Modular finger and wrist rehabilitation training integrated device

Abstract

The utility model discloses a modularized finger and wrist rehabilitation training integrated device, the rehabilitation training device comprises a base module, a finger rehabilitation training module and a wrist rehabilitation training module, the forearm of a patient is placed on a forearm adjusting support seat and is fixed through a bandage, the finger rehabilitation training module is worn on the hand of the patient, and the wrist rehabilitation training module is fixed on the forearm adjusting support seat. The patient is assisted in rehabilitation training. The device is driven by multiple motors, independent rehabilitation training of fingers or wrists can be achieved, and collaborative rehabilitation training of the wrists and the fingers can also be achieved. The device can adapt to finger lengths of different patients, realizes self-adaption of the rotation center of human joints, avoids secondary injury to the patients, realizes rehabilitation training of human wrist joint introversion / extroversion, palmar flexion / dorsal flexion and finger flexion and extension, is convenient to use, good in adaptability and rich in training function, can greatly improve the rehabilitation efficiency of the patients, and is suitable for popularization and application. And the method has good use value and application prospect.

Description

Technical Field

[0001] The utility model belongs to the technical field of rehabilitation medical equipment, and in particular relates to a modular finger and wrist rehabilitation training integrated device. Background Art

[0002] Stroke, also known as apoplexy or cerebrovascular accident, is characterized by high incidence, high disability rate, high mortality rate and high recurrence rate. Stroke has become the leading cause of death among Chinese residents, and the incidence population is getting younger. What is more worrying is that this trend may continue to rise. About 80% of stroke patients suffer from functional motor disorders of the hand. The hand is one of the most important motor and sensory organs of the human body. The sequelae of stroke cause patients to lose their ability to live independently and to move, which seriously affects their quality of life.

[0003] In recent years, hand rehabilitation research for stroke patients with hemiplegia and other patients with hand motor dysfunction has become a hot topic in rehabilitation engineering medicine and robotics. Intelligent rehabilitation robots represented by exoskeleton rehabilitation robots are expected to be the first to achieve mass production and application in the fields of assisting the elderly and the disabled, medical rehabilitation, etc. and play a significant role. Rehabilitation robots are an effective combination of modern rehabilitation medicine and robotics technology. Wearable rehabilitation robots have been proven to have a beneficial effect on rehabilitation training and have been widely used in clinical rehabilitation training.

[0004] At present, the research on hand rehabilitation training devices is still in its early stages. The hand function rehabilitation training devices on the market can only achieve rehabilitation training of partial hand functions, and cannot perform effective rehabilitation training on the wrist. In addition, most hand rehabilitation training devices have complex structures, are expensive, and have a single rehabilitation training model. They cannot meet the patients' complete hand function rehabilitation training needs, and the rehabilitation effect is unsatisfactory. Summary of the invention

[0005] The purpose of the utility model is to provide a modular finger and wrist rehabilitation training integrated device, aiming to solve the problems of complex structure, poor adaptability and single rehabilitation training mode of existing rehabilitation training devices. When the patient is undergoing rehabilitation training, the rotation center of the human-machine joint of the device always remains coincident, and the device can adapt to the finger knuckle lengths of different patients. Rehabilitation training can be performed on the patient's fingers and wrists separately, and coordinated rehabilitation training of the finger and wrist joints can be achieved. Palmar flexion / dorsiflexion rehabilitation training and inversion / valgus rehabilitation training of the wrist joint can be achieved, and flexion and extension rehabilitation training of the finger joints can be achieved. Multiple rehabilitation training modes such as single finger, finger-to-finger, and fisting can be achieved, which meets the safety and comfort requirements of the patient during the rehabilitation training process and has a good rehabilitation training effect.

[0006] To achieve the above-mentioned purpose, the technical solution of a modular finger and wrist rehabilitation training integrated device in the utility model is as follows:

[0007] A modular integrated finger and wrist rehabilitation training device includes: a base module, a wrist rehabilitation training module and a finger rehabilitation training module; the base module includes a base, a forearm adjustment support seat, an emergency stop button, a controller and a data line interface; the wrist rehabilitation training module is installed on the base module, including a wrist joint palmar flexion / dorsiflexion rehabilitation training mechanism and a wrist joint inversion / valgus rehabilitation training mechanism; the finger rehabilitation training module is installed on the wrist rehabilitation training module, including a back of hand support, a back of hand lining, a thumb rehabilitation training mechanism and a four-finger rehabilitation training mechanism. It is specially explained that the finger rehabilitation training module uses five linear motors, and each finger can be rehabilitated separately. The finger rehabilitation training module is divided into a left-hand finger rehabilitation training module and a right-hand finger rehabilitation training module, and the two can be quickly replaced.

