Double hand tracking type finger rehabilitation robot system

Abstract

The invention discloses a double hand tracking type finger rehabilitation robot system. The double hand tracking type finger rehabilitation robot system comprises a three finger structure of a normal hand end and a three finger structure of a restored hand end; a rehabilitation process realizing unit comprises motion sensing units, a training and learning unit and an action executing and monitoring unit; the motion sensing units are respectively distributed in a normal hand and a restored hand, and the output ends of the motion sensing units are respectively connected with the input end of the training and learning unit; the input end of the action executing and monitoring unit is connected with the output end of the motion sensing unit of the restored hand, and the fingers of a patient are pulled to move through the action habits of the normal hand; the action result of the normal hand is measured by an EMG (electromyography) sensor I, a three-dimensional sensor I and a three-dimensional angle sensor II, and is outputted to a micro-control system to be analyzed, trained and learnt; the micro-control system is used for controlling the restored hand end to do symmetrical motion according to the judging result. The double hand tracking type finger rehabilitation robot system has the advantages that by adopting the double hand tracking type rehabilitation design, the brain of the patient is effectively stimulated to restore, the symmetric contact between the normal hand and the restored hand is established, and the restoration of related functions is accelerated; by adopting the three finger structures, the weight is light, the carrying is convenient, and the double hand tracking type finger rehabilitation robot system is suitable for family rehabilitation.

Description

technical field [0001] The invention belongs to the field of rehabilitation medical equipment, in particular to a hands-tracking finger rehabilitation robot system, which is especially suitable for hand rehabilitation training of hemiplegic patients caused by cerebral apoplexy. Background technique [0002] Stroke is an acute cerebrovascular disease. As my country gradually enters an aging society, the incidence of stroke is increasing year by year. Hemiplegia is a common sequela of stroke, and the patient's symptoms mainly manifest as movement disorders of one side of the upper and lower limbs, the face and the lower part of the tongue. [0003] The recovery of the upper limbs of hemiplegic patients mostly starts from the shoulder, to the upper arm, forearm, and finally the hand. Up to now, most of the research on upper limb rehabilitation devices is oriented to the upper arm and forearm. As the final stage of recovery, the hand directly affects the effect of patient reha...

AI Technical Summary

Problems solved by technology

In addition, finger rehabilitation has problems of high motion precision and motion ambiguity that vary from person to person. Therefore, it is difficult to softly control the finger rehabilitation device to perform rehabilitation training on fingers only by relying on a single-ended finger rehabilitation device, and the rehabilitation effect is also limited.

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