382results about How to "Facilitate rehabilitation training" patented technology

In respects of limitations and problems of motor function training devices, the present invention provides a wearable and convertible device and a method for controlling combined motor function training. This device integrates the functions of both passive stretching function in the existing CPM devices and additional active assistive training function. Without a force / torque sensor element in the device, the present passive stretching control can still be adapted to hypertonia (high muscle tone or stiffness of joints) of the limb, and the present active assistive control can still be implemented for enhancing voluntary active movement from patients. With such present method, much more applications of active assistive training are supported at substantially no additional cost. On the other hand, the safety of such stretching devices without using force / torque sensor is improved, which assists in increasing the efficiency of the device of the present invention.

A sensorimotor rehabilitation system can analyze body movement kinematics of a person, and in particular analyze the use of limbs (e.g., upper limbs) to provide feedback for sensorimotor rehabilitation. Parameters of body movement (e.g., quantity and type of body movement) can be assessed based on data recorded from an inertial sensor affixed or connected to, for example, an upper limb of a person or outer clothing such as a sleeve. Automated feedback can be provided to the user to improve sensorimotor rehabilitation.

The invention relates to a wrist joint rehabilitation training device which comprises two parts, namely, a rehabilitation training executive device part and a mirror image autonomous input device part. The rehabilitation training executive device part comprises a base seat, a forearm sliding chute, a forearm sliding block, a forearm height adjusting rod, a forearm supporting plate, a wrist rotating sliding rail, a wrist rotating sliding block, a wrist rotating guiding wheel, a bracket, a wrist rotating angle sensor, a wrist rotating motor, a pull rope, a wrist rotating rod, a wrist swing rod, a wrist swing angle sensor, a wrist swing motor, a wrist deflection rod, a wrist deflection sensor and a wrist deflection motor. The mirror image autonomous input device part comprises no motor, and the other devices of the mirror image autonomous input device part are symmetrical with those of the rehabilitation training executive device part. The wrist joint rehabilitation training device has three freedom degrees of rotation, swing and deflection, can achieve all the motions of a wrist joint and the rehabilitation training of composite motions through wearing for one time, and enables a rehabilitation therapist to control the wrist of a patient to carry out rehabilitation training conveniently through the mirror image autonomous input device part.

A pneumatic lower extremity gait rehabilitation training system includes a support device for reducing the burden of supporting a user's body weight by lower extremity in a walking therapy, an exoskeleton rehabilitation device for adjusting the user's walking coordination at a treadmill, a center-of-gravity adjusting device for adjusting a change of upper and lower centers of gravity, and a remote monitoring device for receiving and capturing a signal of an angle displacement of a joint mechanism in a walking cycle. The user may support her / his body weight by the support device and the center-of-gravity adjusting device to reduce the gravity exerted onto the user's legs. The exoskeleton rehabilitation device improves the flexibility, safety and lightweight of walking and requires fewer driving elements. The remote monitoring device sends analyzed signals to the treadmill to adjust the user's walking speed, so as to improve the rehabilitation effect.

The invention provides a horizontal rehabilitation training device for upper and lower limbs. The horizontal rehabilitation training device comprises a driving unit, a rack, lower limb rehabilitation units and an upper limb rehabilitation unit; the driving unit comprises a driving motor, a speed reducer and a clutch; each lower limb rehabilitation unit comprises thigh supports, shank supports, rehabilitation wheels, a crank lever and a slider guide rail mechanism; the upper limb rehabilitation unit comprises handles and a parallelogram four-linkage, and is driven by a motor; the crank levers are driven by the output shaft of the speed reducer to do reciprocating rotation for an angle; sliders in the lower limb rehabilitation units are driven by chutes in the crank levers in the reciprocating rotation to do reciprocating rectilinear movement in sliding rails, therefore linkages which consist of the thigh supports and the shank supports rotate to driven both legs to perform alternate bend and stretch rehabilitation training. The horizontal rehabilitation training device provided by the invention is simple in structure and can move, can be put on a hospital bed for use so as to relieve the own weight-bearing problem brought by the traditional rehabilitation mechanism, has various rehabilitation forms, and not only can be used for passive rehabilitation training but also can be used for active rehabilitation training.

