High-precision controllable rehabilitation bionic hand

Abstract

The utility model discloses a kind of high-precision controllable rehabilitation bionic hand of joint, including wrist control assembly, finger control assembly, finger control assembly drive assembly, wrist fixing assembly and hand fixing assembly, finger control assembly includes same structure index finger control unit, middle finger control unit, ring finger control unit and little finger control unit as thumb control unit;Thumb control unit includes thumb tip knuckle movable link, thumb middle knuckle movable link and thumb whole movable link;Index finger control unit includes index finger proximal knuckle movable link, index finger tip knuckle movable link and index finger middle knuckle movable link;Wrist control assembly includes wrist movable link.The utility model in the present application is respectively provided with movable link and driving device for the wrist and the joint of each finger of patient, for controlling finger and wrist can freely move, to complete active wrist and to finger, pinch bottle cap and other higher degree of freedom requirement rehabilitation action.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation mechanical equipment technology, and in particular to a rehabilitation bionic hand with high-precision controllable joints. Background Technology

[0002] The bionic hand for rehabilitation is an effective device that can replace rehabilitation therapists in performing restorative training on patients' hand functions. It can replace rehabilitation therapists in performing a lot of repetitive work, allowing more patients to receive rehabilitation training, reducing rehabilitation costs, and collecting patients' physiological information to assist doctors in rationally planning rehabilitation programs.

[0003] Currently available bionic hand exoskeletons for rehabilitation have some hardware design problems, mainly in the following three aspects:

[0004] 1. The control precision for finger-driven mechanisms is insufficient, making it impossible to precisely stop the finger in a specific position. For example, the technical solution disclosed in Chinese utility model patent CN208926958U uses an airbag-driven bionic hand exoskeleton. Because its driving principle involves manually or electrically inflating and deflating the airbag, it is difficult to accurately control the final movement angle of the driven finger.

[0005] 2. The thumb has a low degree of freedom of movement. For example, the technical solution disclosed in Chinese utility model patent CN217908300U only has one dimension of thumb movement freedom, which makes it impossible to drive the hand to complete rehabilitation actions that require a high degree of thumb freedom, such as finger-to-finger or pinching a bottle cap.

[0006] 3. Inability to move the wrist. For example, the technical solution disclosed in Chinese utility model patent CN217908300U has no driving device in the wrist part, which makes it impossible for patients to perform important rehabilitation movements such as raising their hands and moving their wrists.

[0007] In summary, current exoskeleton rehabilitation bionic hands do not have high precision in controlling the wrist and finger joints, and cannot perform rehabilitation movements that require a high degree of freedom, such as wrist movement, finger manipulation, or pinching bottle caps. Utility Model Content

[0008] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a rehabilitative bionic hand with high-precision control of joints, which can perform high-precision rehabilitation training on the wrist and finger joints.

[0009] The present invention solves the above-mentioned technical problems through the following technical solution:

[0010] A highly precise and controllable rehabilitative bionic hand includes a finger control component, a finger control component drive component, and a wrist fixation component. The finger control component includes a thumb control unit, an index finger control unit, a middle finger control unit, a ring finger control unit, and a little finger control unit; the index finger control unit, middle finger control unit, ring finger control unit, and little finger control unit have the same structure. The finger control component drive component includes a thumb drive unit, an index finger drive unit, a middle finger drive unit, a ring finger drive unit, a little finger drive unit, and a thumb overall movement drive unit; the index finger drive unit, middle finger drive unit, ring finger drive unit, and little finger drive unit have the same structure.

[0011] Preferably, the thumb control unit includes a thumb distal phalanx movable component, a thumb middle phalanx movable component, and a thumb overall movable component; one end of the thumb distal phalanx movable component is fixed to the thumb distal phalanx for driving the thumb distal phalanx movement; one end of the thumb middle phalanx movable component is fixed to the thumb middle phalanx for driving the thumb middle phalanx movement; one end of the thumb overall movable component is connected to the base of the thumb for driving the thumb to move in both horizontal and vertical planes of the thumb and palm; the other end of the thumb distal phalanx movable component is connected to the thumb middle phalanx movable component, the other end of the thumb middle phalanx movable component is connected to the output end of the thumb driving unit, and the other end of the thumb overall movable component is connected to the output end of the thumb overall movable driving unit.

