Finger rehabilitation exercise apparatus

Abstract

The present invention relates to a finger rehabilitation exercise apparatus comprising: a proximal bracket for supporting the proximal phalange of a finger; a linear actuating module which has a proximal end hinge-coupled to the proximal bracket, and which can extend and contract in the longitudinal direction of the proximal bracket; a first scissor linkage assembly which is folded or unfolded in a scissor linkage form and which has proximal ends hinge-coupled to two points of the distal end of the proximal bracket and the distal end of the linear actuating module so as to be bent and unfolded toward the palm when the linear actuating module extends and to be folded toward the front of the proximal bracket when the linear actuating module contracts; a middle phalange bracket which supports the middle phalange of the finger and which has a proximal end to which each of both sides of the distal side of the first scissor linkage assembly is hinge-coupled, so as to rotate toward the palm when the first scissor linkage assembly is unfolded and to rotate toward the front of the proximal bracket when the first scissor linkage assembly is folded; a second scissor linkage assembly which is folded or unfolded in a scissor linkage form, and which is hinge-coupled to each of both sides of the distal side of the middle phalange bracket so as to be symmetrical to the first scissor linkage assembly with the middle phalange bracket therebetween; a gear assembly provided on the middle phalange bracket so as to transmit, as the folding or unfolding motion of the second scissor linkage assembly, the folding or unfolding motion of the first scissor linkage assembly; and a distal bracket provided at the distal end of the second scissor linkage assembly so as to support the distal phalange of the finger. Therefore, independent rehabilitation exercises for each individual finger, that is, the index finger, the middle finger, the ring finger, the little finger, and the thumb are possible.

Description

Finger rehabilitation exercise device

[0001] The present invention relates to a finger rehabilitation exercise device, and more specifically, to a finger rehabilitation exercise device in which each finger can perform rehabilitation exercises independently.

[0002] Patients who have suffered a stroke and are unable to easily move their upper limbs or fingers due to paralysis of parts of the body, or patients with Parkinson's disease, have difficulty performing basic daily activities such as grasping objects like cups, grabbing doorknobs, and opening doors due to unnatural upper limb or finger movements.

[0003] To address this, various upper limb and finger rehabilitation training devices are currently being developed. However, existing upper limb rehabilitation devices had the problem of lacking or having inadequate finger training functions.

[0004] Recently, finger exoskeleton robotic devices capable of systematically assisting with rehabilitation training without the need for a trainer are being developed. For precise finger rehabilitation, the device must be able to effectively guide the posture and position of the fingers. Since fingers consist of a complex skeletal structure, robots utilizing multiple actuators have been developed; however, these devices have drawbacks, such as high costs that reduce practicality and the need for complex control algorithms.

[0005] For example, the cylinder-type finger rehabilitation device disclosed in Korean Patent Publication No. 10-2024-0119400 uses a pneumatic cylinder and a piston to enable the user's finger to perform continuous passive motion (CPM), thereby rehabilitating the user's finger muscles and joints. It also helps with finger rehabilitation by increasing portability, allowing the user to perform CPM exercises not only in a hospital but also in any location.

[0006] However, the finger rehabilitation device disclosed in the aforementioned Korean published patent application has a problem in that it only provides a rehabilitation exercise in which the finger is straightened by the piston pushing the end of the finger fixed to the finger holder located at the end of the piston, and differs somewhat from a finger structure composed of three segments.

[0007] Accordingly, the present invention has been devised to resolve the above-mentioned problems and aims to provide a finger rehabilitation exercise device capable of independently performing rehabilitation exercises for each finger.

[0008] In addition, another objective of the present invention is to provide a finger rehabilitation exercise device capable of performing rehabilitation exercises with movements corresponding to actual finger movements by mimicking the structure of each joint and segment of the finger.

[0009] The above objective is achieved, according to the present invention, in a finger rehabilitation exercise device comprising: a proximal bracket supporting a proximal phalange of a finger; a linear actuating module having a proximal side hinged to the proximal bracket and capable of extending and retracting along the longitudinal direction of the proximal bracket; a first scissor link assembly that folds or unfolds in the form of a scissor link, with the proximal side hinged to two points at the distal end of the proximal bracket and the distal end of the linear actuating module, respectively, so that it unfolds while being bent toward the palm when the linear actuating module extends, and folds toward the front of the proximal bracket when the linear actuating module retracts; and a metacarpophalangeal bracket supporting a metacarpophalange of a finger, with both distal sides of the first scissor link assembly hinged to the proximal side, such that it pivots toward the palm when the first scissor link assembly unfolds and pivots toward the front of the proximal bracket when the first scissor link assembly folds. This is achieved by a finger rehabilitation exercise device characterized by comprising: a second scissor link assembly that folds or unfolds in the form of a scissor link and is hinge-connected to each of the distal sides of the metacarpal bracket symmetrically with the first scissor link assembly and the metacarpal bracket in between; a gear assembly installed on the metacarpal bracket that transmits the folding or unfolding movement of the first scissor link assembly to the folding or unfolding movement of the second scissor link assembly; and a distal bracket installed at the distal end of the second scissor link assembly to support the distal phalanges of the finger.