[0008] An integrated control module is provided inside the base for controlling the rehabilitation training of each module and providing real-time feedback on the rehabilitation training status; a forearm adjustment support seat is provided on the upper surface of the base, including a forearm adjustment support frame and a forearm rubber pad, which can be adjusted to a suitable position according to the length of the patient's arm through a slide structure, and the patient's forearm can be fixed by a strap; a circular groove is provided on the base for installing a wrist rehabilitation training module, and the base and the wrist rehabilitation training module are connected and fixed by a semicircular limit groove.

[0009] The palmar flexion / dorsiflexion rehabilitation training mechanism of the wrist joint includes a rotating disk, a first driving wheel and a first driven wheel. The first driven wheel is fixedly installed on the rotating disk and driven by a stepping motor to drive the wrist joint to perform palmar flexion / dorsiflexion rehabilitation training. The limit block on the rotating disk limits the rotation limit angle of palmar flexion / dorsiflexion of the wrist joint.

[0010] The wrist joint inversion / valgus rehabilitation training mechanism includes a limit block, a second active wheel, a second driven wheel, a gear fixing seat, a cylindrical roller baffle and a cylindrical roller. The second driven wheel is provided with a mounting platform for a finger rehabilitation training module for installing the finger rehabilitation training module. The gear fixing seat is installed on a rotating disk and is driven by a stepping motor to drive the wrist joint to perform inversion / valgus rehabilitation training. The limit angle of rotation of the second driven wheel is limited by the limit block.

[0011] The back of hand support adopts an ergonomic design and fits the back of the hand curve better, so that the rehabilitation training trajectory of the fingers is more in line with the human hand grasping law. The thumb rehabilitation training mechanism and the four-finger rehabilitation training mechanism are fixed on the back of hand support. The back of hand support is installed with a back of hand lining to improve the wearing comfort of the patient. The human hand is fixed to the back of hand support by a strap to make it fit and fixed.

[0012] The thumb rehabilitation training mechanism includes a linear motor mounting seat, a linear motor, a fixed mounting seat, a first thumb connecting rod, a second thumb connecting rod, a third thumb connecting rod and a thumb finger length adjustment mechanism. The linear motor mounting seat is fixedly mounted on the back of the hand support and is connected to the linear motor through a hinge. The linear motor is connected to the first thumb connecting rod through a hinge. The fixed mounting seat is fixedly mounted on the back of the hand support and is connected to the first thumb connecting rod and the second thumb connecting rod through a hinge. The third thumb connecting rod is connected to the first thumb connecting rod, the second thumb connecting rod and the thumb finger length adjustment mechanism through a hinge. The linear motor drives each connecting rod to rotate, and further drives the patient to complete the flexion and extension training of the thumb.

[0013] The four-finger rehabilitation training mechanism includes a linear motor mounting seat, a linear motor, a fixed mounting seat, a first connecting rod, a second connecting rod, a first gear connecting rod, a second gear connecting rod, a third connecting rod, a fourth connecting rod, a proximal finger adjustment mechanism and a distal finger length adjustment mechanism. The linear motor mounting seat and the fixed mounting seat are fixedly mounted on the back of the hand support. The linear motor is hinged to the linear motor mounting seat and the first connecting rod. The fixed mounting seat is hinged to the first connecting rod and the second connecting rod. The first gear connecting rod is hinged to the first connecting rod, the second connecting rod and the proximal finger length adjustment mechanism. The first gear connecting rod and the second gear connecting rod are meshed by gears. The second gear connecting rod is hinged to the proximal finger length adjustment mechanism and the third connecting rod. The third connecting rod and the fourth connecting rod are hinged. The linear motor drives the first connecting rod to rotate, transmits power to the first gear connecting rod, drives the second gear connecting rod to rotate through gear transmission, transmits power to the end, and drives the patient to complete the flexion and extension rehabilitation training of the fingers.

[0014] The integrated control module includes a pressure sensor, an angle sensor and an embedded microprocessor, which can control the rehabilitation training of each module, collect information such as the angle, speed, acceleration, torque, movement position of each joint of the patient's finger, and provide real-time feedback on the rehabilitation training status.