[0012] Preferably, the index finger control unit includes an index finger driving component, an index finger proximal phalanx component, an index finger distal phalanx component, and an index finger intermediate phalanx component; one end of the index finger proximal phalanx component is fixed to the index finger proximal phalanx for driving the movement of the index finger proximal phalanx, one end of the index finger distal phalanx component is fixed to the index finger distal phalanx for driving the movement of the index finger distal phalanx, and one end of the index finger intermediate phalanx component is fixed to the index finger intermediate phalanx for driving the movement of the index finger intermediate phalanx;

[0013] The other ends of the index finger distal phalanx movable component and the index finger intermediate phalanx movable component are respectively connected to the index finger proximal phalanx movable component. The index finger proximal phalanx movable component is connected to one end of the index finger driving movable component. The other end of the index finger driving movable component is connected to the output end of the index finger driving unit. The index finger driving movable component is used to drive the movement of the index finger proximal phalanx movable component, the index finger distal phalanx movable component, and the index finger intermediate phalanx movable component.

[0014] Preferably, the rehabilitative bionic hand further includes a hand fixation component, wherein the thumb drive unit, index finger drive unit, middle finger drive unit, ring finger drive unit and little finger drive unit are disposed on the outer surface of the hand fixation component.

[0015] Preferably, the rehabilitative bionic hand further includes a wrist control component and a wrist control component drive component, wherein the wrist control component drive component includes a wrist drive unit.

[0016] Preferably, the wrist control component includes a wrist movement component for driving wrist movement.

[0017] Preferably, one end of the wrist movement component is fixedly connected to the upper surface of the hand fixation component, and the other end is connected to the output end of the wrist drive unit.

[0018] Preferably, the wrist drive unit is disposed on the outer surface of the wrist fixation assembly.

[0019] Preferably, the thumb integral motion drive unit is disposed on the outer surface of the wrist fixation component.

[0020] Preferably, the thumb drive unit, index finger drive unit, middle finger drive unit, ring finger drive unit, little finger drive unit, and overall thumb movement drive unit all use a 0.08N*m torque 12V universal encoder motor; the wrist drive unit uses two 0.24N*m torque 12V universal encoder motors.

[0021] The beneficial effects of this utility model are:

[0022] 1. In this utility model, movable connecting rods and driving devices are respectively set for each joint of the patient's wrist and fingers. The driving devices all use universal encoder motors to drive each movable connecting rod, thereby controlling the fingers and wrist to move freely and complete rehabilitation actions with high degrees of freedom, such as wrist movement, finger pinching, and bottle cap pinching. At the same time, since the 12V encoder motor can precisely control the movement angle, the driving device can make the fingers accurately reach the preset position of the rehabilitation action. In addition, the 12V encoder motor has strong self-locking properties, so that the driving system is less affected by external forces when completing the specified action.

[0023] 2. This utility model uses multiple motors to drive the thumb, enabling it to move in three different degrees of freedom, effectively improving the thumb's ability to perform complex movements.

[0024] 3. This utility model designs a wrist movement linkage driven by an coded motor for the patient's wrist, which can raise the wrist upward to meet the needs of wrist rehabilitation. Attached Figure Description

[0025] To more clearly illustrate the technical solution of this utility model, the drawings used in the description of the embodiments will be briefly introduced. Obviously, the drawings described below are only one embodiment of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the structure of a rehabilitative bionic hand with high-precision controllable joints for removing finger fixation components provided by this utility model;

[0027] Figure 2 A schematic diagram of another angle of the structure of a rehabilitative bionic hand with high-precision controllable joints and removal of finger fixation components provided by this utility model;

[0028] Figure 3 A structural schematic diagram of a rehabilitative bionic hand with high-precision controllable joints, concealing the middle, ring, and little fingers;

[0029] Figure 4 This is a schematic diagram of the wrist movement component of a rehabilitative bionic hand with high-precision controllable joints, provided by this utility model.