[0010] Herein, the first scissor link assembly comprises a pair of first cross links, wherein the central regions are mutually hinged to fold or unfold into a scissor link shape, one distal end of which is hinged to the heavy bracket and the other proximal end of which is hinged to the proximal bracket; a first pivot link, each hinged to the proximal end of the proximal bracket, the proximal end of one of the first cross links, and the distal end of the linear acting module, and hinged in a triangular position; and a first transmission link, wherein the proximal end is hinged to the distal end of the other first cross link and the distal end is hinged to the heavy bracket; The second scissor link assembly may include a pair of second cross links, the central regions of which are hinged to each other to fold or unfold into a scissor link shape, one of which has a proximal end hinged to the heavy bracket and the other has a distal end hinged to the distal bracket, a second pivot link, the proximal end of which has a distal end hinged to the distal end of one of the second cross links, and a second transmission link, the distal end of which has a proximal end hinged to the proximal end of the other second cross link and the proximal end of which has a hinged to the heavy bracket.

[0011] In addition, the hinge axis between the other first cross link and the proximal bracket may be formed on the inner side in the palm direction than the hinge axis between the first pivot link and the proximal bracket.

[0012] And, the hinge axis between the heavy bracket and the first cross link is formed on the inner side in the palm direction than the hinge axis between the heavy bracket and the first transmission link; and the hinge axis between the heavy bracket and the second cross link may be formed on the inner side in the palm direction than the hinge axis between the heavy bracket and the second transmission link.

[0013] And, the gear assembly may include a first transmission gear axially coupled to a hinge axis between the heavy bracket and the first transmission link and rotating in synchronization with the relative rotation of the first transmission link with respect to the heavy bracket; and a second transmission gear axially coupled to a hinge axis between the heavy bracket and the second transmission link and rotating in mesh with the first transmission gear to rotate the second transmission link relative to the heavy bracket according to the rotation of the first transmission gear.

[0014] And, the linear actuating module may include a linear movement module that forms a distal end portion of the linear actuating module and has a first linear link hinge-coupled to the distal end; and a linear actuator whose proximal end is rotatably coupled to the proximal bracket to reciprocate the linear movement module along the longitudinal direction of the proximal bracket.

[0015] In addition, the linear acting module may further include a load cell installed in the linear moving module to measure the force applied by the linear actuator.

[0016] In addition, it may further include a distal wearing module having an insertion ring that is detachably coupled to the distal bracket and into which the distal side of the finger is inserted.

[0017] Here, the distal wearing module may include a first coupling member having an insertion ring installed thereon, which is detachably coupled to the palm direction of the distal bracket, a second coupling member detachably coupled to the back of the hand direction of the distal bracket, and a connecting member made of a flexible material connecting the first coupling member and the second coupling member.

[0018] And, the first coupling member and the second coupling member can be detached from the distal bracket by magnetic force.

[0019] According to the above configuration, the present invention provides a finger rehabilitation exercise device capable of performing independent rehabilitation exercises for each individual finger, namely the index finger, middle finger, ring finger, little finger, and thumb.

[0020] In addition, according to the present invention, a finger rehabilitation exercise device is provided that enables more practical rehabilitation exercises by mimicking the proximal phalanges, metacarpophalangeal phalanges, distal phalanges, and each joint structure constituting the finger to form a structure that moves in response to the actual movement of the finger.

[0021] In addition, according to the present invention, a finger rehabilitation exercise device is provided that allows for angle adjustment between fingers in response to various hand sizes and facilitates angle adjustment.

[0022] FIG. 1 is a perspective view of a hand rehabilitation exercise device according to an embodiment of the present invention, and

[0023] FIG. 2 is a partially exploded perspective view of a hand rehabilitation exercise device according to an embodiment of the present invention, and

[0024] FIG. 3 is a perspective view of a hand rehabilitation exercise device according to an embodiment of the present invention, viewed from the palm direction, and

[0025] FIG. 4 is a drawing showing the state with the auxiliary plate removed from the hand rehabilitation exercise device illustrated in FIG. 3, and

[0026] FIG. 5 is a rear perspective view of a hand rehabilitation exercise device according to an embodiment of the present invention, and

[0027] FIG. 6 is a partially exploded perspective view of a hand rehabilitation exercise device according to an embodiment of the present invention, and

[0028] FIGS. 7 and 8 are perspective views of a finger rehabilitation exercise device according to an embodiment of the present invention, and

[0029] FIG. 9 is a drawing for explaining the configuration of a first scissor link assembly and a second scissor link assembly of a finger rehabilitation exercise device according to an embodiment of the present invention, and

[0030] FIG. 10 is a schematic diagram illustrating the link and joint structure of a finger rehabilitation exercise device according to an embodiment of the present invention, and

[0031] FIG. 11 is a drawing for explaining a distal wearing module of a finger rehabilitation exercise device according to an embodiment of the present invention.