[0015] The thumb length adjustment mechanism includes a finger strap, a thumb baffle lining and a thumb phalanx baffle. The thumb phalanx baffle is provided with a dovetail groove. The thumb third connecting rod can slide in the dovetail groove and be fixed by a set screw to adjust the position of the thumb finger baffle, so that the thumb rehabilitation training mechanism is suitable for patients with different finger joint lengths.

[0016] The proximal finger length adjustment mechanism includes a gear-link mounting seat, a proximal phalanx baffle, a proximal baffle lining and a finger strap, and the distal finger length adjustment mechanism includes a distal phalanx baffle, a distal baffle lining and a finger strap. The proximal phalanx baffle and the distal phalanx baffle are provided with dovetail grooves, the gear-link mounting seat can slide in the dovetail groove of the proximal phalanx baffle and be fixed by a set screw, and the fourth connecting rod can slide in the dovetail groove of the distal phalanx baffle and be fixed by a set screw, thereby making the four-finger rehabilitation training mechanism suitable for patients with different knuckle lengths.

[0017] The modular finger and wrist rehabilitation training integrated device provided by the utility model combines the rehabilitation training of fingers and wrists, and can complete the flexion and extension rehabilitation training of each finger, the inversion / valgus, palmar flexion / dorsiflexion rehabilitation training of the wrist joint. The device adopts multi-motor drive control, and can independently perform rehabilitation training on each finger and wrist joint, and can also complete the coordinated rehabilitation training of multiple fingers and wrists. The rehabilitation training mode is diversified, and the human-machine joint rotation center can always be kept coincident during the rehabilitation training process, and it can adapt to the finger knuckle lengths of different patients. It adopts ergonomic design, has a back of hand support and lining that fits the back of the patient's hand better, has good wearing comfort, compact structure, and is easy to wear. At the same time, it can collect information such as the angle, speed, acceleration, torque, movement position, etc. of each joint of the patient's fingers and provide real-time feedback on the rehabilitation training status, which is conducive to improving the rehabilitation training effect of patients.

[0018] Compared with the prior art, the utility model has the following advantages:

[0019] 1. The utility model combines finger rehabilitation training with wrist rehabilitation training. Rehabilitation training can be performed on each finger and wrist joint individually, or coordinated rehabilitation training can be performed on the fingers and wrists. The rehabilitation training modes are diversified, which can bring better rehabilitation experience to patients and effectively improve the rehabilitation training effect of patients.

[0020] 2. The utility model can always keep the rotation center of the human-machine joint coincident during the rehabilitation training process, and the device can be adjusted according to the length of the finger joints of different patients to adapt to the length of the finger joints of different patients, thereby improving the adaptability of the rehabilitation training device.

[0021] 3. The utility model adopts ergonomic design, has a back of hand support and lining that fits the back of the patient's hand better, is comfortable to wear, and the rehabilitation training trajectory is more in line with the normal human hand movement law. It has a compact structure and is easy to wear.

[0022] 4. The utility model uses a clever arrangement of a gear-link mechanism to perform rehabilitation training on the MCP joint and PIP joint of each finger through a single linear motor, and the overall movement is smooth and coherent.

[0023] 5. The utility model can collect information such as the angle, speed, acceleration, torque, movement position, etc. of each joint of the patient's fingers and provide real-time feedback on the rehabilitation training status, which is beneficial to improving the rehabilitation training effect of the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the following is a brief summary of the drawings required for use in the embodiments or the prior art description. The following drawings are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. The schematic embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute improper limitations on the utility model.

[0025] Figure 1 It is a schematic diagram of the overall structure of a modular finger and wrist rehabilitation training integrated device in the utility model;

[0026] Figure 2 It is a structural schematic diagram of the base module in the utility model;

[0027] Figure 3 It is an exploded view of the wrist rehabilitation training module in the utility model;

[0028] Figure 4 It is a schematic diagram of the overall structure of the finger rehabilitation training module in the utility model;

[0029] Figure 5 It is a structural schematic diagram of the thumb rehabilitation training mechanism in the utility model;

[0030] Figure 6 It is a structural schematic diagram of the four-finger rehabilitation training mechanism in the utility model;

[0031] Figure 7 It is a schematic diagram of four-finger flexion and extension rehabilitation training in the utility model;

[0032] Figure 8 It is a schematic diagram of the palmar flexion / dorsiflexion rehabilitation training of the wrist joint in the utility model;

[0033] Fig. 9 It is a schematic diagram of the inversion / valgus rehabilitation training of the wrist joint in the utility model;