[0030] Explanation of reference numerals in the attached diagrams: 1. Index finger drive assembly; 1-1. First index finger drive link; 1-2. Second index finger drive link; 1-3. Third index finger drive link; 2. Index finger proximal phalanx drive assembly; 2-1. Index finger proximal phalanx knuckle sleeve; 2-2. Index finger proximal phalanx link; 3. Index finger distal phalanx drive assembly; 3-1. Index finger distal phalanx knuckle sleeve; 3-2. Index finger distal phalanx link; 4. Index finger middle phalanx drive assembly; 4-1. Index finger middle phalanx knuckle sleeve; 4-2. Index finger middle phalanx link; 5. Thumb distal phalanx drive assembly; 5-1. Thumb distal phalanx knuckle sleeve; 5-2. Thumb distal phalanx link; 6. Thumb middle phalanx drive assembly; 6-1. Thumb middle phalanx knuckle sleeve; 6-2. First thumb middle joint connecting rod; 7. Thumb overall movable assembly; 7-1. First thumb overall movable connecting rod; 7-2. Second thumb overall movable connecting rod; 7-3. Third thumb overall movable connecting rod; 8. Wrist movable assembly; 8-1. Palm sleeve; 8-2. Second wrist movable connecting rod; 8-3. First wrist movable connecting rod; 9. Wrist fixing assembly; 10. Thumb drive unit; 11. Index finger drive unit; 12. Middle finger drive unit; 13. Ring finger drive unit; 14. Little finger drive unit; 15. Thumb overall movable drive unit; 15-1. First drive unit; 15-2. Second drive unit; 15-3. Drive unit connector; 16. Wrist drive unit. Detailed Implementation

[0031] The technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0032] like Figure 1-2 As shown, the rehabilitative bionic hand with high joint controllability provided in this embodiment includes a wrist control component, a wrist control component drive component, a finger control component, a finger control component drive component, a wrist fixation component 9, and a hand fixation component.

[0033] The finger control components include a thumb control unit, an index finger control unit, a middle finger control unit, a ring finger control unit, and a little finger control unit.

[0034] The finger control component drive assembly includes a thumb drive unit 10, an index finger drive unit 11, a middle finger drive unit 12, a ring finger drive unit 13, a little finger drive unit 14, and a thumb overall movement drive unit 15; the wrist control component drive assembly includes a wrist drive unit 16. The thumb drive unit 10, index finger drive unit 11, middle finger drive unit 12, ring finger drive unit 13, and little finger drive unit 14 are all disposed on the outer surface of the hand fixation component; the wrist drive unit 16 and the thumb overall movement drive unit 15 are fixedly installed on the outer surface of the wrist fixation component 9.

[0035] The thumb control unit includes a thumb distal phalanx movement component 5, one end of which is fixed to the distal phalanx of the thumb and drives its movement; a thumb intermediate phalanx movement component 6, one end of which is fixed to the middle phalanx of the thumb and drives its movement; and a thumb overall movement component 7, which drives the thumb as a whole to move in both horizontal and vertical planes with the palm. The other end of the thumb distal phalanx movement component 5 is connected to the thumb intermediate phalanx movement component 6, and the other end of the thumb intermediate phalanx movement component 6 is connected to the output end of the thumb drive unit 10. One end of the thumb overall movement component 7 is connected to the base of the thumb, and the other end of the thumb overall movement component 7 is connected to the output end of the thumb overall movement drive unit 15. The thumb is driven by multiple drive motors, allowing it to move in three different degrees of freedom, effectively improving the thumb's ability to perform complex movements.

[0036] The index finger control unit includes an index finger proximal joint movement component 2, one end of which is fixed to the proximal joint of the index finger and drives its movement; an index finger distal joint movement component 3, one end of which is fixed to the distal joint of the index finger and drives its movement; an index finger intermediate joint movement component 4, one end of which is fixed to the middle joint of the index finger and drives its movement; and an index finger driving movement component 1. One end of the index finger driving movement component 1 is connected to the output end of the index finger driving unit 11, and the other end of the index finger driving movement component 1 is connected to the index finger proximal joint movement component 2. The index finger distal joint movement component 3 and the index finger intermediate joint movement component 4 are both connected to the index finger proximal joint movement component 2. The middle finger control unit, ring finger control unit, and little finger control unit are structurally identical to the index finger control unit, except for differences in size, and will not be described in detail here.

[0037] The wrist control assembly includes a wrist movement component 8 that drives wrist movement. One end of the wrist movement component 8 is fixedly connected to the upper surface of the hand fixation component, and the other end is connected to the output end of the wrist drive unit 16. The wrist movement linkage is synchronously driven by two 12V coded motors with a torque of 0.24 N*m, which can raise the wrist upward to meet the needs of wrist rehabilitation.

[0038] The wrist fixation component 9 can be worn on the patient's wrist. For example, the wrist fixation component 9 can be a strip-shaped ring structure with a certain elasticity and an opening, with a rectangular cross-section. In practical applications, it can be filled with a flexible material (such as a sponge) suitable for the user's body shape as needed.

