Tail end traction-type finger rehabilitation robot

Abstract

The invention belongs to the field of rehabilitation medical equipment, and in particular relates to a tail end traction-type finger rehabilitation robot. The robot includes a fixing seat, a power drive component and finger flexion and extension mechanisms; the power drive component includes a servo motor, a torque sensor connected with the output shaft of the servo motor, a driving belt pulley component coaxially connected with the torque sensor, an encoder connected with the driving belt pulley component, and driven belt pulley components connected with the driving belt pulley component through asynchronous belts; and each finger flexion and extension mechanism includes an electric push rod, a fingerboard, sliding grooves arranged in the fingerboard, a thumb connector, a first thumb connecting rod, a second thumb connecting rod and finger sleeves. According to the robot, one servo motor drives the four synchronous belts to move, and the movement trajectory is limited through the sliding grooves in the fingerboard to realize the flexion and extension movement of fingers; and the torque sensor accurately collects and feeds back the force signal of a hand of a patient to judge the movement direction desired by the patient, so that the safety of the patient during rehabilitation training is more ensured.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation medical equipment, and in particular relates to an end-drawing finger rehabilitation robot. Background technique [0002] The hand is a fine "tool" for human life and social productive labor. Movement disorders in this part will seriously affect people's normal life. The best treatment for hand movement disorders is to repair damaged nerves and continuous passive rehabilitation training, but traditional one-to-one rehabilitation has problems such as large labor and high cost. With the development of science and technology, robot technology has been successfully introduced into the field of medical rehabilitation. In the field of rehabilitation robots, complex hand rehabilitation is one of the hotspots of research at home and abroad. It can control complex motion trajectories more precisely, and has the characteristics of low labor cost, high flexibility, simple operation and good curative ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the defects in the prior art that there are many motors, it is difficult to realize the collection and feedback of hand force signals, the structure is complex, the safety is low, and it is easy to cause secondary injuries, and to provide a motor that only needs one motor. , An end-traction finger rehabilitation robot that can accurately collect and feedback hand force signals, has a simple structure and is relatively safe

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