Hand-arm rehabilitation training device

Abstract

Hand-arm rehabilitation trainer, characterized by: A bionic hand module (1) comprising a plurality of bionic fingers (12) with a plurality of segments of the connection; A power drive system (2) connected to the bionic finger (12) by a flexible pulling mechanism; The wearable support structure (3) has a curved surface shape adapted to a human arm and is used to support the bionic hand module (1).

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of medical devices, in particular to a hand and arm rehabilitation training device. TECHNICAL BACKGROUND

[0002] Hand rehabilitation trainers are a class of assistive devices specifically designed to restore hand function. Their core goal is to help users improve finger flexibility, strengthen muscle strength, and increase joint mobility through mechanical assistance, resistance training, or movement guidance, and to promote the recovery of nerve function.

[0003] Existing hand rehabilitation systems often have the following problems: bulky structure, not suitable for long-term wear, complex control systems, difficult maintenance, incapable of fine simulation of human hand movements, lack of modularity, difficult to adapt to different hand types or training requirements, some high-end bionic prostheses Although they are flexible, the cost is extremely high and the threshold for use is high, which makes them difficult to popularize in the fields of rehabilitation training and education. CONTENT OF THIS APPLICATION

[0004] The utility model provides a hand-arm rehabilitation trainer to solve the problems behind the technology.

[0005] To achieve the above purpose, the utility model provides the following technical solutions: A hand-arm rehabilitation training device, comprising: The bionic hand module contains several bionic fingers with multi-segment connection; A power drive system connected to the bionic finger via a flexible traction mechanism; The wearable support structure has a curved surface shape adapted to a human arm and is used to support the bionic hand module. In addition, the bionic hand module includes a hand fixing bracket, the bionic fingers are movably installed on the hand fixing bracket, and the number of bionic fingers is five. In addition, the power drive system includes servo motors arranged on the fixed hand bracket, and the number of servo motors is consistent with the number of bionic fingers and corresponds one to one. Furthermore, the output end of the servo motor is provided with a winch on which a flexible steel wire rope is wound, one end of the flexible steel wire rope reaching to one of the bionic fingers. Furthermore, the portable support mechanism comprises an upper arm support frame and a forearm support frame. In addition, the upper arm support frame includes a plurality of rings 1 and a connecting rod 1 for connecting a plurality of rings 1 to each other, wherein the connecting rod 1 and the ring 1 are fixed by screws, and the number of the connecting rods 1 is not less than three. In addition, the forearm support frame includes a plurality of rings 2 and a connecting rod 2 for connecting a plurality of rings 2 to each other, wherein the connecting rod 2 and the ring 2 are fixed by screws, and the number of connecting rods 2 is not less than three. In addition, the upper arm support frame and the forearm support frame are movably connected by corresponding rods one and two. In addition, the hand fixation bracket is movably arranged on the ring 2, which is located at one end of the forearm support frame. In addition, a power pipe is arranged between the upper arm support frame and the forearm support frame, and one end of the power pipe is connected to an air pump connecting pipe.

[0006] Compared with the prior art, the utility model provides a hand-arm rehabilitation training device that has the following advantageous effects: The hand-arm rehabilitation trainer is compact in structure and light in weight, suitable for long-term wear, precise control, can realize movement assistance at the finger level, has excellent ergonomic properties, is suitable for users of different ages, and is modular and easy to update and maintain. Mass production through 3D printing, low manufacturing costs, especially suitable for scientific research and teaching, rehabilitation training, and prosthetic research and development, and has broad application prospects and promotional value. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic structural representation of the utility model; Fig. 2 a structural side view of the utility model; Fig. 3 is a schematic diagram showing the structure of the bionic hand module of the utility model.

[0007] In the picture: 1. Bionic hand module; 11, Hand fixing bracket; 12. Bionic fingers; 2. Power drive system; 21. Servo motor; 22. Winch; 23. Flexible steel wire rope; 3. Wearable support structure; 31. Upper arm support frame; 311. Ring one; 312. Connecting rod 1; 32. Forearm support frame; 321. Ring two; 322. Connecting rod two; 33, Screw; 34. Power pipe; 35. Air pump connecting pipe. DETAILED DESCRIPTION

[0008] Below, the technical solution in the embodiment of the utility model is described clearly and completely in conjunction with the drawings in the embodiment of the utility model. It is obvious that the described embodiments are only a part of the embodiments of the utility model, not all embodiments. Based on the embodiments in the utility model, all other embodiments obtained by a person skilled in the art without creative work fall within the scope of protection of the utility model.

[0009] With reference to the Fig. The utility model discloses a hand-arm rehabilitation trainer comprising a bionic hand module 1 including a plurality of bionic fingers 12 with multi-segment connections, each finger employing a multi-segment connection design to simulate human ankle movement.

[0010] Power drive system 2, which is connected to the said bionic finger 12 via a flexible pulling mechanism.

[0011] The wearable support structure 3 has a curved surface shape adapted to a human arm and is used to support the bionic hand module 1.

[0012] Specifically, the bionic hand module 1 includes a hand fixing bracket 11, the bionic fingers 12 are movably installed on the hand fixing bracket 11, and the number of the bionic fingers 12 is five.