The invention aims at providing a comprehensive gait rehabilitation training system and relates to a gait rehabilitation training robot, which comprises a mechanical leg. The mechanical leg comprises a hip rod (23), a thigh section (24), a shank section (25), a shank jacket (26) and linear transmission units (20). The gait rehabilitation training robot is characterized in that the hip rod (23) and the thigh section (24) are hinged through a movable bearing to form a hip joint, the thigh section (24) and the shank section (25) are hinged through a movable bearing to form a knee joint, the rear end of the first linear transmission unit (20) is hinged with the lower side surface of the hip rod (23), the movable end of the first linear transmission unit is hinged with the thigh section (24), and hip joint motion is realized through the extension and retraction drive of the first linear transmission unit; and the thigh jacket (26) is sheathed on the thigh section (24), the length of a thigh is adjusted by adjusting the position of the thigh jacket (26), one end of the second linear transmission unit is hinged with the thigh jacket (26), the movable end of the second linear transmission unit is hinged with the shank section (25), and knee joint motion is realized through the extension and retraction drive of the second linear transmission unit.

The invention aims to provide a gait rehabilitation robot footrest device with metatarsal joints, comprising a front foot plate, a rear foot plate, a motor and a cord, wherein the motor comprises an ankle motor, a metatarsal motor, encoders, an approach switch, a supporting plate arranged at one side of the rear foot plate, a supporting head arranged on the supporting plate, a large pulley arranged on the metatarsal motor, a cord post arranged below the front foot plate and a spring connected with the cord post and the ankle motor; both the ankle motor and the metatarsal motor are arranged below the rear foot plate; the ankle motor is connected with the rear foot plate through a connecting block fixed to the bottom of the rear foot plate; the encoders are respectively arranged at high-speed ends of the ankle motor and the metatarsal motor, and the other end of the metatarsal motor is provided with the large pulley; and the cord rounds the cord post, the supporting head and the large pulley. The invention more conforms to the real motion state of feet, achieves a better rehabilitation training effect and is suitable for various crowds, and the training of various motion modes can be finished through changing gait data.

The invention provides a wearable assistance finger based on myoelectric control. The wearable assistance finger comprises an under-actuated simulated human finger, a magnetic coupling interface, a rehabilitation assistance connector, a myoelectric collecting array, a servo motor and a control system, wherein the under-actuated simulated human finger adopts a mixed driving mode of connecting rod driving and driving tendon driving, and the requirement of moving the patient finger joints is sufficiently met. Meanwhile, a control method of the wearable assistance finger based on myoelectric control is provided. The wearable assistance finger has the advantages of simple structure, light weight and good reliability. A force sensor and a position sensor are connected onto a driving tendon, the force and the position for driving the finger to move can be obtained through the telescopic movement of the driving tendon, and the quantification index can be provided for the rehabilitation process. The wearable assistance finger has the advantages that the structure is simple, the cost is low, the operation and the wearing are convenient, the man-machine interaction performance is good, the obstruction caused by muscle and joint rigidity can be effectively overcome, the patient can obtain effective rehabilitation treatment, and better application prospects are realized in the fields of finger rehabilitation and the like.