[0034] Among them: 1. Base, 2. Forearm support adjustment mechanism, 3. Emergency stop button, 4. Wrist joint palmar flexion / dorsiflexion rehabilitation training mechanism, 5. Back of hand lining, 6. Thumb rehabilitation training mechanism, 7. Four-finger rehabilitation training mechanism, 8. Back of hand bracket, 9. Wrist joint inversion / valgus rehabilitation training mechanism, 10. Data line interface, 11. Controller interface, 12. Forearm rubber pad, 13. Rotation control box, 14. Forearm support frame, 15. Base cover, 16. First gear fixing seat, 17. Limit block, 18. Second driving wheel, 19. Deep groove ball bearing, 20. Rotating plate, 21. First driven wheel, 22. Stepper motor, 23. First driving wheel, 24. Stepper motor mounting seat, 25. Coupling, 26. Second gear fixing seat, 27. Cylindrical roller, 28. .Cylindrical roller baffle, 29. Second driven wheel, 30. Installation locating pin, 31. Limit stud, 32. Width adjustment bracket, 33. Linear motor mounting seat, 34. Cable bundle, 35. Linear motor, 36. First link of thumb, 37. Third link of thumb, 38. Second link of thumb, 39. Thumb finger length adjustment block, 40. Thumb phalanx baffle, 41. Thumb baffle lining, 42. Thumb strap, 43. Fixed mounting seat, 44. First link, 45. Second link, 46. First gear link, 47. Second gear link, 48. Third link, 49. Fourth link, 50. Distal phalanx baffle, 51. Distal baffle lining, 52. Finger strap, 53. Proximal baffle lining, 54. Proximal phalanx baffle, 55. Gear link mounting seat. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the utility model clearer, the utility model is further described in detail below in conjunction with the accompanying drawings and examples. The utility model and its implementation methods are described below, and this description is not restrictive, and the actual implementation methods are not limited to this. It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the utility model. Unless otherwise specified, all technical and scientific terms used in the utility model have the same meanings as those commonly understood by ordinary technicians in the technical field to which the utility model belongs.

[0036] As introduced in the background technology, the hand function rehabilitation training device for stroke patients in the prior art has a complex structure, is expensive, and has a single rehabilitation training mode, which cannot meet the patients' complete hand function rehabilitation training needs and has unsatisfactory rehabilitation effects. In order to solve the above technical problems, the utility model proposes a modular finger and wrist integrated rehabilitation training device.

[0037] The implementation example of a modular finger and wrist rehabilitation training integrated device in the utility model is as follows: Figure 1-9As shown: the device mainly includes a base module 1, a forearm support adjustment mechanism 2, a wrist joint palmar flexion / dorsiflexion rehabilitation training mechanism 4, a thumb rehabilitation training mechanism 6, a four-finger rehabilitation training mechanism 7, a back of hand support 8, and a wrist joint varus / valgus rehabilitation training mechanism 9. The forearm support adjustment mechanism 2, an emergency stop button 3, a wrist joint palmar flexion / dorsiflexion rehabilitation training mechanism 4, a data line interface 10 and a controller interface 11 are arranged on the base 1; the wrist joint palmar flexion / dorsiflexion rehabilitation training mechanism 4 is provided with a wrist joint varus / valgus rehabilitation training mechanism 9; the wrist joint varus / valgus rehabilitation training mechanism 9 is provided with a back of hand lining 5, a thumb rehabilitation training mechanism 6, a four-finger rehabilitation training mechanism 7 and a back of hand support 8; four four-finger rehabilitation training mechanisms 7 can be provided, corresponding to the index finger, middle finger, ring finger and little finger respectively.

[0038] Specifically, the structure and principle of a modular integrated finger and wrist rehabilitation training device will be described below in conjunction with the accompanying drawings.

[0039] Figure 2 What is shown is the specific structure of the base module, including a base 1, an emergency stop button 3, a data line interface 10, a controller interface 11, a forearm rubber pad 12, a rotation control box 13, a forearm support frame 14, and a base cover 15. An integrated control module is arranged inside the base 1 for controlling the rehabilitation training of each module and providing real-time feedback on the rehabilitation training status. The emergency stop button 3 is used to protect the safety of the patient in an emergency during the patient's rehabilitation training. The data line interface 10 and the controller interface 11 are used to transmit rehabilitation training data and connect the controller of the rehabilitation training device so as to provide real-time feedback on the patient's rehabilitation training status and control the rehabilitation training device for rehabilitation training. The rotation control box 13 is mounted on the base 1 and is connected and fixed by a semicircular limit groove. The forearm support frame 14 can slide along the axis on the base through a slide groove structure and be adjusted to a suitable position according to the length of the patient's arm, and the patient's forearm is fixed by a strap. The forearm rubber pad 12 is fixedly mounted on the forearm support frame 14, so that the patient has better comfort during rehabilitation training using the device, which is more conducive to the patient's rehabilitation training effect.

