Novel hand exoskeleton rehabilitation device

Abstract

The invention relates to the field of hand rehabilitation robot research, and particularly relates to a novel hand exoskeleton rehabilitation mechanical arm which has flexible transmission and can beused for hand passive rehabilitation training. The device mainly comprises a palm part, a finger part, a control device and a detection device. The finger part and the palm part form a mechanical structure part of the whole device, a screw rod can be driven to rotate forwards and backwards through forward and backward rotation of a motor so as to control a spring to be disengaged from and insertedinto the screw rod, and therefore bending and straightening of fingers are achieved. The fingers can be bent and straightened fast many times through motor driving and spring piece bending, a plurality of training modes can be achieved, and the treatment effect is improved. Due to the fact that the soft spring piece structure is adopted, the device can conduct auxiliary movement with natural joint rotation of the fingers of a person as the constraint, and the device can adapt to the sizes of hands of different persons. The mechanical arm is provided with a pressure detection device and an angle detection device, and the safety of the whole device is improved. The novel hand exoskeleton rehabilitation device is portable, small in size, low in weight and high in cost performance, the application range of the device is widened, and the use burden on a patient is reduced. The novel hand exoskeleton rehabilitation device has important application value in the field of hand function recovery of stroke patients and high-strength continuous rehabilitation training.

Description

technical field [0001] The invention belongs to the field of hand rehabilitation robot research, and in particular relates to a novel hand exoskeleton rehabilitation manipulator with flexible transmission that can be used for hand passive rehabilitation training. Background technique [0002] Hand function impairment is common among survivors of stroke. To restore hand function after stroke, patients need to undergo high-intensity and continuous rehabilitation training. Studies have shown that continuous high-intensity repetitive training can improve the hand muscle strength of stroke patients and help the recovery of hand function. Ordinary hand exoskeletons with rigid structures have shortcomings such as large size, heavy weight, rigid impact, and difficulty in fitting the movement trajectory of the human hand due to their own rigid characteristics, which may cause secondary injuries to patients and cannot adapt to the application. Changes, and the portable flexible mecha...

AI Technical Summary

Problems solved by technology

Most soft hand exoskeletons use pneumatic or hydraulically driven devices made of silicone rubber to assist fingers in flexion or extension. This driving method makes the structure of the device simple and compact, but pneumatic / hydraulic brakes require pneumatic or hydraulic pressure. Devices such as the source will increase the size of the entire system and reduce the applicability; and it is difficult to achieve simultaneous flexion and extension with a simple wire drive; Arata et al. try to solve these problems through an exoskeleton hand with a three-layer sliding spring mechanism , but due to the use of Bowden line transmission, there are disadvantages such as too small driving force, insufficient stability, and low efficiency, which reduces the requirements for practical applications

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