Exoskeletal thumb moving function rehabilitation robot

Abstract

The invention relates to an exoskeletal thumb moving function rehabilitation robot. The robot comprises an execution part, a transmission part and a drive part, wherein the execution part is divided into an interphalangeal joint module, a metacarpophalangeal joint module and a carpometacarpal joint module; in the carpometacarpal joint module, a metacarpal seat is fixed on the palm and wrist of a patient; the metacarpal seat and a metacarpal seat connector form a dip angle of 30 degrees, and the metacarpal seat connector has an angle of 45 degrees; an angle sensor is fixedly connected to a joint horizontal rotor, and is fixedly connected with an abduction / adduction coil; an adjustable bearing block is fixedly connected with a size adjusting jack; one end of a palm driven rod and the adjusting bearing block form a rotating pair, and the other end of the palm driven rod and a palm drive rod form a rotating pair; and the palm drive rod is fixed on a palm drive shaft, and the drive shaft and a palm drive bearing block form a rotating pair. According to the exoskeletal thumb moving function rehabilitation robot, four degrees of freedom active and passive rehabilitation of the thumb can be realized, and the problem that the robot is difficult to wear due to the difference between the physiological structure of the thumb and the other four fingers can be solved.

Description

Technical field: [0001] The invention relates to an exoskeleton-type thumb motor function rehabilitation robot, which relates to a robot device for performing motor function rehabilitation training on finger joints of patients with finger motor dysfunction, and belongs to equipment for rehabilitation training for patients with motor dysfunction. technical background: [0002] The hand is one of the most important structures in the human body, and it is extremely important to human function and appearance. Especially the motor ability of the hand is the basic guarantee for the smooth progress of human's daily life and work. However, the joints, bones, tendons, and nerves of the hand are easily damaged in life and work. Generally, the treatment of damage requires long-term braking of the fingers, but prolonged braking will cause fibrosis due to congestion of the joints and tendons. Cause finger joint and tendon adhesion and muscle atrophy. In addition, hemiplegia caused by c...

AI Technical Summary

Problems solved by technology

[0006] The applicant’s prior invention patent application, the application number is 200910238175.5, and the name is "Exoskeleton Finger Motor Function Rehabilitation Robot". There are three parts: the end joint module, the proximal joint module and the metacarpal joint module; the patent application adjusts the joint distance to adapt to the mechanism of different human hand sizes.

There are too many parts in the original design of the actuator, the structure is too complicated, and the accuracy after assembly is difficult to ensure the movement accuracy during the rehabilitation process.

Due to the great difference in the physiological structure of the root joints of the thumb and index finger, the original design could not be adapted to wearing with the thumb. The abduction / adduction movement of the root joint in the original design is completely realized through surface friction, which has a large friction force and is not conducive to the patient's finger rotation.

Finally, during the recovery process, the steel wire rope must be kept in a tensioned state at all times, but the original design will loosen after the tension of the driving part is used several times, and the transmission accuracy of the steel wire rope cannot be guaranteed

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