304 results about "Functional rehabilitation" patented technology

The invention discloses a multifunctional composite rehabilitation system for a patient suffering from central nerve injury. The multifunctional composite rehabilitation system comprises a database module, a data managing module, a man-machine interaction module, a function evaluating module, a prescription generating and managing module, a calculating module, a system control module and a safety protecting module. By utilizing the artificial intelligence, the human motion intension can be predicted and recognized, the man-machine coordination control is realized, and the active type rehabilitation treatment of the patient is finished; through a multisource signal collection, signal fusion and real-time control technologies, every function is organically combined, the coordinative rehabilitation treatment of every function module is realized, the rehabilitation effect is effectively improved and the labor consumption is reduced; during the process of rehabilitation, the patient is guided to finish the rehabilitation treatment step by step by using the virtual reality technology; through the interaction among a doctor, the patient and a computer, a progressive composite rehabilitation strategy according with the disease condition of the patient is comprehensively determined, so that the patient suffering fromnerve injury can receive the most effective rehabilitation treatment within a gold rehabilitation period of 50 days, and therefore, the maximization of the functional rehabilitation is promoted.

The invention discloses a wearable hand function rehabilitation robot, which is mainly used for assisting the repeated movement function rehabilitation training of the patient with hand movement function disorder which is caused by stroke, brain trauma, spinal cord injury and peripheral nerve injury in communities or families. The robot system extracts the active movement will of the patient by detecting the multi-channel surface myoelectric signals of the affected hand and obtains the state of the affected limb by combining the data which is measured by an angle and force sensor to carry out the rehabilitation training of the affected hand by pneumatic muscle contraction assistance by using the intelligent control algorithm on the basis. The rehabilitation robot has multiple degrees of freedom, which can assist the affected hand to carry out multi-joint complex movement and inosculate the multi-sensor data information fusion during the rehabilitation process to be further used for the evaluation of rehabilitation effect, and the activity and the training interest of the patient can be improved by using the rehabilitation treatment virtual environment on a computer. The invention has the advantages of simple structure, flexible movement, safety and reliability, which can not only realize the rehabilitation training of the movement function of the affected hand, but can also be in line with the physiologic structure characteristics of human hands. The invention is more comfortable to wear.

The invention discloses an exoskeleton rehabilitation robot for rehabilitation of a lower limb walking function and a control system and method thereof. The robot comprises a backrest, a hip joint power source, a hip joint component, a waist component, a thigh bar component, a knee joint power source, a knee joint component, a shank bar component, an ankle joint component and a foot pedal. According to the lower limb exoskeleton rehabilitation robot, a driving scheme is designed by utilizing a bionics principle, so that the initiative degree of freedom of the ankle joint is increased; through initiatively pulling the heel tendon muscles of the patients, the rehabilitation speed of the ankle joint function is improved; the waist component, a connection rod mechanism and the foot pedal adopt a carbon fiber composite material, so that the structure weights and volumes are lightened while the strength is kept; and a non-polar adjustable function is set for the waist width, thigh length and shank length, and flexible bandages are equipped, so that the wearing comfort level requirement of the users is satisfied to the greatest extent. The robot disclosed by the invention not only can be used as a tool for riding instead of walk for the patients with walking disability, but also can help the stroke patients to obtain walking ability again through initiative training.

The invention discloses a wearable hand rehabilitation training device which can achieve rehabilitation training of human body hands. The wearable hand rehabilitation training device includes: a glove body; the glove body includes a set of bionic muscle strips; each of the bionic muscle strips is internally provided with a plurality of inflatable airbags which are mutually independent; the bionic muscle strips can drive a human body hand to achieved multi-freedom motion such as bending, stretching, retracting inward, expanding outward, and rotating. The wearable hand rehabilitation training device is convenient and comfortable in wearing, can achieve all-round training of fingers, meet disease demands of different patients, and can allow hand functional rehabilitation training of stroked patients.

The invention discloses a multi-mode fusion hand function rehabilitation training and intelligent evaluation system, which comprises a rehabilitation training mechanism, a sensor data collecting device, a rehabilitation evaluation system and a scene interaction game system, wherein the rehabilitation training mechanism is used for performing rehabilitation training on the fingers and the wrist; the sensor data collecting device is used for collecting one or various kinds of signals from a surface electromyographic signal, a force signal and a posture signal in real time; the rehabilitation evaluation system performs quantitative evaluation on the rehabilitation training condition of a patient according to a multi-mode signal collected by the sensor data collecting device; and the scene interaction game system is used for providing information feedback such as rehabilitation training, effect evaluation and vision for the patient. The multi-mode fusion hand function rehabilitation training and intelligent evaluation system disclosed by the invention has the advantages that by aiming at the rehabilitation training of a cerebral stroke patient, real-time feedback regulation and control, quantitative evaluation and game feedback can be performed in the rehabilitation training process; the training enthusiasm of the patient is effectively aroused; and the rehabilitation training effect is enhanced.