A multifunctional fitness massage rehabilitation chair comprises a base. A plurality of supporting rods for fixing a chair seat are fixedly arranged between the chair seat and the base. Armrests capable of being detached and lifted are installed on the two sides of the upper portion of the chair seat. A shoulder massage assembly for alternate massage is installed on the rear side of a chair back.A lifting back massage assembly is installed in the middle of the chair back. Arm movement assemblies for alternate lifting are arranged on the front sides of the armrests. A leg movement assembly forfront-back alternate moving is arranged on the front side of the upper side of the base. A driving mechanism and a transmission mechanism connected with the driving mechanism are installed at the upper portion of the base. The shoulder massage assembly, the back massage assembly, the arm movement assemblies and the leg movement assembly are all in transmission connection with the transmission mechanism. The multifunctional fitness massage rehabilitation chair is simple in structure and convenient to use; the multifunctional fitness massage rehabilitation chair can be externally driven to effectively train leg muscles and arm muscles of a patient and massage the back and shoulders of the patient, can be operated by one person and provides convenience for postoperative rehabilitation of thepatient.

The invention discloses a virtual rehabilitation system and a training method based on myoelectric feedback and Kinect interaction, wherein the system comprises a data acquisition portion and a virtual reality human-computer interaction portion, the data acquisition portion comprises an electromyographic signal data acquisition module and a Kinect body movement recognition module, the virtual reality human-computer interaction portion comprises a rehabilitation training mode selection module and a virtual reality human-computer interaction module. The rehabilitation training method of the system comprises an electromyographic feedback mode, a Kinect interaction mode and an electromyographic+Kinect combination mode, so that the requirements of rehabilitation training of different joints ofpatients can be met. The electromyographic+Kinect combination mode is a brand-new rehabilitation training method, wherein body movement recognition is carried out through Kinect, and myodynamia magnitude evaluation is carried out through electromyographic signals, so self-adaptive adjustment on difficulty coefficients of virtual rehabilitation training scenes is achieved, and personalized rehabilitation requirements of patients can be met.

The invention discloses a multi-mode brain-computer interface control method for a software rehabilitation manipulator. When a user performs active rehabilitation training in daily life, a multi-source signal control mode is constructed by synchronously collecting EEG, EMG and EoG signals , use the double blink of EOG signal to switch brain / muscle / oculoelectric mode in turn, and preprocess the signal of the corresponding mode, feature extraction, pattern recognition, and the classification results are converted into control signals through real-time processing of the lower computer and sent to the software The rehabilitation manipulator drives the user's fingers to complete relevant training tasks, and its control results are fed back to the user in real time, so as to achieve the purpose of active rehabilitation training for the user. The multi-mode brain-computer interface control method of the present invention has the advantages of multiple active control modes, multiple control commands, and strong real-time performance. The software rehabilitation manipulator has high safety, good comfort, low noise, light weight, portability, and low cost, and has great advantages. prospects for clinical application.

The invention provides an exoskeleton type five-finger-arc-displacement finger rehabilitation training system. The system comprises a mechanical arm fixing plate fixed on the back of a hand and is characterized in that the mechanical arm fixing plate comprises a mechanical arm drive system and finger mechanisms, the mechanical arm drive system comprises linear push rod motors, rotatable motor bases and linear push rods connected with the linear push rod motors, and each finger mechanism comprises a finger near-end arc-shaped support with a slide groove, an arc-shaped push rod, a finger fixing seat, a finger far-end arc-shaped support and a finger far-end connecting rod component; slide wheel groups are mounted on the lateral sides of the arc-shaped push rods to allow the arc-shaped push rods to slide in the slide grooves of the arc-shaped support so as to convert the linear displacement of the motors into finger near-end arc displacement; the finger far-end connecting rod components are used for achieving finger tail-end arc displacement. The exoskeleton type five-finger-arc-displacement finger rehabilitation training system has the advantages that the two-freedom-degree rehabilitation exercise of each finger, the active or passive rehabilitation training of the fingers can be achieved by controlling the motors, and the system is ingenious and safe in structure, convenient to operate and capable of greatly relieving the work intensity of medical staff.