[0039] The thumb control unit, index finger control unit, middle finger control unit, ring finger control unit, and little finger control unit are fixed to each finger by finger fixing components. The finger fixing components are strip-shaped materials such as Velcro or straps, which are used to tightly fix each finger joint sleeve and palm sleeve to each finger joint and palm respectively, so that the movement of each linkage can be transmitted to each finger joint and palm, and then to the specific structure of the wearer's hand.

[0040] The thumb drive unit 10, index finger drive unit 11, middle finger drive unit 12, ring finger drive unit 13, little finger drive unit 14, and thumb overall movement drive unit 15 all use a 0.08 N*m torque 12V universal encoder motor; the wrist drive unit 16 uses two 0.24 N*m torque 12V universal encoder motors for synchronous drive. By controlling the encoder motors through a preset program, they can accurately reach the required angle and hover. Moreover, because the encoder motors used have strong torque and self-locking ability, they have strong resistance to external interference and can help the hand stably maintain the preset action.

[0041] The thumb drive unit 10, index finger drive unit 11, middle finger drive unit 12, ring finger drive unit 13, little finger drive unit 14, thumb overall movement drive unit 15, and wrist drive unit 16 are all equipped with "D"-shaped drive shafts. Each connecting rod and connector connected to the output shaft of the thumb drive unit 10, index finger drive unit 11, middle finger drive unit 12, ring finger drive unit 13, little finger drive unit 14, thumb overall movement drive unit 15, and wrist drive unit 16 is equipped with a "D"-shaped hole to ensure that the movement direction of each connecting rod is consistent with the rotation direction of the output shaft of the drive unit, thereby driving the single and multi-stage linkage movements of the fingers and wrist.

[0042] like Figure 3 As shown, the index finger driving component 1 includes a first index finger driving link 1-1, a second index finger driving link 1-2, and a third index finger driving link 1-3. The first index finger driving link 1-1 has a "D"-shaped hole, one end of which is connected to the output end of the index finger driving unit 11. The second index finger driving link 1-2 and the third index finger driving link 1-3 are both connected to the other end of the first index finger driving link 1-1, so that the first index finger driving link 1-1 can drive the second index finger driving link 1-2 and the third index finger driving link 1-3 to move. The index finger proximal phalanx component 2 includes an index finger proximal phalanx joint sleeve 2-1 and an index finger proximal phalanx link 2-2 connected to the index finger proximal phalanx joint sleeve 2-1. The index finger distal phalanx component 3 includes an index finger distal phalanx joint sleeve 3-1 and an index finger distal phalanx link 3-2 connected to it. The index finger middle phalanx movable component 4 includes an index finger middle phalanx joint sleeve 4-1 and an index finger middle phalanx connecting rod 4-2 connected thereto. A second index finger drive connecting rod 1-2 is connected to the index finger proximal phalanx joint sleeve 2-1, a third index finger drive connecting rod 1-3 is connected to the index finger proximal phalanx connecting rod 2-2, and both the index finger distal phalanx connecting rod 3-2 and the index finger middle phalanx connecting rod 4-2 are connected to the index finger proximal phalanx connecting rod 2-2. When the index finger is active, the first index finger drive connecting rod 1-1 drives the second and third index finger drive connecting rods 1-2 and 1-3, which in turn drive the next-level index finger proximal phalanx connecting rod 2-2, the index finger distal phalanx connecting rod 3-2, and the index finger middle phalanx connecting rod 4-2, ultimately driving the movement of the index finger proximal phalanx joint sleeve 2-1, the index finger distal phalanx joint sleeve 3-1, and the index finger middle phalanx joint sleeve 4-1.

[0043] The thumb distal phalanx movable component 5 includes a thumb distal phalanx sleeve 5-1 and a thumb distal phalanx connecting rod 5-2 connected thereto; the thumb middle phalanx movable component 6 includes a thumb middle phalanx sleeve 6-1, a first thumb middle phalanx connecting rod 6-2 and a second thumb middle phalanx connecting rod, the thumb middle phalanx sleeve 6-1 being connected to the first thumb middle phalanx connecting rod 6-2; the second thumb middle phalanx connecting rod has a "D"-shaped hole, one end of which is connected to the output end of the thumb drive unit 10, and the other end is connected to the thumb distal phalanx connecting rod 5-2 and the first thumb middle phalanx connecting rod 6-2.