[0040] Figure 3 What is shown is an exploded view of the wrist rehabilitation training module, which mainly includes a wrist joint palmar flexion / dorsiflexion rehabilitation training mechanism 4, a wrist joint inversion / valgus rehabilitation training mechanism 9, a thumb rehabilitation training mechanism 6, a four-finger rehabilitation training mechanism 7, and a back of hand support 8.

[0041] The wrist joint inversion / valgus rehabilitation training mechanism 9 mainly includes: a stepper motor 22, a stepper motor mounting seat 24, a coupling 25, a second gear fixing seat 26, a cylindrical roller 27, a cylindrical roller baffle 28, a second driven wheel 29, a first gear fixing seat 16, a limit block 17, a second driving wheel 18, and a deep groove ball bearing 19. The stepper motor mounting seat 24 is fixedly installed on the side of the second gear fixing seat 26 by screw connection, and the first gear fixing seat 16 and the second gear fixing seat 26 are fixed on the rotating disk by bolt connection. When the rotating disk rotates, it will drive the wrist joint inversion / valgus rehabilitation training mechanism 9 and the finger rehabilitation training module to rotate. Cylindrical rollers are arranged inside the fixed seat 16 and the second gear fixing seat 26, and are fixed with a cylindrical roller baffle 28 to ensure the smooth rotation of the device and prevent jamming. The wrist joint varus / valgus rehabilitation training mechanism 9 is driven by a stepper motor 22, which is rotated by the second driving wheel 18 and drives the second driven wheel 29 to rotate through gear transmission. The finger rehabilitation training module is connected and installed on the second driven wheel 29 through a pin hole. Driven by the second driven wheel 29, the patient can be driven to perform varus / valgus rehabilitation training of the wrist joint. The varus / valgus limit angle of the wrist joint is limited by the limit block 17 to ensure the safety of the patient during the rehabilitation training process.

[0042] The wrist joint palmar flexion / dorsiflexion rehabilitation training mechanism 4 mainly includes: a stepper motor 22, a first driving wheel 23, a first driven wheel 21, and a rotating disk 20. The first driven wheel 21 is fixedly installed on the rotating disk 20 and is driven by the stepper motor 22 to drive the first driving wheel 23 to rotate, and the rotating disk 20 is driven to rotate through gear meshing, thereby driving the patient's wrist joint to achieve palmar flexion / dorsiflexion rehabilitation training. A rotation limit angle limit block is provided under the rotating disk 20 to limit the limit flexion angle of the wrist joint palmar flexion / dorsiflexion to avoid secondary injury to the patient.

[0043] Figure 4The overall structural diagram of the finger rehabilitation training module is shown, which mainly includes the back of hand lining 5, the thumb rehabilitation training mechanism 6, the four-finger rehabilitation training mechanism 7, the back of hand bracket 8, the installation positioning pin 30, the limit stud 31, the width adjustment bracket 32, the linear motor mounting seat 33, and the cable bundle 34. The finger rehabilitation training module is fixedly installed on the second driven wheel 29 by installing the positioning pin 30, and the width adjustment bracket 32 ​​is fixedly installed on the back of hand bracket 8 by bolt connection. The position of the finger rehabilitation training module can be adjusted by the width adjustment bracket 32, so that the patient has a more comfortable wearing experience. The cable bundle 34 is used to install and fix the control lines of the sensor and the motor. Five linear motor mounting seats 33 are fixedly installed on the back of hand bracket 8 by screw connection, and are used to install linear motors 35. The back of hand lining 5 is made of rubber material and is fixedly installed inside the back of hand bracket 8 by the limit stud 31, which can ensure the wearing comfort of the patient during the rehabilitation training process.