A lower limb exoskeleton rehabilitation training device provided with a movable chair mainly comprises a base, a chair frontward and backward adjustment mechanism, the chair, a mechanical leg leftward and rightward adjustment mechanism, two mechanical leg fixing platforms, two mechanical legs and a counter weight control box. Because the mechanical leg leftward and rightward adjustment mechanism is arranged, the training requirements of training people having different widths between the hip joints can be met in the manner that the width between the two mechanical arms can be adjusted. The lower limb exoskeleton rehabilitation training device is combined with a chair movement and transmission mechanism, before a patient gets on the lower limb exoskeleton rehabilitation training device, the chair is moved to the front end of the base, and therefore the influence generated by the fact that the mechanical legs occupy space when the patient gets on and gets off the lower limb exoskeleton rehabilitation training device is overcome. Because thigh mechanisms, shank mechanisms and ankle joint mechanisms of the two mechanical legs are each provided with a drive mechanism, exercise training and movement range practices of one joint can be achieved, and coordinate exercise training of one leg and the double legs can also be achieved. Through independent hip joint adjusting mechanisms, independent knee joint adjusting mechanisms and independent ankle joint adjusting mechanisms, adjustment of the shanks and the thighs can be achieved, and therefore personalized training is achieved.

The invention discloses a leg support device for medical care, including a positioning plate, wherein the positioning plate includes a first connecting plate and a third connecting plate arranged in parallel at a lower end of the first connecting plate, wherein the first connecting plate and the third connecting plate are connected through the second connecting plate; a first bolt is screwed intothe first threaded through hole on the third connecting plate; a lower end of the third connecting bar is articulate at the center of the upper surface of the connecting seat; and both left and rightsides of the upper end of the third connecting bar are articulated with one end of the fourth connecting rod, and the other end of the fourth connecting bar is sleeved in the sleeve. The invention hasthe advantages that: when the supporting device is installed, the positioning plate is inserted from the side of the hospital bed, and the first bolt is tightened to make the first fixing plate protrude against the lower surface of the hospital bed, so that the connection between the positioning plate and the hospital bed is firm, and at the same time, the leg of the patient can make the fourth connecting bar slide in the cannula with left-right force, which is beneficial to the rehabilitation training of the leg muscles of the patient.

The invention provides a hemiplegia rehabilitation training apparatus, for solving the technical problems that the existing hemiplegia rehabilitation training apparatus is single in training movements and poor in training effect. The hemiplegia rehabilitation training apparatus comprises a base, and is characterized in that telescopic upright posts are vertically fixed to the base, wherein the telescopic upright posts comprise an upper upright post and a lower upright post, a hand rehabilitation training device is arranged on the upper upright post, the hand rehabilitation training device comprises a fixing arm, a first support arm, a second support arm, a third support arm and a finger coordinating action mechanism, the hand rehabilitation training device carries out coordination training of various motion modes on the arm and the fingers, the lower upright post is provided with a leg rehabilitation training device, the leg rehabilitation training device comprises a sitting board, a first leg arm, a second leg arm and a pedal, and the leg rehabilitation training device performs rehabilitation training on the thigh, the shank and the foot. With the hemiplegia rehabilitation training apparatus, rehabilitation training is carried out on the hand and the leg of a patient simultaneously, the motion modes of training are diversified, and the hemiplegia rehabilitation training apparatus has the advantages of high rehabilitation training efficiency, good rehabilitation training effect and the like.

The invention discloses an ankle joint training adapter, ankle joint training equipment and a training control method thereof. The ankle joint training adapter comprises a foot adapter and a motion control host. The foot adapter comprises an adjuster, an ankle joint position adjusting mechanism, a pedal and a foot fixing piece arranged on the pedal. One end of the ankle joint position adjusting mechanism is connected with the adjuster, and the other end of the ankle joint position adjusting mechanism is connected with the pedal. The motion control host comprises a driving device and a control module. The driving device comprises a motor and a speed reducer connected with the motor. The adjuster is connected with the speed reducer and can rotate relative to an output shaft of the speed reducer. The control module is connected with the motor. The control module comprises an angular position change detection module, a motor current change detection module and a mode selection module. The invention can effectively assist a patient in joint exercise, improve muscle strength, improve joint movement degree, as well as draw and relax stiff joints.