[0032] The present invention relates to a finger rehabilitation exercise device comprising: a proximal bracket supporting a proximal phalange of a finger; a linear actuating module having a proximal side hinged to the proximal bracket and capable of extending and retracting along the longitudinal direction of the proximal bracket; a first scissor link assembly that folds or unfolds in the form of a scissor link, with the proximal side hinged to two points at the distal end of the proximal bracket and the distal end of the linear actuating module, respectively, so that it unfolds while being bent toward the palm when the linear actuating module extends, and folds toward the front of the proximal bracket when the linear actuating module retracts; and a metacarpophalangeal bracket supporting a metacarpophalange of a finger, with both distal sides of the first scissor link assembly hinged to the proximal side, so that it pivots toward the palm when the first scissor link assembly unfolds and pivots toward the front of the proximal bracket when the first scissor link assembly folds. It is characterized by comprising: a second scissor link assembly that folds or unfolds in the form of a scissor link and is hinge-connected to each of the distal sides of the metacarpal bracket symmetrically with the first scissor link assembly and the metacarpal bracket in between; a gear assembly installed on the metacarpal bracket that transmits the folding or unfolding movement of the first scissor link assembly to the folding or unfolding movement of the second scissor link assembly; and a distal bracket installed at the distal end of the second scissor link assembly to support the distal phalanges of the fingers.

[0033] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the present invention, and the present invention is defined only by the scope of the claims.

[0034] The terms used in this specification are for describing embodiments and are not intended to limit the invention. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. The terms "comprises" and / or "comprising" used in this specification do not exclude the presence or addition of one or more other components in addition to the components mentioned. Throughout the specification, the same reference numerals refer to the same components, and "and / or" includes each of the mentioned components and all combinations of one or more. Although terms such as "first," "second," etc., are used to describe various components, these components are not limited by these terms. These terms are used merely to distinguish one component from another. Therefore, the first component mentioned below may be the second component within the technical scope of the invention.

[0035] Unless otherwise defined, all terms used herein (including technical and scientific terms) may be used in a meaning commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0036] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0037] FIG. 1 is a perspective view of a hand rehabilitation exercise device (10) according to an embodiment of the present invention, FIG. 2 is a partially exploded perspective view of a hand rehabilitation exercise device (10) according to an embodiment of the present invention, FIG. 3 is a perspective view of a hand rehabilitation exercise device (10) according to an embodiment of the present invention viewed from the palm direction, FIG. 4 is a drawing showing the state in which an auxiliary plate (240) is removed from the hand rehabilitation exercise device (10) shown in FIG. 3, FIG. 5 is a rear perspective view of a hand rehabilitation exercise device (10) according to an embodiment of the present invention, and FIG. 6 is a partially exploded perspective view of a hand rehabilitation exercise device (10) according to an embodiment of the present invention.

[0038] A hand rehabilitation exercise device (10) according to an embodiment of the present invention can provide independent rehabilitation exercises for each finger.

[0039] Referring to FIGS. 1 to 6, a hand rehabilitation exercise device (10) according to an embodiment of the present invention may be configured to include a finger rehabilitation exercise device (100) for the rehabilitation of each of the five fingers that make up the hand, namely the thumb, index finger, middle finger, ring finger, and little finger.

[0040] In an embodiment of the present invention, five finger rehabilitation exercise devices (100) are exemplified as having the same structure so as to operate with the same driving mechanism. Here, each finger rehabilitation exercise device (100) has the same driving mechanism, but the size, etc., are not all identical, and there may be differences in length, etc., depending on the finger. For example, as shown in FIG. 5, a finger rehabilitation exercise device (100) for the rehabilitation of the thumb may be designed to be shorter in length than other finger rehabilitation exercise devices (100).

[0041] In the following description, the finger rehabilitation exercise device (100) is classified into a thumb rehabilitation exercise device (100e), an index finger rehabilitation exercise device (100a), a middle finger rehabilitation exercise device (100b), a ring finger rehabilitation exercise device (100c), and a little finger rehabilitation exercise device (100d) according to their installation location, i.e., the position of the finger.

[0042] That is, the hand rehabilitation exercise device (10) according to an embodiment of the present invention comprises an index finger rehabilitation exercise device (100a) for rehabilitation exercise of the index finger, a middle finger rehabilitation exercise device (100b) for rehabilitation exercise of the middle finger, a ring finger rehabilitation exercise device (100c) for rehabilitation exercise of the ring finger, a little finger rehabilitation exercise device (100d) for rehabilitation exercise of the little finger, and a thumb rehabilitation exercise device (100e) for rehabilitation exercise of the thumb.

[0043] In addition, the hand rehabilitation exercise device (10) according to the embodiment of the present invention may be configured to include a variable support unit (200).

[0044] A variable support unit (200) according to an embodiment of the present invention supports an index finger rehabilitation exercise device (100a), a middle finger rehabilitation exercise device (100b), a ring finger rehabilitation exercise device (100c), and a little finger rehabilitation exercise device (100d) according to the position of the fingers.

[0045] Additionally, the variable support unit (200) can support the index finger rehabilitation exercise device (100a), middle finger rehabilitation exercise device (100b), ring finger rehabilitation exercise device (100c), and little finger rehabilitation exercise device (100d) at mutually adjustable angles centered on the wrist direction.

