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Intelligent finger exoskeleton mechanism and intelligent finger rehabilitation exoskeleton robot

An exoskeleton robot and exoskeleton technology, applied in gymnastics equipment, passive exercise equipment, physical therapy, etc., can solve the problems of lack of training feedback, inconvenient wearing, complex structure, etc., to achieve simple and reliable structure, good initiative, and improve efficiency Effect

Active Publication Date: 2022-03-18
同济大学浙江学院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of complex structure, inconvenient wearing and lack of training feedback existing in the prior art, the present invention provides an intelligent finger exoskeleton mechanism and an intelligent finger rehabilitation exoskeleton robot

Method used

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  • Intelligent finger exoskeleton mechanism and intelligent finger rehabilitation exoskeleton robot
  • Intelligent finger exoskeleton mechanism and intelligent finger rehabilitation exoskeleton robot
  • Intelligent finger exoskeleton mechanism and intelligent finger rehabilitation exoskeleton robot

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Embodiment

[0032] like Figure 1~5As shown, a smart finger exoskeleton mechanism 1, in this embodiment, for the convenience of description, point to the far end from the arm to the finger, with the back of the hand facing up and the palm facing down; the smart finger exoskeleton mechanism 1 includes Connected MCP joint base 1-1, MCP arc arm 1-2, PIP joint base 1-3 and PIP arc arm 1-4, such as Figure 1~3 As shown, the MCP joint base 1-1 is provided with a first arc-shaped chute 1-1-1, and the proximal end of the MCP arc-shaped arm 1-2 is slidably set on the first arc-shaped chute 1-1 -1, and the MCP arc-shaped arm 1-2 is driven to slide by the first driver 1-5, the distal end of the MCP arc-shaped arm 1-2 is fixedly connected with the PIP joint seat 1-3, and the PIP A second arc-shaped chute 1-3-1 is opened on the joint seat 1-3, and the proximal end of the PIP arc-shaped arm 1-4 is slidably set in the second arc-shaped chute 1-3-1, and the The PIP arc-shaped arm 1-4 is driven and slid...

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Abstract

The invention relates to an intelligent finger exoskeleton mechanism which comprises an MCP joint seat, an MCP arc-shaped arm, a PIP joint seat and a PIP arc-shaped arm which are sequentially connected towards the far end, the near end of the MCP arc-shaped arm is arranged in a first arc-shaped sliding groove of the MCP joint seat in a sliding mode, the far end of the MCP arc-shaped arm is fixedly connected with the PIP joint seat, the near end of the PIP arc-shaped arm is arranged in a second arc-shaped sliding groove of the PIP joint seat in a sliding mode, and the near end of the PIP arc-shaped arm is fixedly connected with the PIP joint seat. A connecting seat is arranged at the far end of the PIP arc-shaped arm, and finger connecting pieces are arranged on the connecting seat and the PIP joint seat; pressure sensing assemblies are arranged between the connecting base and the finger connecting piece and between the PIP joint base and the finger connecting piece and comprise frames, the bottom ends of the connecting bases are fixedly connected with middle-layer plates, the upper ends and the lower ends of the frames are fixedly provided with upper plates and lower plates respectively, the connecting bases, the upper plates, the middle-layer plates and the lower plates are sequentially arranged from top to bottom, and the frames and the connecting bases are movably connected up and down. An upper pressure sensor is arranged between the upper plate and the middle-layer plate, and a lower pressure sensor is arranged between the lower plate and the middle-layer plate.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, in particular to an intelligent finger exoskeleton mechanism and an intelligent finger rehabilitation exoskeleton robot. Background technique [0002] The goal of rehabilitation robots is to replace or assist rehabilitation therapists and simplify the traditional "one-on-one" heavy treatment process. With the continuous upgrading of technology, wearable rehabilitation robots, namely exoskeleton robots, have emerged in recent years. The exoskeleton robot is designed according to the characteristics of ergonomics, which is equivalent to the patient's exoskeleton. Patients can wear it on their limbs to assist rehabilitation training and improve the patient's rehabilitation effect. However, the existing exoskeleton robots for hand rehabilitation have the following defects: 1. The structure is complicated, the parts are complicated, and the processing and manufacturing are difficult; 2. Th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A63B23/16A63B71/06
CPCA61H1/0288A63B23/16A63B71/06A61H2205/067A61H2201/0157A61H2201/1207
Inventor 徐晗李益斌徐东张珝周开李晓龙
Owner 同济大学浙江学院
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