Hand exoskeleton mechanism and robot

Abstract

The invention belongs to the technical field of medical instruments, in particular relates to a hand exoskeleton mechanism and a robot, and aims to solve the problems that a hand exoskeleton robot inthe prior art cannot simultaneously has compatibility with motion of finger joints, small volume and light weight. The hand exoskeleton mechanism provided by the invention comprises a first joint unitand a second joint unit; the second joint unit is provided with an arc-shaped connecting rod; the second joint unit is hinged with the first joint unit through the arc-shaped connecting rod; the arc-shaped connecting rod is hinged with the second joint unit; and the first joint unit and the second joint unit are respectively tied to two ends of a finger joint. According to the invention, the arc-shaped connecting rod provides passive pulling force or pushing force to the first joint unit according to a position relative to the second joint unit, so that bending and stretching motions of a finger are realized, and the hand exoskeleton mechanism helps a patient to perform rehabilitation training or assists in daily life. The hand exoskeleton robot has the advantages of small volume, light weight, large driving force, compatibility with motion of human hand joints, low cost and easy batch production.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and in particular relates to a hand exoskeleton mechanism and a robot. Background technique [0002] In recent years, due to the increasing number of patients with hand motor dysfunction caused by accidents such as car accidents, industrial injuries, and nervous system dysfunction such as stroke and spinal cord injury, as well as the increase in the cost of rehabilitation treatment and the shortage of rehabilitation physicians, the problem of rehabilitation needs has become increasingly prominent . In recent years, many clinical trials have shown that rehabilitation robots can, to a certain extent, help patients with motor dysfunction recover their active control of their limbs, and have received widespread attention from all walks of life. Existing rope-driven hand exoskeleton robots mainly have two forms: kinematic compatible design and kinematic incompatible design. The hand exoskele...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above problems in the prior art, that is, in order to solve the problem that the hand exoskeleton robot in the prior art cannot have both finger joint kinematic compatibility, small size and light weight, the present invention provides a hand exoskeleton mechanism, It includes a first joint unit, a second joint unit and a power device;

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