A three-freedom robot for the recovery training is composed of a rotation unit, a rotary table driven by said rotation unit, the vertical and horizontal movement mechanisms arranged on said rotary table, a parallelogram mechanism consisting of two long rods and two short rods, an extending rod connected between one long rod and the output of vertical movement mechanism, and a recovery training terminal connected to one short rod.

The invention discloses a full-functional training robot for wrist joints. The robot comprises a platform, a display screen arranged on the platform, a PC host as well as a rough function movement device and a fine function movement device which can realize rehabilitation training of left / right hand wrist joints. The rough function movement device comprises a front arm movement device, a wrist joint vertical swing device and a wrist joint bilateral rotation device which are sequentially connected, and the wrist joint bilateral rotation device and the wrist joint vertical swing device are connected detachably. The robot is simple in structure and convenient and quick to operate, has multiple rehabilitation training modes, can perform rehabilitation training on fingers and wrist joint partsand has good rehabilitation effects.

The invention discloses automatic rehabilitation equipment for lower limb rehabilitation. The rehabilitation equipment includes a base plate; the top of the base plate is provided with a supporting pipe; the supporting pipe movably sleeves a supporting rod; one side of the supporting pipe is provided with an adjusting bolt for locking and fixing the supporting rod; the top of the supporting rod isfixedly connected to a seat plate; the right end on the upper surface of the seat plate is provided with a back board; and the left side of the seat plate is rotatably connected to a leg massage plate. Through the rehabilitation equipment, automatic rocking rehabilitation training and massage treatment can be simultaneously performed on the lower limbs and legs of patients; the rehabilitation equipment is excellent in rehabilitation training effect and can greatly promote the blood circulation of the lower limbs, so that the patients can recover soon; and the troubles that the patients need to do rehabilitation training with the help of medical staff can be avoided, and the problems of high rehabilitation costs due to manual work can be prevented as well, so that the financial burdens offamily members of the patients can be relieved, and the patients can be ensured to get rehabilitation training at the best time to recover.

The invention discloses a semi-direct-drive-driver-based lower limb rehabilitation robot and a control method therefor and relates to the technical field of rehabilitation robots. The robot comprisesa waist adjusting structure, two thigh adjusting structures, two shank adjusting structures and two foot bottom plates, wherein the two thigh adjusting structures, the two shank adjusting structures and the two foot bottom plates are rotatably connected to the two sides of the waist adjusting structure symmetrically and are rotatably connected sequentially from top to bottom; and a hip joint driving structure, knee joint driving structures and ankle joint driving structures are separately mounted on the waist adjusting structure, the thigh adjusting structures and the shank adjusting structures. According to the robot and the control method therefor, the robot can assist a sufferer to achieve bending and stretching of a hip joint, bending and stretching of a knee joint and plantar flexionand dorsal flexion of an ankle joint, is perfect in rehabilitation functions and can better meet rehabilitation training requirements of the sufferer on rehabilitation of a lower limb; and adaptability and independence of rehabilitation training height can be achieved by means of inputting stature information on the sufferer, selecting a mode of rehabilitation training and acquiring rehabilitationtraining parameters for the first time, so that needs of the sufferer on rehabilitation training are better adapted, and the effect of rehabilitation training is improved.

The invention discloses a hand exoskeleton rehabilitation training device and method based on surface electromyogram signals. The device comprises a mechanical glove, a surface electromyographic signal acquisition system and a driving control system, the surface electromyographic signal acquisition system comprises two electromyographic signal acquisition instruments, and each electromyographic signal acquisition instrument transmits an electromyographic signal to the drive control system through a Bluetooth module; the driving control system comprises an FPGA chip, a first rechargeable lithium battery, a Bluetooth module and a digital filter; the FPGA chip performs secondary filtering processing on the electromyographic signal after receiving the electromyographic signal of the electromyographic signal acquisition instrument; an active section signal is acquired by using a standard deviation threshold detection method; time domain features of the signals are extracted; the time domaincharacteristic parameters are input into the optimized BP neural network; gesture actions of various fingers are recognized through the BP neural network, the FPGA chip adds labels to the different gesture actions, surface electromyogram signals are converted into control signals, and then the control signals are sent to the mechanical glove through the Bluetooth module so as to drive the fingersto move.

