Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof

Abstract

The invention discloses a multi-freedom wearable robot for hand function recovery. The robot comprises mechanical arms and mechanical fingers; the mechanical fingers consist of a mechanical thumb, a forefinger, a middle finger, a ring finger and a little finger, wherein the forefinger, the middle finger, the ring finger and the little finger have the same structure as that of the thumb; the mechanical forefinger mainly comprises air muscle, a finger end bracket, a first middle connecting piece, a finger front end bracket and a second middle connecting piece which are connected in turn through a connecting rod; the air muscle drives the second middle connecting piece to move through a rigid string so that the finger of a patient makes lituate and adduction exercises; the inside of each connecting piece is provided with a pressure spring; and inside walls of the two connecting pieces are distributed with rolling beads to reduce friction between the connecting rod and the connecting pieces. The invention also provides a control system and an integrated electricity stimulation system of the robot to assist a patient to rebuild muscle function. The robot provides an assisted exercise mechanism for the fingers, has multiple freedom degrees and dimension adjustable movement mechanism, and can effectively assist the patient to finish repeated training of composite exercise for fingers and complicated finger dividing exercise.

Description

technical field [0001] The invention belongs to rehabilitation robot technology, in particular to a wearable hand function rehabilitation training robot. The rehabilitation training robot is driven by pneumatic muscles, which can assist patients in active and passive stretching and flexion and other complex modes of motor function training. Background technique [0002] At present, the number of patients with hand dysfunction caused by spinal injury, traumatic brain injury, cerebral palsy, stroke and other central nervous system injuries, as well as peripheral neuromuscular system injuries such as hand trauma, hand muscle injuries, and soft tissue injuries has increased significantly. Impairment is the common main symptom, and the motor function recovery of the affected hand is closely related to the patient's prognosis, lifestyle and quality of life in the future. Clinical studies have shown that patients who participate in rehabilitation treatment in a timely manner, carr...

AI Technical Summary

Problems solved by technology

[0005] However, the shortcomings of this rehabilitation robot are: the index finger, middle finger, ring finger and little finger share a finger rest bracket for movement, and the degree of freedom is small, and it cannot assist the affected hand to complete more sophisticated and complex functional training. The training mode is single, which affects the rehabilitation effect.

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