[0044] The thumb movement assembly 7 includes a first thumb movement link 7-1, a second thumb movement link 7-2, and a third thumb movement link 7-3. The third thumb movement link 7-3 has a "D"-shaped hole, one end of which is connected to the output shaft of the second drive unit 15-2, and the other end is connected to one end of the second thumb movement link 7-2. The other end of the second thumb movement link 7-2 is connected to the first thumb movement link 7-1. During rehabilitation, the first thumb movement link 7-1 is fixed at the base of the thumb.

[0045] The thumb movement drive unit 15 includes a first thumb movement drive unit 15-1, a second thumb movement drive unit 15-2, and a drive unit connector 15-3. The first thumb movement drive unit 15-1 and the second thumb movement drive unit 15-2 have different driving dimensions. Both the first thumb movement drive unit 15-1 and the second thumb movement drive unit 15-2 are provided with "D"-shaped drive shafts. The drive unit connector 15-3 is provided with "D"-shaped holes. The "D"-shaped shaft of the first thumb movement drive unit 15-1 is connected to the "D"-shaped hole of the drive unit connector 15-3. At the same time, the drive unit connector 15-3 and the second thumb movement drive unit 15-2 are fixedly connected by screws. The output end of the second drive unit 15-2 is connected to the third thumb movement connecting rod 7-3. The first drive unit 15-1 of the thumb's overall movement drives the second drive unit 15-2 of the thumb's overall movement to rotate up and down, thereby driving the third thumb's overall movement link 7-3, the second thumb's overall movement link 7-2, and the first thumb's overall movement link 7-1 to move, realizing the thumb's horizontal movement up and down. The second drive unit 15-2 of the thumb's overall movement drives the third thumb's overall movement link 7-3 to rotate inward and outward, thereby driving the second thumb's overall movement link 7-2 and the first thumb's overall movement link 7-1 to move, realizing the thumb's horizontal movement inward and outward. In addition, in conjunction with the thumb drive unit 10, the thumb's own bending and straightening can be driven, allowing for flexible control of the thumb in three dimensions to complete movements requiring a high degree of freedom.

[0046] like Figure 4 As shown, the hand fixation component is a palm sleeve 8-1; the wrist movement component 8 includes a first wrist movement link 8-3 and a second wrist movement link 8-2 connected thereto. The second wrist movement link 8-2 is connected to the palm sleeve 8-1. The first wrist movement link 8-3 has a "D"-shaped hole and is connected to the output end of the wrist drive unit 16. The wrist drive unit 16 drives the first wrist movement link 8-3 to move, thereby driving the second wrist movement link 8-2 and the palm sleeve 8-1 to move, forming an angle difference between the palm and the wrist, achieving the effect of driving the wrist. During rehabilitation training, the palm sleeve and each finger joint sleeve can bend at different proportions based on the length of each link.

[0047] When using the bionic hand for rehabilitation provided in this embodiment, the wrist fixation component 9 is first worn on the patient's wrist. The lower surface of the hand fixation component and the finger control component are then attached and fixed to the back of the patient's hand. After that, the corresponding coded motor in the drive component is controlled to drive the corresponding moving link according to the set rehabilitation training program, thereby driving the wrist or fingers to move, so that the patient can perform high-precision rehabilitation movements, such as achieving rehabilitation movements with high degrees of freedom, such as finger manipulation and pinching bottle caps.

[0048] Preferably, in other embodiments, the motor of the rehabilitation bionic hand can be partially replaced by a Hall angle sensor with output motion angle function. The angle data returned by the sensor is calculated using PID and fitting functions. During the patient's hand movements, the motion angle of each finger and the angular velocity at each moment are collected. This setup not only reduces the cost of the rehabilitation bionic hand but also allows for the detection of joint motion angles. After transmitting the detected data to a motion simulation function for processing, the overall hand motion state can be deduced. Alternatively, the Hall angle sensor can be used independently to detect hand movement information and obtain accurate gestures; or it can be worn on the unaffected hand of a stroke patient with hemiplegia to obtain hand movement information from the unaffected hand. Combined with the rehabilitation bionic hand worn on the affected hand of the stroke patient, it forms an input / output device to achieve closed-loop control and synchronize hand movements on the affected hand.

