Hand exoskeleton device with under-actuated traction function

Abstract

The invention belongs to the technical field related to medical equipment, and discloses a hand exoskeleton device with an under-actuated traction function, the hand exoskeleton device comprises an exoskeleton body, a thumb driving mechanism, a four-finger driving mechanism and a fastening torsion spring mechanism, the thumb driving mechanism is connected to the exoskeleton body, and the four-finger driving mechanism is connected to the fastening torsion spring mechanism; the four-finger driving mechanism is connected to the exoskeleton body through the fastening torsion spring mechanism; the exoskeleton body comprises a thread combining block, a little finger, a ring finger, a middle finger, an index finger and a thumb, the little finger, the ring finger, the middle finger, the index finger and the thumb are connected to the thread combining block, the thread combining block is connected to the fastening torsional spring mechanism, and the thumb is connected to the thumb driving mechanism through the thread combining block; the middle finger comprises a fingertip fingerstall, a middle finger ring, a near finger ring and a first four-finger traction nylon rope, one end of the first four-finger traction nylon rope is sequentially strung in the near finger ring, the middle finger ring and the fingertip fingerstall, and the other end of the first four-finger traction nylon rope is connected to the thread combining block. The size is reduced, and the flexibility is improved.

Description

technical field [0001] The invention belongs to the related technical field of medical equipment, and more specifically relates to a hand exoskeleton device with an under-actuated traction function. Background technique [0002] The hands are the main effector organs of most complex motor behaviors, which have a high degree of biomechanical complexity. Diseases or injuries that affect the hands usually lead to a corresponding loss of hand abilities. For some hand movements due to neural network damage For patients with disabilities, clinical rehabilitation medicine proves that in addition to necessary drug treatment, after repairing the damaged nervous system through surgery, rehabilitation training can be used to help the reorganization of the cerebral cortex and the regeneration of peripheral nerves, and exercise can be used to compensate for continuous muscle weakness, which is beneficial to recovery. The patient's ability to exercise is of great significance. In the pro...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above defects or improvement needs of the prior art, the present invention provides a hand exoskeleton device with under-actuated traction function, the device has four fingers The underactuated traction exoskeleton with motion coordination ability can effectively consider the actual working conditions of patients in home care, and effectively solve the problems of oversized hand exoskeleton devices and complex control systems; at the same time, it has finger extension and flexion function

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