[0046] The size of a person's palm, or hand size, varies from person to person, and the distance between the fingers of a person with a wide palm is wider than the distance between the fingers of a person with a relatively narrow palm.

[0047] Accordingly, the hand rehabilitation exercise device (10) according to an embodiment of the present invention adjusts the mutual angles centered on the wrist direction so that the spacing between the index finger rehabilitation exercise device (100a), middle finger rehabilitation exercise device (100b), ring finger rehabilitation exercise device (100c), and little finger rehabilitation exercise device (100d) is adjusted to match the size of a person's hand, that is, the size of the palm.

[0048] A variable support unit (200) according to an embodiment of the present invention may be configured to include a rotating support plate (210) and an adjustment plate (220).

[0049] A rotating support plate (210) according to an embodiment of the present invention rotatably supports the distal end regions in the direction of the wrist of each of the index finger rehabilitation exercise device (100a), middle finger rehabilitation exercise device (100b), ring finger rehabilitation exercise device (100c), and little finger rehabilitation exercise device (100d).

[0050] Additionally, the adjustment plate (220) is coupled to each of the index finger rehabilitation exercise device (100a), middle finger rehabilitation exercise device (100b), ring finger rehabilitation exercise device (100c), and little finger rehabilitation exercise device (100d), and may be configured to include a plurality of coupling parts (221a, 221b) that are movably coupled along the direction of the fingers.

[0051] Here, a plurality of connecting parts (221a, 221b) may be formed spaced apart along the direction of finger arrangement on the adjustment plate (220). And, the connecting parts (221a, 221b) adjust the angle between the index finger rehabilitation exercise device (100a), middle finger rehabilitation exercise device (100b), ring finger rehabilitation exercise device (100c), and little finger rehabilitation exercise device (100d) according to the position of the adjustment plate (220) in the direction of the fingers.

[0052] More specifically, the distance between the multiple connecting parts (221a, 221b) is maintained constant, and the ends of the index finger rehabilitation exercise device (100a), middle finger rehabilitation exercise device (100b), ring finger rehabilitation exercise device (100c), and little finger rehabilitation exercise device (100d) are fixed in a position that allows rotation in the wrist direction. When the adjustment plate (220) formed with the multiple connecting parts (221a, 221b) is moved back and forth in the finger direction, the distance, i.e., the angle, between the index finger rehabilitation exercise device (100a), middle finger rehabilitation exercise device (100b), ring finger rehabilitation exercise device (100c), and little finger rehabilitation exercise device (100d) becomes adjustable.

[0053] In one embodiment, a guide rail (230) may be formed in each of the index finger rehabilitation exercise device (100a), middle finger rehabilitation exercise device (100b), ring finger rehabilitation exercise device (100c), and little finger rehabilitation exercise device (100d) to guide the movement of the connecting portion (221a, 221b) along the direction of the fingers. Here, the guide rail (230) is exemplified as being formed on a plate surface facing the palm direction.

[0054] In an embodiment of the present invention, each connecting part (221a, 221b) is inserted into the guide rail (230) and connected to the guide rail (230) in a hooked state.

[0055] Referring to FIG. 6, a suspension rehabilitation exercise device (100b) is shown, and the coupling part (221a, 221b) may be configured to include a coupling hole (221a) and a locking member (221b).

[0056] Here, the coupling hole (221a) is formed by penetrating the plate surface of the control plate (220), and is formed by penetrating the plate surface where the catch is located. And, the catch member (221b) has a two-stage shape with different diameters, and the area with the larger diameter is inserted into the guide rail (230) and is caught, and the area with the smaller diameter is fastened to the coupling hole (221a) and can be fixed to the control plate (220).

[0057] Here, the connection between the coupling hole (221a) and the locking member (221b) may be made by screw connection, and as another example, the end of the locking member (221b) passing through the coupling hole (221a) may be secured through a nut.

[0058] Referring to FIGS. 3 and 4, a hand rehabilitation exercise device (10) according to an embodiment of the present invention may be configured to include an auxiliary plate (240).

[0059] One side of the auxiliary plate (240) is hinge-coupled to the hinge axis of the rotating support plate (210) of any one of the index finger rehabilitation exercise device (100a), the middle finger rehabilitation exercise device (100b), the ring finger rehabilitation exercise device (100c), and the little finger rehabilitation exercise device (100d). In the embodiment illustrated in FIGS. 3 and 4, the auxiliary plate (240) is installed on the middle finger rehabilitation exercise device (100b) as an example.

[0060] And, the other side of the auxiliary plate (240) extends along the finger rehabilitation exercise device (100b) in the direction of the finger. Here, a guide hole (241) through which the plate surface is penetrated may be formed in the auxiliary plate (240) corresponding to the position of the guide rail (230) along the direction of the finger.

[0061] Through this, the fixing bolt passing through the guide hole (241) is fastened to the connecting part (221a, 221b), for example, the connecting hole (221a), thereby allowing the position of the adjustment plate (220) to be fixed.