[0044] Figure 5 and Figure 6 Shown are the structural schematic diagrams of the thumb rehabilitation training mechanism and the structural schematic diagrams of the four-finger rehabilitation training mechanism. The thumb rehabilitation training mechanism 6 mainly includes a linear motor 35, a thumb first connecting rod 36, a thumb third connecting rod 37, a thumb second connecting rod 38, a thumb finger length adjustment block 39, a thumb phalanx baffle 40, a thumb baffle lining 41, a thumb strap 42, and a fixed mounting seat 43. The four-finger rehabilitation training mechanism 7 mainly includes a linear motor 35, a fixed mounting seat 43, a first connecting rod 44, a second connecting rod 45, a first gear connecting rod 46, a second gear connecting rod 47, a third connecting rod 48, a fourth connecting rod 49, a distal phalanx baffle 50, a distal baffle lining 51, a finger strap 52, a proximal baffle lining 53, a proximal phalanx baffle 54, and a gear connecting rod mounting seat 55.

[0045] The back of hand support 8 is equipped with a thumb rehabilitation training mechanism 6, four four-finger rehabilitation training mechanisms 7 with the same structure and five linear motor mounting seats 33, five linear motors 35 are hingedly mounted on the five linear motor mounting seats 33, and five fixed mounting seats 43 are fixedly mounted on the back of hand support 8 by bolt connection, which are used to fix the thumb rehabilitation training mechanism 6 and the four-finger rehabilitation training mechanism 7, and the linear motor 35, the thumb first connecting rod 36, the thumb third connecting rod 37, the thumb second connecting rod 38 and the thumb finger length adjustment block 3 in the thumb rehabilitation training mechanism 6. 9 are connected by hinges, the thumb length adjustment block 39 and the thumb phalanx baffle 40 are connected by a slide groove structure and fixed with a set screw, the thumb baffle lining 41 is fixed on the thumb phalanx baffle 40 by adhesive, the patient's finger is fixed by a thumb strap 42, and the linear motor 35 drives the thumb first connecting rod 36 to rotate around the hinge point of the thumb first connecting rod 36 and the fixed mounting seat 43. Under the action of the connecting rod mechanism, the thumb phalanx baffle 40 rotates around the patient's MP joint, driving the patient to complete the rehabilitation training of thumb flexion and extension.

[0046] The linear motor 35, the fixed mounting seat 43, the first connecting rod 44, the second connecting rod 45, the first gear connecting rod 46, the second gear connecting rod 47, the third connecting rod 48, the fourth connecting rod 49 and the gear connecting rod mounting seat 55 in the four-finger rehabilitation training mechanism 7 are all connected by hinges, the first gear connecting rod 46 and the second gear connecting rod 47 are transmitted by gear meshing, the proximal phalanx baffle 54 and the gear connecting rod mounting seat 55, the fourth connecting rod 49 and the distal phalanx baffle 50 are connected by a slide groove structure and fixed with set screws, the distal baffle lining 51 and the proximal baffle lining 53 are respectively fixed on the distal phalanx baffle 50 and the proximal phalanx baffle 50 by gluing. The bone baffle 54 can improve the wearing comfort of the patient during the rehabilitation training process. The patient's fingers are fixed to the four-finger rehabilitation training mechanism 7 through the finger straps 52, and are driven by the linear motor 35 to drive the first connecting rod 44 to rotate around the hinge point between the first connecting rod 44 and the fixed mounting seat 43. Under the action of the connecting rod mechanism, the proximal phalanx baffle 54 rotates around the patient's MCP joint, and the second gear connecting rod 47 is driven to rotate around the hinge point between the second gear connecting rod 47 and the gear connecting rod mounting seat 55 through gear transmission. Under the action of the connecting rod mechanism, the distal phalanx baffle 50 rotates around the patient's PIP joint, thereby driving the patient to complete the rehabilitation training of four fingers flexion and extension.

[0047] Figure 7-Figure 9 The diagrams respectively show the four-finger flexion and extension rehabilitation training, the palmar flexion / dorsiflexion rehabilitation training of the wrist joint, and the inversion / valgus rehabilitation training of the wrist joint, wherein Figure 8The left and right views in the middle respectively show the states of the wrist joint during palmar flexion and dorsiflexion rehabilitation training; when the patient performs inversion / valgus rehabilitation training, the rotating disk 20 will be locked to prevent the rotating disk from rotating, wherein Fig. 9 The left side view and the right side view in the figure respectively represent the states of the wrist joint during inversion and eversion rehabilitation training.

