel 102, driving the finger joint assembly 1 to complete the flexion and extension movement. The tensioning device 9 adjusts the tension of the traction rope in real time to ensure accurate power transmission.

[0110] Step 4: Process Monitoring and Data Traceability

[0111] The human-computer interaction display screen (7) displays information such as finger joint angle, traction force, training progress and equipment status in real time. After training is completed, relevant data is recorded and stored, which makes it easier for medical staff and patients to trace the rehabilitation process and optimize the rehabilitation plan.

[0112] The present invention discloses a method for preparing a flexible finger rehabilitation actuator based on a biomimetic spiral structure as follows:

[0113] Step 1: 3D Modeling and Parameter Setting

[0114] 3D models of various components such as finger joint assembly 1 and driver housing 8 are constructed and imported into the control system of dual-nozzle FDM multi-material co-extrusion printer. Printing parameters (including printing layer thickness, printing speed, nozzle temperature, platform temperature, etc.) are set according to the functional requirements of each structure. Thermoplastic polyurethane (TPU) flexible material is selected for joint bending and skin contact parts, and polylactic acid (PLA) rigid material is selected for structural support parts.

[0115] Step 2: Integrated Printing

[0116] The printer is started to print the integrated parts. After printing, the parts are demolded and the precision of each movable section is checked and the edges are polished to ensure assembly accuracy and wearing comfort.

[0117] Step 3: Component Assembly

[0118] Mechanical structure assembly: The finger joint assembly 1 is hinged by passing through the adjacent joint rivet holes 103 of the adjacent movable joints with 304 stainless steel flat-head female rivets 2, forming a rotary pair; the flexion and extension two-way micro servo drive motors 11 are respectively placed into the preset mounting slots of the driver housing 8 and the wrist fixing buckle 10, and fixed with fasteners and installed with electromagnetic clutch 4; the tensioning device 9 is assembled and fixed to both sides of the driver housing 8; the wrist fixing buckle 10 is assembled to complete the overall mechanical structure splicing;

[0119] Step 4: Component Assembly

[0120] Electrical control component assembly: Connect the pins of the microcontroller 6 to the corresponding interfaces of the mounting platform 804 on the fixed base plate in the driver housing 8; fix the human-machine interaction display screen 7 to the designated position on the microcontroller mounting base plate 5 using the display screen fixing rivets 502 to complete the circuit connection;

[0121] Step 5: Assembly of the transmission link

[0122] The 0.5mm Kevlar fiber articulated traction rope 3 is wound around the fiber rope arc slide rail 101 and the fiber rope steering guide wheel 102, and connected to the output end of the traction rope micro servo drive motor 11. The tensioning device 9 is adjusted until the tension of the traction rope is appropriate and the transmission path is smooth, thus completing the overall assembly.

[0123] In summary, this invention, through the synergistic innovation of multi-material 3D printing integration, biomimetic kinematic structure, high-reliability rope drive system, and intelligent human-computer interaction control strategy, systematically overcomes the technical bottlenecks of existing rehabilitation drive devices in terms of material adaptation, motion matching, personalized customization, drive stability, and intelligence level. It provides patients with hand dysfunction with a flexible rehabilitation training solution that combines precision, comfort, economy, and intelligence. Furthermore, this device is easy to disassemble and maintain, and has low maintenance difficulty.

Claims

1. A flexible finger rehabilitation actuator based on a biomimetic spiral structure, characterized in that: Includes finger joint assembly (1), flat-head rivets, fiber joint traction rope, electromagnetic clutch (4), microcontroller mounting base plate (5), microcontroller (6), human-computer interaction display screen (7), driver housing (8), tensioning device (9), wrist fixing buckle (10), and traction rope micro drive servo motor (11). The finger joint assembly (1) consists of five single finger joints (100) connected in sequence; The single finger joint (100) includes a U-shaped finger joint fitting part (104) and a finger joint fixing strap (105) installed on its lower side. The finger joint fitting part (104) is provided with adjacent joint rivet holes (103) on both sides. The multiple single finger joints (100) are hinged together by flat-head rivets and their respective adjacent joint rivet holes (103) to form a rotating pair. The U-shaped knuckle fitting part (104) is provided with fiber rope arc-shaped slide rails (101) on both the upper and lower sides, and only the lower side of the foremost knuckle fitting part (104) is provided with fiber rope steering guide wheel (102). The wrist retaining buckle (10) is fixed to the driver housing (8). A pair of traction rope micro-drive servos (11) are fixed to the lower side of the wrist fixing buckle (10), and another pair of traction rope micro-drive servos (11) are fixed to the driver housing (8), with a pair of extension drive servos on the upper side and a pair of flexion drive servos on the lower side. The output shaft of the micro drive servo motor (11) of the traction rope is fixed with an electromagnetic clutch (4). The two pairs of electromagnetic clutches (4) on the upper or lower side are each connected by a fiber joint traction rope. The upper fiber joint traction rope passes through the five single finger joints (100) in sequence from the inside to the outside and then from the outside to the inside. The fiber rope arc-shaped slide rails (101) on both sides of the upper part of the rope pass through the five single finger joints (100). The lower fiber joint traction rope first passes through the fiber rope guide wheel (102) from the inside to the outside, and then passes through the fiber rope arc slide rail (101) on both sides of the lower part of the five single finger joints (100) from the outside to the inside. The finger joint assembly (1) is driven and controlled by two pairs of micro-drive servo motors (11) with upper and lower traction ropes respectively, thereby realizing the flexion and extension movements of the joints.