The invention provides a vision correction method. The vision correction method comprises the steps that a visible range of an ametropia patient is determined; the imaging position of a virtual image in a pair of virtual reality glasses is controlled, so that when the ametropia patient wears the virtual reality glasses to view the virtual image, the virtual image can be clearly imaged on the retinas of the eyes of the patient; based on the visible range, the imaging position of the virtual image is periodically adjusted to exercise the eye muscles of the patient and correct vision. In addition, the invention also provides a vision correction device. The vision correction device comprises a pair of virtual reality glasses, a data determining unit, a central control unit and an adjusting unit. By adopting the vision correction method and the vision correction device, the imaging position of the virtual image can be accurately controlled, and the eye muscles are exercised by periodically changing the position in the vision range of the patient. Functional rehabilitation of the ciliary muscle can be also achieved, natural vision rehabilitation is finally achieved, and the purpose of treating ametropia is achieved.

The invention discloses a functional rehabilitation training device for hands. The functional rehabilitation training device comprises a tank, thumb rehabilitation systems and four-finger rehabilitation systems. The thumb rehabilitation systems and the four-finger rehabilitation systems are respectively erected on two sides of the tank and are connected with the fixing tank by connecting rod force transferring systems; plane mirrors are arranged among the thumb rehabilitation systems and the four-finger rehabilitation systems, the thumb rehabilitation systems and the four-finger rehabilitation systems are respectively connected with various joints of fingers, pressure sensors are arranged at joint ends, exoskeleton manipulators on one side of the functional rehabilitation training device moves after a patient wears the thumb rehabilitation systems and the four-finger rehabilitation systems, power can be transmitted via the connecting rod force transferring systems to drive exoskeleton manipulators on the other side of the functional rehabilitation training device to synchronously move, and affected-side exoskeletons of the patient can drive affected-side fingers of the patient to carry out synchronous rehabilitation movement. The functional rehabilitation training device has the advantages that weights can be born by the exoskeleton manipulators via tank fixing devices, and accordingly burden can be prevented for the patient; the functional rehabilitation training device is simple in structure, convenient to operate and easy to implement; the patient can carry out large quantities of exquisite and complicated rehabilitation training actions and accordingly can be subjected to comprehensive and efficient rehabilitation therapy.

The invention relates to a pneumatic-muscled bionic joint based on a universal-joint parallel mechanism. The pneumatic-muscled bionic joint mainly structurally comprises a support rod, a fixed end platform, connecting shafts, deep groove ball bearings, pneumatic muscles, universal joints, a front arm platform, internal circlips, and round nuts. When the pneumatic-muscled bionic joint operates, rubber tubes are inflated and expanded by inflating the pneumatic muscles and act on a woven net; weaving angle of lines of the woven net increases, the pneumatic muscles are driven to axially contract; the front arm platform can rotate at three rotational degrees of freedom by inflating one, two or three pneumatic muscles respectively. The pneumatic-muscled bionic joint is simpler in structure, light in weight, good in flexibility and low in cost; space for movement poses is large, the movement range is more approximate to that of human arms, compliance of a mechanism is enhanced accordingly, and pose adjustment range is enlarged. By the use of the pneumatic-muscled bionic joint in the field of medical rehabilitation, functional rehabilitation can be improved for old people or people with upper arms disabled.

The invention relates to an exoskeletal thumb moving function rehabilitation robot. The robot comprises an execution part, a transmission part and a drive part, wherein the execution part is divided into an interphalangeal joint module, a metacarpophalangeal joint module and a carpometacarpal joint module; in the carpometacarpal joint module, a metacarpal seat is fixed on the palm and wrist of a patient; the metacarpal seat and a metacarpal seat connector form a dip angle of 30 degrees, and the metacarpal seat connector has an angle of 45 degrees; an angle sensor is fixedly connected to a joint horizontal rotor, and is fixedly connected with an abduction / adduction coil; an adjustable bearing block is fixedly connected with a size adjusting jack; one end of a palm driven rod and the adjusting bearing block form a rotating pair, and the other end of the palm driven rod and a palm drive rod form a rotating pair; and the palm drive rod is fixed on a palm drive shaft, and the drive shaft and a palm drive bearing block form a rotating pair. According to the exoskeletal thumb moving function rehabilitation robot, four degrees of freedom active and passive rehabilitation of the thumb can be realized, and the problem that the robot is difficult to wear due to the difference between the physiological structure of the thumb and the other four fingers can be solved.

