Finger rehabilitation machine

Abstract

The invention belongs to the technical field of robot technologies and medical rehabilitation instruments, and particularly relates to a finger rehabilitation machine which comprises a finger part and a palm part, and the finger part comprises four finger structures and a thumb structure. The finger structure comprises a finger proximal metacarpal bone, a finger second phalanx, a finger first phalanx, a first MCP joint driving assembly and a PIP joint driving assembly, and the thumb structure comprises a thumb proximal metacarpal bone, a thumb first phalanx, a second MCP joint driving assembly and an IP joint driving assembly. On the basis of ensuring that the mechanism is simple, all the joints except the thumb MCP joint on the finger act independently, multiple motion freedom degrees are achieved, and the requirement for achieving complex finger actions in the active rehabilitation treatment stage can be well met.

Description

technical field [0001] The invention relates to the technical field of robotic technology and medical rehabilitation equipment, and more particularly, to a finger rehabilitation machine, which can be effectively used in the stage of self-help rehabilitation training for patients in the later stage of rehabilitation. Background technique [0002] With the continuous development of science and technology, robot technology is gradually being applied in the field of medical rehabilitation. Rehabilitation manipulator is an important application direction of biomechanical integration technology, which is mainly used for rehabilitation training for patients with finger paralysis caused by stroke and trauma. In active rehabilitation, the finger rehabilitation mechanism is required to have the same degree of freedom as the finger movement, or at least to be able to complete most of the movements, and to realize the independent movement of each joint of the finger. At present, finger...

AI Technical Summary

Problems solved by technology

At present, finger rehabilitation robots can be mainly divided into three types: link-type exoskeleton rehabilitation manipulators, wire-driven rehabilitation manipulators, and software-activated muscle rehabilitation manipulators. Link-type exoskeleton manipulators are easy to achieve multi-degree-of-freedom joint movements, and the joint range of motion is accurate. Easy to control, the line-driven rehabilitation manipulator intends to separate the drive motor part from the terminal rehabilitation mechanism, which is beneficial to reduce the load on the patient's hand; the software rehabilitation manipulator is safer and more comfortable than the other two, but it can only achieve single-freedom at present. degrees of flexion, the degrees of freedom required for active therapy are difficult to achieve

[0003] In summary, the existing exoskeleton rehabilitation manipulators are only suitable for the passive treatment stage of the rehabilitation process due to the low degree of freedom of joint movement, and cannot be applied to the active treatment stage.

Images