2. The flexible finger rehabilitation actuator based on a biomimetic spiral structure according to claim 1, characterized in that: The tensioning device (9) includes a housing connection structure (901), a tensioning device connection pin (902), a fiber rope roller (903), and a rolling bearing (904). Tensioning devices (9) are provided on both sides of the driver housing (8) and are fixedly connected to the housing connection structure (901); The outer shell connection structure (901) is connected to at least two tensioning device connecting pins (902) in sequence. The tensioning device is connected to the pin (902) and is provided with a torsion spring. The end of the outer tensioning device connecting pin (902) is connected to the fiber rope roller (903) through a rolling bearing (904). The pair of fiber rope rollers (903) abut against the middle of the upper fiber joint traction rope, and the tension adjustment of the upper fiber joint traction rope is achieved in real time through the action of torsion spring.

3. The flexible finger rehabilitation actuator based on a biomimetic spiral structure according to claim 2, characterized in that: The fiber rope arc-shaped slide rail (101) is precisely matched with the rotation center of the human finger joint, and the five movable segments of the bionic finger are set one-to-one.

4. The flexible finger rehabilitation actuator based on a biomimetic spiral structure according to claim 3, characterized in that: The finger joint assembly (1) is designed based on the logarithmic spiral equation, and the width of its five single finger joints (100) decreases sequentially from the inside to the outside. The maximum bending angle of the finger joint assembly (1) is limited to within 90°.

5. A flexible finger rehabilitation actuator based on a biomimetic spiral structure according to claim 4, characterized in that: The driver housing (8) includes an upper half retainer connecting bolt (801), a retainer slide rail (802), and a retainer positioning adjustment slide bar (803). The fixing device positioning adjustment slide (803) is fixed to the lower side of the main body of the driver housing (8) by the fixing device connecting bolt (801); The retainer slide rail (802) is fixed to the upper end of the wrist retainer buckle (10); The position of the fixture slide rail (802) and the fixture positioning adjustment slide (803) is adjusted and fixed.

6. The flexible finger rehabilitation actuator based on a biomimetic spiral structure according to claim 5, characterized in that: The single-chip microcomputer fixing base plate (5) has a pull-out part (501) that slides in contact with the inside sides of the driver housing (8); The single-chip microcomputer (6) and the human-computer interaction display screen (7) are provided on the pull-out part (501) of the single-chip microcomputer fixed base plate. The microcontroller (6) is electrically connected to the human-machine interaction display screen (7) and the traction rope micro drive servo motor (11).

7. A flexible finger rehabilitation actuator based on a biomimetic spiral structure according to claim 6, characterized in that: The human-computer interaction display screen (7) enables the setting of rehabilitation training parameters, real-time monitoring of the training process, and recording and storage of training data. The rehabilitation training parameters include training intensity, training time, and finger movement patterns.

8. A flexible finger rehabilitation actuator based on a biomimetic spiral structure according to claim 7, characterized in that: The electromagnetic clutch (4) includes an inner electromagnetic clutch ring (402) and an outer electromagnetic clutch roller (401) arranged inside and outside. The inner electromagnetic clutch ring (402) is fixedly connected to the output shaft of the traction rope micro drive servo motor (11).

9. A method for using a flexible finger rehabilitation actuator based on a biomimetic spiral structure, characterized in that: Step 1: Wear the fitting The patient adjusts the tightness of the wrist fixation buckle (10) according to their wrist size and wearing habits; the adjustment mechanism composed of the fixation rail (802) and the fixation positioning adjustment slide (803) adjusts the installation position of the driver housing (8) according to the patient's finger length, joint distribution and rehabilitation needs, and fixes the finger in the finger joint component (1) by the finger joint fixation strap (105); Step 2: Parameter Setting Through the touch or button interface of the human-computer interaction display screen (7), individuals can input their rehabilitation needs, customize key parameters such as training duration, flexion and extension frequency, range of motion and target traction force, and customize personalized rehabilitation plans. Step 3: Rehabilitation Training According to the received instructions, the microcontroller (6) outputs control instructions to the micro servo drive motor (11) of the traction rope. The two pairs of micro drive servos (11) of the upper and lower sides work together. Power is transmitted through the fiber joint traction rope. The electromagnetic clutch (4) separates the non-working transmission link to avoid rope interference. The fiber joint traction rope is guided by the fiber rope arc slide rail (101) and the fiber rope steering guide wheel (102) to drive the finger joint assembly (1) to complete the flexion and extension movement. The tensioning device (9) adjusts the tension of the traction rope in real time to ensure accurate power transmission. Step 4: Process Monitoring and Data Traceability The human-computer interaction display screen (7) displays information such as finger joint angle, traction force, training progress and equipment status in real time. After training is completed, relevant data is recorded and stored, which makes it easier for medical staff and patients to trace the rehabilitation process and optimize the rehabilitation plan.

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