The invention discloses a balance training device and a using method thereof. The balance training device comprises a training treadmill, a supporting platform and a control center. The training treadmill is provided with a conveying belt. The balance training device further comprises a pressure sensor. The supporting platform is a six-freedom-degree parallel robot platform, is connected with the training treadmill and used for supporting the training treadmill and achieving movement of the training treadmill in six degrees of freedom. The control center is used for controlling the training treadmill and the supporting platform. The balance training device has the advantages that the balance training device is simple in structure, convenient to operate and high in safety coefficient, the whole feedforward can be finished in the device, balance training is stressed, a true movement environment is simulated, the training becomes difficult from simple and proceeds in an orderly way and step by step, the training cost is reduced, training objects are ordinary balance function dysfunction people to apoplexy dyskinesia patients and the like, and the balance training device is of great significance for alleviating social economic burden and making a balance training system enter families and has wide market prospects.

The invention provides a lower limb rehabilitation training elliptical machine device which comprises a device rack, a driving transmission unit, an elliptical trajectory implementation unit and pedal plate connecting units, wherein the device rack comprises an arm-rest frame, a base and vertical plates; the driving transmission unit mainly comprises a drive motor, a small belt wheel, a big belt wheel and a synchronous belt; the elliptical trajectory implementation unit comprises a rotating disc, an elliptical sliding groove, a sliding block, a linear sliding rail and a group of guide wheels; the pedal plate connecting units comprise connecting pieces, pedal plates, flange plates and a bearing. According to the lower limb rehabilitation training elliptical machine device, provided by the invention, a patient is driven to be rehabilitated along the elliptical trajectory, which is more aligned with normal gait of people; besides, as the synchronous belt is in transmission connection with the linear guide rail, and the sliding block is matched with the elliptical sliding groove, the lower limbs can perform rehabilitation training along the elliptical trajectory, the machine device is compact in structure, the mechanism that forms the elliptical trajectory is driven in a single degree-of-freedom manner, and a better lower limb rehabilitation training effect is achieved.

The invention provides a multifunctional assistive device for lower limb rehabilitation training, comprising a moving part, a lifting part and a seat part, wherein the lifting part is installed on the moving part; and the seat part is installed on the lifting part. The multifunctional assistive device for the lower limb rehabilitation training is simple to operate, convenient to use, and people-oriented; based on ergonomics theories, rehabilitation training and daily living activities are flexibly combined together in an assistive way; a user can perform corresponding actions according to needs without the help of other people, so that a sufferer achieves the best assistance and rehabilitation training effect at the psychological and physical aspects; and therefore, the living quality of the lower limb disabled is effectively improved.

The invention is a digital neuropsychological test system and method. The system comprises a host, an EEG module, a button module, a video entry module, a visual tracking module, a touch screen module, a result printing module, a broadcast module and an IC card reading module. The system makes an early scientific and accurate assessment of the tester, achieves the purpose of early detection, earlydiagnosis and early prevention of cognitive impairment, effectively slows down the decline of the cognitive function, and helps to improve the quality of life of the elderly. The system is suitable for large-scale promotion, not only benefits the diagnosis and treatment of cognitive impairment, but also helps to reduce the social burden, and has great application value and social benefits.