[0013] In this embodiment, the hand-arm rehabilitation training device has various implementation forms, including but not limited to: Basic type: unilateral four-finger structure, suitable for primary rehabilitation training; Advanced type: independent five-finger control combined with wrist rotation module; Intelligent type: integrated EMG signal reading to achieve intention driving through surface electromyographic sensors (sEMG); Teaching demonstration type: Constructed with inexpensive servo motors 21 and 3D printing materials for robot teaching demonstrations and competitions; Bionic prosthesis docking type: The bionic hand module 1 can be connected to the prosthesis interface module to realize more advanced prosthetic applications. Applicable scenarios: Medical rehabilitation center: hand rehabilitation training aid for patients; Education and teaching: bionic robotics courses at universities / middle schools; Development of intelligent prostheses: testable modules in the research and development phase; Human-computer interaction system: for gesture synchronization of robot arms; Science and technology competitions and exhibitions: Participate as a prototype of intelligent devices in competitions or science and technology exhibitions. Specifically, the power drive system includes 2 servo motors 21 arranged on the hand fixing bracket 11, and the number of servo motors 21 matches the number of bionic fingers 12 and corresponds one to one. In particular, the output end of the servo motor 21 is provided with a winch 22 on which a flexible steel wire rope 23 is wound, one end of which extends to one of the bionic fingers 12. In this embodiment, multiple servo motors 21 are used to drive the high-strength flexible steel wire rope 23 or the Kevlar pull cable transmitted to the knuckles of each bionic finger 12 to achieve bending movement, and each flexible steel wire body is independently driven by a servo motor 21 to achieve precise one-finger movement. In particular, the portable support mechanism comprises an upper arm support frame 31 and a forearm support frame 32. In this embodiment, both the upper arm support frame 31 and the lower arm support frame are made of a lightweight alloy or a high-strength PLA material. Specifically, the upper arm support frame 31 includes a plurality of rings 311 and a connecting rod 312 for connecting a plurality of rings 311 to each other, the connecting rod 312 and the ring 311 being fixed by screws 33, the number of connecting rods 312 being not less than three, and the lower arm support frame 32 includes a plurality of rings 321 and the connecting rod 322 being movably hinged. In this embodiment, one of the two rings 321, corresponding to the user's elbow joint, is semicircular to avoid the user's elbow joint and improve the user's comfort. The configuration of multiple rings 311 and two rings 321, connected by multiple ring segments, forms a wearable upper arm support frame 31 and forearm support frame 32, which adapt to the physiological curvature of the human arm. In particular, the hand fixing bracket 11 is movably arranged on the ring 2 321, which is located at one end of the forearm support frame 32. In this embodiment, it is convenient to perform the hand-mounted bracket 11 for rotational adjustment, Specifically, a power pipe 34 is further disposed between the upper arm support frame 31 and the lower arm support frame 32, and one end of the power pipe 34 is connected to an air pump connecting pipe 35.

[0014] In this embodiment, the power tube 34 may use a pneumatic telescopic rod, and the air pump is connected via the air pump connecting pipe 35 to supply air to the power tube 34, so that the upper arm support frame 31 and the forearm support frame 32 drive the user's upper arm and forearm to move relatively to perform rehabilitation training.

[0015] In summary, the hand-arm rehabilitation trainer features a compact structure, lightweight, suitable for long-term wear, precise control, can realize finger-level movement assistance, has excellent ergonomic properties, and is suitable for users of different age groups. It is easy to upgrade and maintain, is mass-produced by 3D printing, and has a low manufacturing cost.

[0016] Although embodiments of the utility model have been shown and described, it will be understood by those skilled in the art that various variations, modifications, substitutions and variants can be made to these embodiments without departing from the principle and spirit of the utility model, the scope of the utility model being defined by the appended claims and their equivalents.

Claims

[1] Hand-arm rehabilitation trainer, characterized by : A bionic hand module (1) comprising a plurality of bionic fingers (12) with a plurality of segments of the connection; A power drive system (2) connected to the bionic finger (12) by a flexible pulling mechanism; The wearable support structure (3) has a curved surface shape adapted to a human arm and is used to support the bionic hand module (1). [2] Hand-arm rehabilitation training device according to claim 1, characterized by that the bionic hand module (1) comprises a hand fixing holder (11) and the bionic fingers (12) are movably mounted on the hand fixing holder (11), the number of bionic fingers (12) being five. [3] Hand-arm rehabilitation training device according to claim 1, characterized byin that the power drive system (2) comprises a servo motor (21) arranged on the hand fixing bracket (11), wherein the number of servo motors (21) corresponds to the number of bionic fingers (12) and corresponds one to one. [4] Hand-arm rehabilitation trainer according to claim 3, characterized by that: the output end of the servo motor (21) is provided with a winch (22) on which a flexible steel wire rope (23) is wound, one end of the flexible steel wire rope (23) reaching to one of the bionic fingers (12). [5] Hand-arm rehabilitation trainer according to claim 1, characterized by that the portable support mechanism comprises an upper arm support frame (31) and a forearm support frame (32). [6] Hand-arm rehabilitation trainer according to claim 5, characterized bythat the upper arm support frame (31) has a plurality of circular rings (311) and a connecting rod (312) for connecting the plurality of circular rings (311), the connecting rod (312) being fastened to the circular ring (311) by means of screws (33), the number of connecting rods (312) being not less than three. [7] Hand-arm rehabilitation trainer according to claim 5, characterized by that the forearm support frame (32) has a plurality of circular rings (321) and a connecting rod (322) for connecting the plurality of circular rings (321), the connecting rod (322) being fastened to the circular rings (321) by means of screws (33), the number of connecting rods (322) being not less than three. [8] Hand-arm rehabilitation trainer according to claim 5, characterized bythat the upper arm support frame (31) and the forearm support frame (32) are movably connected by corresponding rods one (312) and two (322). [9] Hand-arm rehabilitation training device according to claim 2, characterized by that the hand fixing holder (11) is movably arranged on a ring two (321) which is arranged at one end of the forearm support frame (32). [10] Hand-arm rehabilitation training device according to claim 5, characterized by that: a power pipe (34) is further arranged between the upper arm support frame (31) and the lower arm support frame (32), one end of the power pipe (34) being connected to an air pump connecting pipe (35).

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