[0048] When a modular finger and wrist rehabilitation training integrated device of the present embodiment is used for rehabilitation training of patients, there are the following situations: separate wrist joint rehabilitation training, finger rehabilitation training and wrist joint and finger coordinated rehabilitation training. Finger rehabilitation training includes single finger rehabilitation training, finger rehabilitation training and five-finger fist rehabilitation training. When patients use the device for wrist joint rehabilitation training, it can help patients complete palmar flexion / dorsiflexion and inversion / valgus rehabilitation training of the wrist joint. During the training process, palmar flexion / dorsiflexion rehabilitation training and inversion / valgus rehabilitation training can be performed separately or alternately, but palmar flexion / dorsiflexion and inversion / valgus rehabilitation training of the wrist joint of the device cannot be performed at the same time, and the next rehabilitation training must be performed after one rehabilitation training is completed. Training; when the patient uses the device to perform individual finger rehabilitation training, the wrist joint rehabilitation training module is saved and locked. After the patient wears and fixes the hand and forearm on the device, the finger rehabilitation training module starts to drive the patient to perform rehabilitation training. Rehabilitation training can be performed on specified fingers according to the patient's needs, or rehabilitation training can be performed on multiple fingers at the same time; when the patient uses the device to perform coordinated rehabilitation training of the wrist joint and fingers, the patient can start finger flexion and extension rehabilitation training after the wrist joint palmar flexion / dorsiflexion or inversion / valgus rehabilitation training reaches a preset angle position, or can perform finger flexion and extension rehabilitation training while performing wrist joint palmar flexion / dorsiflexion or inversion / valgus rehabilitation training, and perform the above coordinated rehabilitation training movements for multiple cycles.

[0049] Through the embodiments of the utility model, a more comfortable, efficient and safe rehabilitation training method is provided for patients with stroke or limb injury. When the patient is undergoing rehabilitation training, the rotation centers of the human-machine joints of the device always remain coincident, the device can adapt to the finger knuckle lengths of different patients, and rehabilitation training can be performed on the patient's fingers and wrists separately. Palmar flexion / dorsiflexion rehabilitation training and inversion / valgus rehabilitation training of the wrist joint can be achieved, and flexion and extension rehabilitation training of the finger joints can be achieved. Multiple rehabilitation training modes such as single finger, opposing fingers, and five-finger fisting can be achieved, which meets the safety and comfort requirements of the patient during the rehabilitation training process, has a good rehabilitation training effect, and is conducive to the early recovery of the patient.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A modular finger and wrist rehabilitation training integrated device, characterized in that: It includes a base module, a wrist rehabilitation training module and a finger rehabilitation training module; the base module includes a base, a forearm adjustment support seat, an emergency stop button, a controller and a data cable interface; the wrist rehabilitation training module is installed on the base module, including a wrist joint palmar flexion / dorsiflexion rehabilitation training mechanism and a wrist joint inversion / valgus rehabilitation training mechanism; the finger rehabilitation training module is installed on the wrist rehabilitation training module, including a back of hand support, a back of hand lining, a thumb rehabilitation training mechanism and a four-finger rehabilitation training mechanism, the finger rehabilitation training module adopts five linear motors, each finger can be rehabilitated separately, and the finger rehabilitation training module is divided into a left-hand finger rehabilitation training module and a right-hand finger rehabilitation training module, and the two can be quickly replaced.

2. A modular finger and wrist rehabilitation training integrated device according to claim 1, characterized in that: An integrated control module is provided inside the base for controlling the rehabilitation training of each module and providing real-time feedback on the rehabilitation training status; a forearm adjustment support seat is provided on the upper surface of the base, including a forearm adjustment support frame and a forearm rubber pad, which can adjust the position according to the length of the patient's arm through a slide structure, and fix the patient's forearm through a strap; a circular groove is provided on the base for installing a wrist rehabilitation training module, and the base and the wrist rehabilitation training module are connected and fixed by a semicircular limit groove.

3. The modular finger and wrist rehabilitation training integrated device according to claim 1, characterized in that: The palmar flexion / dorsiflexion rehabilitation training mechanism of the wrist joint includes a rotating disk, a first driving wheel and a first driven wheel. The first driven wheel is fixedly installed on the rotating disk and driven by a stepping motor to drive the wrist joint to perform palmar flexion / dorsiflexion rehabilitation training. The limit block on the rotating disk limits the rotation limit angle of palmar flexion / dorsiflexion of the wrist joint.