The invention discloses a waist and abdomen (abdomen and waist) rehabilitation treatment machine. The waist and abdomen (abdomen and waist) rehabilitation treatment machine comprises a rack, wherein a hip and lower limb bracket for the part below the human sacroiliac joint and a head, chest and abdomen bracket for the part above the human pelvis are arranged on the rack along the longitudinal direction, and the waist and abdomen (abdomen and waist) rehabilitation treatment machine also comprises a human back work bracket which is arranged on the rack and positioned above the head, chest and abdomen bracket. The waist and abdomen (abdomen and waist) rehabilitation treatment machine has the advantages that on the basis of the clinical diagnosis and treatment practice of the department of orthopaedics of the traditional Chinese medicine and the western medicine, and through the observation and diagnosis and treatment study on the waist and abdomen (abdomen and waist) syndrome, the movements needed by functional recovery of the waist and abdomen (abdomen and waist) syndrome, namely, the application means needed by the all-side physiological function recovery, such as the massage to the abdomen, the dorsal stretch and traction to the body, the pull-press, push-movement, push pressing, lateral pull and lateral rotation for the waist, the traction shaking of the ankle, the body muscle loosing and the unique elastic impact and buffer massage for the waist and the back are scientifically applied to the functional rehabilitation treatment of the waist and the abdomen (abdomen and waist) through the mechanical working manner, and thus an effective rehabilitation treatment device is provided for the non-surgical treatment for the waist and abdomen (abdomen and waist) diseases.

The invention discloses an upper limb rehabilitation training method based on photoelectric multimode feedback of mirror image therapy. The method comprises the following steps: collecting an uninjured side hand image of a patient and performing spatial imagination assessment on the upper limb according to the hand image; collecting finger kinematic parameters of the patient in the upper limb rehabilitation training process in real time and performing hand kinematic assessment on the upper limb according to the finger kinematic parameters; adjusting the training method according to the result of the spatial imagination assessment and the result of the hand kinematic assessment. According to the method provided by the invention, the combination of visual mirror image, multisensory feedback technique and space sensory control technique is adopted for directly performing central stimulation on the patient, activating brain motion and feeling cortex, so that the hand functional rehabilitation therapeutic effect is enhanced, the resource shortage is relieved and the defects of domestic and overseas hand functional rehabilitation can be technically overcome.

The invention discloses a rehabilitation training glove. The glove comprises a glove body, a control device, a massaging device, a power supplying device and a finger dividing device detachably arranged outside the glove body, wherein the control device, the massage device and the power supplying device are fixedly arranged on the glove body; the glove body is successively provided with a surfacelayer, a massaging layer, a heating layer and an inner layer from outside to inside; the massaging device is fixed to the massaging layer and comprises magnetic massaging balls regularly distributed on the massaging layer and a driving unit used for driving the magnetic massaging balls; the heating layer is composed of an electric heating layer and polyurethane layers on the two sides; the electric heating layer and the driving unit are connected with the control device, and the control device controls and achieves pulse, heating, massaging and moxibustion functions; the finger dividing deviceis composed of an inflating device and an airbag web, the inflating device is electrically connected with the control device, the control device controls inflation air pressure, and after inflation,the airbag web is swelled to make five fingers divided. The glove is simple in structure and comprehensive in functions and can effectively improve the efficiency and effects of hand massaging, rehabilitation treatment and functional rehabilitation.

The invention provides a flexible hand function rehabilitation device based on rope driving. The flexible hand function rehabilitation device based on rope driving comprises four-finger exoskeleton mechanisms, a thumb exoskeleton mechanism and a soft rubber glove. An index finger exoskeleton mechanism comprises an index finger distal knuckle sleeve ring, an index finger middle knuckle sleeve ringand an index finger proximal knuckle sleeve ring; and each sleeve ring is connected together by a hinge structure. The thumb exoskeleton mechanism comprises a thumb proximal knuckle sleeve ring and athumb distal knuckle sleeve ring which are connected together by a hinge structure. A rope is fixed onto the hand function rehabilitation device through an aluminum sleeve, so that the effect that therope cannot slide down when the rope at the palm side and the hand back side pulls the fingers to bend / extend and outwards extend / inwards collect is ensured. The flexible hand function rehabilitationdevice based on rope driving solves the dimension problem of a traditional rigid exoskeleton. The wearing effect of a user is more compact; the comfortable degree is higher; the adaptation to the hand of the user is more easily to be realized; and a rope passage is arranged on the rehabilitation device, so that when the rope is driven to move by a driver, the hand of a patient is driven to move in a maximum functional region.