[0062] Meanwhile, the hand rehabilitation exercise device (10) according to an embodiment of the present invention may be configured to include an extension plate (250), a rotation plate (260), and an angle adjustment member (270).

[0063] The extension plate (250) extends from the wrist-direction end region of the index finger rehabilitation exercise device (100a). And, the rotation plate (260) can be hinge-connected to the extension plate (250) with the finger direction as an axis.

[0064] In an embodiment of the present invention, the thumb rehabilitation exercise device (100e) is exemplified as being supported by a rotating plate (260).

[0065] Here, the angle adjustment member (270) adjusts the angle between the rotating plate (260) and the extension plate (250). Through this, the thumb rehabilitation exercise device (100e) supported by the rotating plate (260) can adjust the angle with respect to the palm with the finger direction as an axis, allowing it to be adjusted to various angles depending on the user's hand shape, size, or symptoms.

[0066] In one embodiment, the angle adjustment member (270) is bolted to the hinge axis between the rotating plate (260) and the extension plate (250) to fix the angle between the rotating plate (260) and the extension plate (250).

[0067] Meanwhile, the hand rehabilitation exercise device (10) according to an embodiment of the present invention may be configured to include a fixed block (300).

[0068] The fixed block (300) supports the entire hand rehabilitation exercise device (10) and fixes the hand rehabilitation exercise device (10) to an upper limb rehabilitation exercise device or other fixed structure.

[0069] In one embodiment, the fixed block (300) can fix the wrist-direction end of the hand rehabilitation exercise device. In addition, the rotating support plate (210) is exemplified as being fixed to the fixed block (300) together with the hand rehabilitation exercise device (100d).

[0070] Through this, the little finger rehabilitation exercise device (100d) is fixed to the fixed block (300), and the rotating support plate (210) extending while fixed to the fixed block (300) supports the wrist-direction end of the ring finger rehabilitation exercise device (100c), middle finger rehabilitation exercise device (100b), and index finger rehabilitation exercise device (100a), and the adjustment plate (220) fixes the middle area of ​​the index finger rehabilitation exercise device (100a), middle finger rehabilitation exercise device (100b), ring finger rehabilitation exercise device (100c), and little finger rehabilitation exercise device (100d), and the extension plate (250) and rotating plate (260) extending from the index finger rehabilitation exercise device (100a) support the thumb rehabilitation exercise device (100e), so that the entire structure has a structure in which it is supported by the fixed block (300).

[0071] Meanwhile, each finger rehabilitation exercise device (100) may include a lower plate (111) constituting a proximal bracket (110) to be described later. Here, a position fixing rib (112) protruding along the finger length direction may be formed on the lower plate (111).

[0072] Here, with the wrist-direction end of the lower plate (111) rotatably coupled to the rotational support plate (210), the finger rehabilitation exercise device (100) is coupled to the lower plate (111) while being fitted into the position fixing rib (112), thereby allowing the entire finger rehabilitation exercise device (100) to be easily moved during the angle adjustment process.

[0073] Hereinafter, a finger rehabilitation exercise device (100) according to an embodiment of the present invention will be described in detail with reference to FIGS. 7 to 11.

[0074] As previously explained, the index finger rehabilitation exercise device (100a), middle finger rehabilitation exercise device (100b), ring finger rehabilitation exercise device (100c), little finger rehabilitation exercise device (100d), and thumb rehabilitation exercise device (100e) are configured to have the same operating mechanism, and are collectively defined as the finger rehabilitation exercise device (100), and are illustrated and described with reference number 100.

[0075] A finger rehabilitation exercise device (100) according to an embodiment of the present invention may be configured to include a proximal bracket (110), a linear actuating module (120), a first scissor link assembly (130), a middle bracket (140), a second scissor link assembly (150), a gear assembly (160), and a distal bracket (170).

[0076] According to an embodiment of the present invention, the proximal bracket (110) corresponds to the proximal phalange of the finger, the first scissor link assembly (130) corresponds to the proximal interphalangeal joint of the finger, the metacarpophalangeal bracket (140) corresponds to the metacarpophalangeal bone of the finger, the second scissor link assembly (150) corresponds to the distal interphalangeal joint of the finger, and the distal bracket (170) corresponds to the distal phalange of the finger. Additionally, the linear actuating module (120) provides an assisting force in finger rehabilitation exercises using the finger rehabilitation exercise device (100).

[0077] A proximal bracket (110) according to an embodiment of the present invention can support the proximal phalanges of a finger during rehabilitation exercises. Here, the end of the proximal bracket (110) in the direction of the wrist is rotatably supported by a rotational support plate (210), and a guide rail (230) is formed in the direction of the palm so that an adjustment plate (220) can be attached.

[0078] According to an embodiment of the present invention, the linear actuating module (120) is hinged to the proximal bracket (110) on the proximal side, i.e., the wrist direction. The linear actuating module (120) extends and contracts along the longitudinal direction of the proximal bracket (110), i.e., the longitudinal direction of the finger, thereby providing the assistive force necessary for rehabilitation exercises.