4. The modular finger and wrist rehabilitation training integrated device according to claim 1, characterized in that: The wrist joint inversion / valgus rehabilitation training mechanism includes a limit block, a second active wheel, a second driven wheel, a gear fixing seat, a cylindrical roller baffle and a cylindrical roller. The second driven wheel is provided with a mounting platform for a finger rehabilitation training module for installing the finger rehabilitation training module. The gear fixing seat is installed on a rotating disk and is driven by a stepping motor to drive the wrist joint to perform inversion / valgus rehabilitation training. The limit angle of rotation of the second driven wheel is limited by the limit block.

5. The modular finger and wrist rehabilitation training integrated device according to claim 1, characterized in that: The back of hand support adopts an ergonomic design and fits the back of the hand curve better, so that the rehabilitation training trajectory of the fingers is more in line with the human hand grasping law. The thumb rehabilitation training mechanism and the four-finger rehabilitation training mechanism are fixed on the back of hand support. The back of hand support is installed with a back of hand lining to improve the wearing comfort of the patient. The human hand is fixed to the back of hand support by a strap to make it fit and fixed.

6. The modular finger and wrist rehabilitation training integrated device according to claim 1, characterized in that: The thumb rehabilitation training mechanism includes a linear motor mounting seat, a linear motor, a fixed mounting seat, a first thumb connecting rod, a second thumb connecting rod, a third thumb connecting rod and a thumb finger length adjustment mechanism. The linear motor mounting seat is fixedly mounted on the back of the hand support and is connected to the linear motor through a hinge. The linear motor is connected to the first thumb connecting rod through a hinge. The fixed mounting seat is fixedly mounted on the back of the hand support and is connected to the first thumb connecting rod and the second thumb connecting rod through a hinge. The third thumb connecting rod is hingedly connected to the first thumb connecting rod, the second thumb connecting rod and the thumb finger length adjustment mechanism. The linear motor drives each connecting rod to rotate, thereby further driving the patient to complete the flexion and extension training of the thumb.

7. The modular finger and wrist rehabilitation training integrated device according to claim 1, characterized in that: The four-finger rehabilitation training mechanism includes a linear motor mounting seat, a linear motor, a fixed mounting seat, a first connecting rod, a second connecting rod, a first gear connecting rod, a second gear connecting rod, a third connecting rod, a fourth connecting rod, a proximal finger adjustment mechanism and a distal finger length adjustment mechanism. The linear motor mounting seat and the fixed mounting seat are fixedly mounted on the back of the hand support. The linear motor is hinged to the linear motor mounting seat and the first connecting rod. The fixed mounting seat is hinged to the first connecting rod and the second connecting rod. The first gear connecting rod is hinged to the first connecting rod, the second connecting rod and the proximal finger length adjustment mechanism. The first gear connecting rod and the second gear connecting rod are meshed by gears. The second gear connecting rod is hinged to the proximal finger length adjustment mechanism and the third connecting rod. The third connecting rod and the fourth connecting rod are hinged. The linear motor drives the first connecting rod to rotate, transmits power to the first gear connecting rod, drives the second gear connecting rod to rotate through gear transmission, transmits power to the end, and drives the patient to complete the flexion and extension rehabilitation training of the fingers.

8. The modular finger and wrist rehabilitation training integrated device according to claim 2, characterized in that: The integrated control module includes a pressure sensor, an angle sensor and an embedded microprocessor, which can control the rehabilitation training of each module, collect the angle, speed, acceleration, torque, and motion position information of each joint of the patient's finger, and provide real-time feedback on the rehabilitation training status.

9. The modular finger and wrist rehabilitation training integrated device according to claim 6, characterized in that: The thumb length adjustment mechanism includes a finger strap, a thumb baffle lining and a thumb phalanx baffle. The thumb phalanx baffle is provided with a dovetail groove. The thumb third connecting rod can slide in the dovetail groove and be fixed by a set screw to adjust the position of the thumb finger baffle, so that the thumb rehabilitation training mechanism is suitable for patients with different finger joint lengths.

10. The modular finger and wrist rehabilitation training integrated device according to claim 7, characterized in that: The proximal finger length adjustment mechanism includes a gear-link mounting seat, a proximal phalanx baffle, a proximal baffle lining and a finger strap, and the distal finger length adjustment mechanism includes a distal phalanx baffle, a distal baffle lining and a finger strap. The proximal phalanx baffle and the distal phalanx baffle are provided with dovetail grooves, the gear-link mounting seat can slide in the dovetail groove of the proximal phalanx baffle and be fixed by a set screw, and the fourth connecting rod can slide in the dovetail groove of the distal phalanx baffle and be fixed by a set screw, thereby making the four-finger rehabilitation training mechanism suitable for patients with different knuckle lengths.

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