[0049] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A rehabilitative bionic hand with high-precision joint control, comprising a finger control component, a finger control component drive component, and a wrist fixation component (9); characterized in that: The finger control component includes a thumb control unit, an index finger control unit, a middle finger control unit, a ring finger control unit, and a little finger control unit; the index finger control unit, the middle finger control unit, the ring finger control unit, and the little finger control unit have the same structure; the finger control component drive component includes a thumb drive unit (10), an index finger drive unit (11), a middle finger drive unit (12), a ring finger drive unit (13), a little finger drive unit (14), and a thumb overall movement drive unit (15), the index finger drive unit (11), the middle finger drive unit (12), the ring finger drive unit (13), and the little finger drive unit (14) have the same structure.

2. The rehabilitative bionic hand with high-precision controllable joints as described in claim 1, characterized in that: The thumb control unit includes a thumb distal phalanx movement component (5), a thumb middle phalanx movement component (6), and a thumb overall movement component (7). One end of the thumb distal phalanx movement component (5) is fixed to the thumb distal phalanx to drive the movement of the thumb distal phalanx. One end of the thumb middle phalanx movement component (6) is fixed to the thumb middle phalanx to drive the movement of the thumb middle phalanx. One end of the thumb overall movement component (7) is connected to the base of the thumb to drive the thumb overall to move in the horizontal and vertical planes of the thumb and palm. The other end of the thumb distal phalanx movement component (5) is connected to the thumb middle phalanx movement component (6). The other end of the thumb middle phalanx movement component (6) is connected to the output end of the thumb drive unit (10). The other end of the thumb overall movement component (7) is connected to the output end of the thumb overall movement drive unit (15).

3. The rehabilitative bionic hand with high-precision controllable joints as described in claim 2, characterized in that: The index finger control unit includes an index finger drive movement component (1), an index finger proximal phalanx movement component (2), an index finger distal phalanx movement component (3), and an index finger intermediate phalanx movement component (4); one end of the index finger proximal phalanx movement component (2) is fixed to the index finger proximal phalanx to drive the movement of the index finger proximal phalanx, one end of the index finger distal phalanx movement component (3) is fixed to the index finger distal phalanx to drive the movement of the index finger distal phalanx, and one end of the index finger intermediate phalanx movement component (4) is fixed to the index finger intermediate phalanx to drive the movement of the index finger intermediate phalanx; The other ends of the index finger distal phalanx activating component (3) and the index finger intermediate phalanx activating component (4) are respectively connected to the index finger proximal phalanx activating component (2). The index finger proximal phalanx activating component (2) is connected to one end of the index finger driving activating component (1). The other end of the index finger driving activating component (1) is connected to the output end of the index finger driving unit (11). The index finger driving activating component (1) is used to drive the index finger proximal phalanx activating component (2), the index finger distal phalanx activating component (3) and the index finger intermediate phalanx activating component (4) to move.

4. The rehabilitative bionic hand with high-precision controllable joints as described in claim 3, characterized in that: The rehabilitative bionic hand also includes a hand fixation component, wherein the thumb drive unit (10), index finger drive unit (11), middle finger drive unit (12), ring finger drive unit (13) and little finger drive unit (14) are disposed on the outer surface of the hand fixation component.

5. The rehabilitative bionic hand with high-precision controllable joints as described in claim 4, characterized in that: The rehabilitative bionic hand also includes a wrist control component and a wrist control component drive component, wherein the wrist control component drive component includes a wrist drive unit (16).

6. The rehabilitative bionic hand with high-precision controllable joints as described in claim 5, characterized in that: The wrist control assembly includes a wrist movement component (8) for driving wrist movements.

7. The rehabilitative bionic hand with high-precision controllable joints as described in claim 6, characterized in that: One end of the wrist movement component (8) is fixedly connected to the upper surface of the hand fixation component, and the other end is connected to the output end of the wrist drive unit (16).

8. The rehabilitative bionic hand with high-precision controllable joints as described in claim 7, characterized in that: The wrist drive unit (16) is disposed on the outer surface of the wrist fixation assembly (9).

9. A rehabilitative bionic hand with highly precise joint control as described in claim 8, characterized in that: The thumb movement drive unit (15) is disposed on the outer surface of the wrist fixation component (9).

10. A rehabilitative bionic hand with highly precise joint control as described in claim 9, characterized in that: The thumb drive unit (10), index finger drive unit (11), middle finger drive unit (12), ring finger drive unit (13), little finger drive unit (14) and thumb overall movement drive unit (15) all use 0.08N*m torque 12V universal encoder motors; the wrist drive unit (16) uses two 0.24N*m torque 12V universal encoder motors.

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