[0079] The first scissor link assembly (130) is configured to be folded or unfolded in the form of a scissor link. The first scissor link assembly (130) is hinged at the proximal end to two points at the distal end of the proximal bracket (110) and at the distal end of the linear actuating module (120), respectively.

[0080] With this configuration, the first scissor link assembly (130) is bent and unfolded in the palm direction when the linear actuating module (120) extends, and is folded forward of the proximal bracket (110) when the linear actuating module (120) retracts.

[0081] That is, the first scissor link assembly (130) simulates the bending and straightening movements of the proximal joint of the finger according to the stretching and extension of the linear actuating module (120).

[0082] The metacarpal bracket (140) according to an embodiment of the present invention supports the metacarpal phalanges of the finger during finger rehabilitation exercises. In addition, the metacarpal bracket (140) is hinged to both distal sides of the first scissor link assembly (130) on the proximal side, so that it pivots toward the palm when the first scissor link assembly (130) is extended and pivots toward the front of the proximal bracket (110) when the first scissor link assembly (130) is folded.

[0083] The second scissor link assembly (150) is configured to be folded or unfolded into a scissor link shape, just like the first scissor link assembly (130). Here, the second scissor link assembly (150) is hinged to each of the distal sides of the heavy bracket (140) symmetrically with the first scissor link assembly (130) and the heavy bracket (140) in between.

[0084] A gear assembly (160) according to an embodiment of the present invention is installed on a heavy bracket (140). The gear assembly (160) transmits the folding or unfolding movement of the first scissor link assembly (130) to the folding or unfolding movement of the second scissor link assembly (150).

[0085] Through this, the second scissor link assembly (150) is folded or unfolded in synchronization with the movement of the first scissor link assembly (130) being folded or unfolded by the gear assembly (160).

[0086] The distal bracket (170) is installed at the distal end of the second scissor link assembly (150) to support the distal phalanges of the finger.

[0087] According to the above configuration, when the linear actuating module (120) extends, the first scissor link assembly (130) and the second scissor link assembly (150) perform a movement in which the fingers are folded, and when the linear actuating module (120) retracts, the first scissor link assembly (130) and the second scissor link assembly (150) perform a movement in which the fingers are folded, thereby simulating the movement of the fingers through the coupling relationship with the proximal bracket (110), the intermediate bracket (140), and the gear assembly (160).

[0088] In one embodiment, the first scissor link assembly (130) may be configured to include a pair of cross links, a first pivot link (131), and a first transmission link (132).

[0089] A pair of first cross links (133a, 133b) are configured so that their central regions are hinged to each other to fold or unfold into a scissor link shape.

[0090] Here, the distal end of one of the pair of first cross links (133a, 133b) is hinged to the middle bracket (140). And, the proximal end of the other of the pair of first cross links (133a, 133b) is hinged to the proximal bracket (110).

[0091] According to an embodiment of the present invention, the first pivot link (131) is hinged to the proximal end of the proximal bracket (110), the proximal end of one of the pair of first cross links (133a, 133b), and the distal end of the linear actuating module (120), respectively, so that the three hinge axes are hinged in a triangular shape.

[0092] And, the first transmission link (132) has its proximal end hinged to the distal end of the other of the pair of cross links, and its distal end hinged to the heavy bracket (140).

[0093] Here, the hinge axis between the other of the pair of first cross links (133a, 133b) and the proximal bracket (110) is formed inward toward the palm than the hinge axis between the first pivot link (131) and the proximal bracket (110).

[0094] Additionally, the hinge axis between the heavy bracket (140) and the first cross link (133a, 133b) is formed on the inner side in the palm direction compared to the hinge axis between the heavy bracket (140) and the first transmission link (132).

[0095] According to the above configuration, when the linear actuator module (120) is extended as shown in FIG. 8 and the first scissor link assembly (130) is bent toward the palm in an unfolded state, the linear actuator (122) module is extended, and the linear actuator module (120) pulls the first pivot link (131) hinged to its end, at which time the first pivot link (131) is pulled while rotating around the hinge axis with the proximal bracket (110).

[0096] Accordingly, the first cross links (133a, 133b) hinged to the first pivot link (131) are pulled together, and the proximal end of the other first cross link (133a, 133b) is hinged to the proximal bracket (110), so that the pair of first cross links (133a, 133b) are folded as they are pulled, making them movable to the position shown in FIG. 7.

[0097] Here, when the linear actuating module (120) extends from the state shown in FIG. 7, it can be switched to the state shown in FIG. 8 in the reverse of the process described above.

[0098] Meanwhile, the second scissor link assembly (150) of the present invention is configured symmetrically with respect to the first scissor assembly. More specifically, the second scissor link assembly (150) may be configured to include a pair of second cross links (153a, 153b), a second pivot link (151), and a second transmission link (152).

[0099] A pair of second cross links (153a, 153b), like a pair of first cross links (133a, 133b), have their central regions hinged to each other and are configured to fold or unfold into a scissor link shape.

[0100] Here, the proximal end of one of the pair of second cross links (153a, 153b) is hinged to the metacarpal bracket (140), and the distal end of the other of the pair of second cross links (153a, 153b) is hinged to the distal bracket (170).