The invention provides an upper-limb exoskeleton robot left and right hand interchanging device. The upper-limb exoskeleton robot left and right hand interchanging device is characterizing by comprising a robot base frame, a central rotation joint, a width adjusting arm, an outer-side rotation joint, a front-back adjusting arm, shoulder vertical-rotation joints and exoskeleton mechanical arms which are sequentially connected, wherein the width adjusting arm and the robot base frame are rotatably connected through the central rotation joint, the width adjusting arm and the front-back adjustingarm are movably connected through the outer-side rotation joint, the front-back adjusting arm and the exoskeleton mechanical arms are rotatably connected through the shoulder vertical-rotation joints,and the robot base frame is installed in the back of a wheelchair. In the upper-limb exoskeleton robot left and right hand interchanging device, left-hand and right hand modes are provided, the exoskeleton mechanical arms are rotatably changed from one side to the other side of the wheelchair through rotary adjustment and control of the central rotation joint, the outer-side rotation joint and the shoulder vertical-rotation joints so as to achieve the switching of the left-hand and right hand modes, and convenience is brought to different patients for rehabilitation training of different arms. In addition, a robot system is simple and compact in structure and good in operability.

The invention relates to a cognition impairment rehabilitation detecting device, method and therapeutic equipment based on virtual scenes, and belongs to the field of cognition impairment rehabilitation detection. The cognition impairment rehabilitation detecting device based on the virtual scenes is provided for overcoming the defects that in the prior art, rehabilitation therapeutic software is not combined with scenes, consequentially a trainee fails to apply in the real life, and the therapeutic effect is poor. The device comprises at least one scene, a global counting module, an indicating module and a user position detecting module. The user position detecting module is used for detecting specific positions of a user in the virtual scenes. The indicating module is used for guiding the user to operate according to prompt messages. The global counting module is used for judging the rehabilitation degree of the user according to the value of a global counting variable. Each scene comprises any detection module or the arbitrary combination of the detection modules. All the detection modules are used for detecting rehabilitation effects in different aspects. The cognition impairment rehabilitation detecting device and method based on the virtual scenes are applicable to the cognition impairment rehabilitation therapeutic equipment.

The present invention discloses a palm support-type finger rehabilitation training device and a use method thereof. The device comprises a mounting seat, a finger rehabilitation training mechanism arranged on the mounting seat, and a driving mechanism for driving the finger rehabilitation training mechanism to move; the finger rehabilitation training mechanism comprises four independent and structure-identical finger training combined transmission devices respectively corresponding to an index finger, a middle finger, a ring finger and a little finger of a human body hand structure; the mounting seat has a supporting surface capable of supporting a human body palm; each set of the finger training combined transmission devices all comprises a MP motion sliding chute, a PIP finger sleeve, aDIP finger sleeve and a connecting rod transmission mechanism, a force sensor collects force feedback information to determine and conduct force stability control, and a space position sensor is usedto collect spatial angle information to realize real-time control of finger space positions. The method is suitable for assisting active and passive rehabilitation training of patients with hand hemiplegia due to stroke.

The invention relates to a hybrid driving type exoskeleton device for hand rehabilitation. The device comprises a palm support exoskeleton, a finger support exoskeleton and a finger driving mechanism;the finger support exoskeleton comprises a root end knuckle support exoskeleton, a middle knuckle support exoskeleton and a tip end knuckle support exoskeleton, and every two adjacent exoskeletons are hinged to each other through a rotating joint; the finger driving mechanism comprises a gear motor, a winding wheel, a hand back side line rope, a shape memory alloy spring, a palm side line rope, aheating driver, a cooling fan, a temperature sensor, a transmitter and a controller. The hand back side of the finger support exoskeleton is connected in series through the hand back side line rope,the hand back side line rope is used for pulling the fingers to extend straight, and the pulling force of the hand back side line rope is provided by the gear motor and the winding wheel. The palm side of the finger support exoskeleton is connected in series through the palm side line rope, the palm side line rope is used for pulling the fingers to bend, the pulling force of the palm side line rope is provided by the shape memory alloy spring, and the deformation process of the shape memory alloy spring is regulated according to temperature.