[0101] The second pivot link (151) has its proximal end hinged to the distal bracket (170) and its distal end hinged to the distal end of one of the pair of second cross links (153a, 153b).

[0102] And, the second transmission link (152) has its distal end hinged to the proximal end of the other of the pair of second cross links (153a, 153b), and its proximal end hinged to the metacarpal bracket (140).

[0103] Here, the hinge axis between the middle bracket (140) and the second cross link (153a, 153b) may be formed on the inner side in the palm direction compared to the hinge axis between the middle bracket (140) and the second transmission link (152).

[0104] A gear assembly (160) according to an embodiment of the present invention may be configured to include a first transmission gear (161) and a second transmission gear (162).

[0105] The first transmission gear (161) is axially coupled to the hinge axis between the heavy bracket (140) and the first transmission link (132) and rotates in synchronization with the relative rotation of the first transmission link (132) with respect to the heavy bracket (140).

[0106] And, the second transmission gear (162) is axially coupled to the hinge axis between the heavy bracket (140) and the second transmission link (152) and rotates in mesh with the first transmission gear (161). Here, the second transmission gear (162) causes the second transmission link (152) to rotate relative to the heavy bracket (140) according to the rotation of the first transmission gear (161), thereby causing the second cross link (153a, 153b) to be pulled or pushed and folded or unfolded.

[0107] Meanwhile, a linear actuator module according to an embodiment of the present invention may be configured to include a linear movement module (121) and a linear actuator (122). Additionally, the linear actuator module (120) may be configured to include load cells (124).

[0108] The linear movement module (121) forms the distal end portion of the linear acting module (120), and a first linear link is hinged to the distal end. Then, the linear actuator (122) has its proximal end rotatably connected to the proximal bracket (110) to reciprocate the linear movement module (121) along the longitudinal direction of the proximal bracket (110).

[0109] Here, the load cell (124) is installed in the linear movement module (121) to measure the force applied by the linear actuator (122), thereby enabling it to be used as a sensing value to control the finger rehabilitation exercise device (100) according to an embodiment of the present invention.

[0110] Meanwhile, the finger rehabilitation exercise device (100) according to an embodiment of the present invention may be configured to include a distal wearing module (180) having an insertion ring (181) into which the distal side of the finger is inserted, which is detachably coupled to a distal bracket (170) as shown in FIG. 11.

[0111] Here, the user inserts their fingertip into the insertion ring (181) to perform rehabilitation exercises.

[0112] In one embodiment, the distal wear module (180) may be configured to include a first coupling member (182), a second coupling member (183), and a connecting member (184).

[0113] Here, the first connecting member (182) is detachably connected to the palm side of the distal bracket (170), and an insertion ring (181) can be connected to the first connecting member (182).

[0114] And, the second connecting member (183) is detachably connected to the back of the hand of the distal bracket (170). Here, the connecting member (184) is made of a flexible material that connects the first connecting member (182) and the second connecting member (183).

[0115] In one embodiment, the first coupling member (182) and the second coupling member (183) are detachably attached to the distal bracket (170) by magnetic force. In FIG. 11, magnets (M) are installed on each side of the distal bracket.

[0116] Through this, if the first connecting member (182) and the second connecting member (183) are made of a metal material, they may be detachable. As another example, magnets may also be installed inside the first connecting member (182) and the second connecting member (183) to enable detachable connection. In this case, the material of the first connecting member (182) and the second connecting member (183) does not have to be limited to a metal material.

[0117] Here, a gripping ring (185) is installed on the second connecting member (183), so that when attaching and removing the distal wearing module (180), the device can be operated while gripping the gripping ring (185).

[0118] Although some embodiments of the present invention have been illustrated and described, those skilled in the art will understand that modifications can be made to these embodiments without departing from the principles or spirit of the invention. The scope of the invention will be defined by the appended claims and their equivalents.

[0119] [Explanation of the symbol]

[0120] 10: Hand rehabilitation exercise device

[0121] 100: Finger rehabilitation exercise device 110: Proximal bracket

[0122] 111: Lower plate 112: Position fixing rib

[0123] 120: Linear Actuating Module 121: Linear Movement Module

[0124] 122: Linear actuator 124: Load cell

[0125] 130: 1st scissor link assembly 131: 1st slewing link

[0126] 132: 1st forward link 133a, 133b: 1st cross link

[0127] 140: Heavy bracket 150: Second scissor link assembly

[0128] 151: 2nd slewing link 152: 2nd forward link

[0129] 153a, 153b: 2nd cross link 160: Gear assembly

[0130] 161: 1st transmission gear 162: 2nd transmission gear

[0131] 170 : Distal Bracket 180 : Distal Wear Module

[0132] 181: Insertion ring 182: First connecting member

[0133] 183: Second joining member 184: Connecting member

[0134] 185 : Grip ring 200 : Variable support unit

[0135] 210: Rotating support plate 220: Adjustment plate

[0136] 221a : Connecting hole 221b : Locking member

[0137] 230: Guide rail 240: Auxiliary plate

[0138] 241: Guide hole 250: Extension plate

[0139] 260: Rotating plate 270: Angle adjustment member

[0140] 300 : Fixed block

[0141] The present invention can be applied to fields such as rehabilitation of the hand and fingers.

Claims

1. In a finger rehabilitation exercise device, A proximal bracket supporting the proximal phalanges of the fingers; A linear actuating module, the proximal side of which is hinge-connected to the proximal bracket and capable of extending and retracting along the longitudinal direction of the proximal bracket; A first scissor link assembly that folds or unfolds in the form of a scissor link, wherein the proximal side is hinge-connected to two points at the distal end of the proximal bracket and the distal end of the linear actuating module, respectively, so that it folds and unfolds in the palm direction when the linear actuating module extends, and folds forward of the proximal bracket when the linear actuating module retracts; A metacarpophalangeal bracket that supports the metacarpophalangeal bone of a finger, wherein both distal sides of the first scissor link assembly are hinge-connected to the proximal side, pivoting toward the palm when the first scissor link assembly is extended, and pivoting toward the front of the proximal bracket when the first scissor link assembly is folded; A second scissor link assembly that folds or unfolds in the form of a scissor link and is hinge-connected to each of the distal sides of the heavy bracket symmetrically with the first scissor link assembly and the heavy bracket in between; A gear assembly installed on the above-mentioned heavy bracket, which transmits the folding or unfolding movement of the first scissor link assembly to the folding or unfolding movement of the second scissor link assembly; A finger rehabilitation exercise device characterized by including a distal bracket installed at the distal end of the second scissor link assembly to support the distal phalanges of the finger.

2. In Paragraph 1, The above first scissor link assembly is A pair of first cross links, wherein the central regions are mutually hinged to fold or unfold into a scissor link shape, one distal end of which is hinged to the metacarpal bracket and the other proximal end of which is hinged to the proximal bracket, and A first pivoting link hinged to the proximal end of the proximal bracket, the proximal end of any one of the first cross links, and the distal end of the linear acting module, respectively, and hinged in a triangular position, and It includes a first transmission link, the proximal end of which is hinge-connected to the distal end of another first cross link, and the distal end of which is hinge-connected to the metacarpal bracket; The above second scissor link assembly is A pair of second cross links, wherein the central regions are mutually hinged to fold or unfold in the form of scissor links, one proximal end is hinged to the metacarpal bracket, and the other distal end is hinged to the distal bracket, and A second pivoting link having a proximal end hinged to the distal bracket and a distal end hinged to the distal end of one of the second cross links, and A finger rehabilitation exercise device characterized by including a second transmission link, wherein the distal end is hinge-connected to the proximal end of another second cross link and the proximal end is hinge-connected to the metacarpal bracket.

3. In Paragraph 2, A finger reactivation device characterized in that the hinge axis between the other first cross link and the proximal bracket is formed inward toward the palm than the hinge axis between the first pivot link and the proximal bracket.

4. In Paragraph 2, The hinge axis between the heavy bracket and the first cross link is formed on the inner side in the palm direction compared to the hinge axis between the heavy bracket and the first transmission link; A finger rehabilitation exercise device characterized in that the hinge axis between the above-mentioned middle bracket and the above-mentioned second cross link is formed on the inner side toward the palm direction than the hinge axis between the above-mentioned middle bracket and the above-mentioned second transmission link.

5. In Paragraph 2, The above gear assembly is A first transmission gear axially coupled to a hinge axis between the heavy water bracket and the first transmission link, and rotating in synchronization with the relative rotation of the first transmission link with respect to the heavy water bracket; A finger rehabilitation exercise device characterized by including a second transmission gear that is axially coupled to a hinge axis between the heavy bracket and the second transmission link and rotates in mesh with the first transmission gear, thereby rotating the second transmission link relative to the heavy bracket according to the rotation of the first transmission gear.

6. In Paragraph 2, The above linear actuating module is A linear movement module that forms the distal end portion of the linear actuating module, wherein the first linear link is hinge-connected to the distal end; A finger rehabilitation exercise device characterized by including a linear actuator in which the proximal end is rotatably coupled to the proximal bracket and reciprocates the linear movement module along the longitudinal direction of the proximal bracket.

7. In Paragraph 6, The above linear actuating module is A finger rehabilitation exercise device characterized by further including a load cell installed in the linear movement module to measure the force applied by the linear actuator.

8. In Paragraph 1, A finger rehabilitation exercise device characterized by further including a distal wearing module having an insertion ring that is detachably coupled to the above-mentioned distal bracket and into which the distal side of the finger is inserted.

9. In Paragraph 8, The above distal wearable module is A first coupling member detachably coupled to the palm direction of the above-mentioned proximal bracket and having the insertion ring installed thereon, and A second coupling member detachably coupled to the back of the hand direction of the above-mentioned proximal bracket, and A finger rehabilitation exercise device characterized by including a connecting member made of a flexible material that connects the first connecting member and the second connecting member.

10. In Paragraph 9, A finger rehabilitation exercise device characterized in that the first coupling member and the second coupling member are detachably attached to the distal bracket by magnetic force.

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