The invention relates to a flexible-driven hand function rehabilitation robot control system. The flexible-driven hand function rehabilitation robot control system comprises rehabilitation gloves (1),a Bowden cable transmission mechanism (2), an electronic control unit (3), a myoelectricity man machine interface unit (4), an electroencephalogram man machine interface unit (5), rehabilitation training software (6) and a motor driving unit (7) which are in mutual connection through electrical signals, movement position control of fingers and grabbing force gentle and agreeable control are realized, the components are in interaction to complete driven training and interactive training missions which are set, and the flexible-driven hand function rehabilitation robot control system has the functions of long-range guiding of in-line training and off-line training. Compared with the prior art, the flexible-driven hand function rehabilitation robot control system has the advantages of beinghigher in precision, rapider in response, favorable in robustness and the like.

A lower limb functional rehabilitation training robot mainly comprises a base, a seat, a mechanical leg leftward-rightward adjusting mechanism, two mechanical leg fixing tables, two mechanical legs and a balance weight control cabinet. A mechanical leg fixing table body on one side is divided into a fixing table upper part and a fixing table lower part, and the fixing table upper part can be rotated outwards. When a patient sits on the seat, the mechanical legs can be rotated outwards, and thus a therapist can perform operation conveniently. Through the arrangement of the mechanical leg leftward-rightward adjusting mechanism, the training requirements of trainees differing in width of the hip joint can be met by adjusting the width between the two mechanical legs. Due to the fact that a thigh mechanism, a crus mechanism and an ankle joint mechanism of each mechanical leg are each provided with a drive mechanism, exercise training of single joints and activity exercise can be achieved, and coordinated exercise training of a single leg and the two mechanical legs can also be achieved. Adjustment of the lengths of the thighs and the cruses can be achieved through independent hip joint adjusting mechanisms, independent knee joint adjusting mechanisms and independent ankle joint adjusting mechanisms, and personalized training is achieved.

The invention discloses a hand function rehabilitation training device and method. The device comprises a controller, a gas drive module, a myoelectricity collection module, an electrical stimulationmodule, soft gloves connected with the gas drive module, and an electrode slice group I connected with the electrical stimulation module, wherein the gas drive module, the myoelectricity collection module and the electrical stimulation module are connected with the controller; the soft gloves are provided with pneumatic telescoping assemblies; the controller calculates a hand movement posture of ahealthy side by collecting a hand muscle electric signal of the healthy side, so that the electrical stimulation module and the gas drive module are controlled to achieve mirror image training of thefingers and the wrist of an affected side, and comprehensive recovery of the hand function of the affected side is accelerated; a five-position electromagnetic switch valve group is adopted in the gas drive module, so that the fingers of the affected side are in different stretching and bending states in one training action, and different training requirements of patients are met; and a gas pressure sensor is adopted in the gas drive module to detect the gas pressure intensity changes in the pneumatic telescoping assemblies, and a movement intention of the fingers is recognized based on an ideal gas principle, so that power-assisted training of the hand is achieved.

The invention discloses an integrated system visualizing functional evaluation and rehabilitation training for levator ani muscle. A biological feedback signal of crissum muscle of a user is received by the integrated system through a bi-directional electrode plate and is transmitted to a mobile client after being analyzed by an information processing module. The user evaluates the contraction function of the levator ani muscle and selects whether release a corresponding low-frequency pulse current order or not through the mobile client according to the display of the mobile client. A rehabilitation training component can release the current after receiving the order, and the current acts on the crissum muscle through the bi-directional electrode plate, so that the integrated system is used for rehabilitation training of pelvic floor muscle for uroclepsia patients after prostate operations and pelvic cavity operations and functional rehabilitation training of the pelvic floor muscle for women after delivery, especially for the rehabilitation training of the pelvic floor muscle for women stress urinary inconvenience patients. The ingenuity of the integrated system for visualizing functional evaluation and rehabilitation training for the levator ani muscle is that the functional evaluation and rehabilitation training for the levator ani muscle are integrated through the mobile client, exercise of the levator ani muscle and a current stimulation are combined effectively, the universality is strong, and the use is convenient.

The invention discloses an upper limb and hand functional rehabilitation apparatus which comprises an arm sleeve, an air cushion, a strap, first connecting pipes, balloons, a protective pad, a fixingsleeve, a tightening slide bar, a sleeve, second connecting pipes, a shell, a temperature controller, a heater, a heat conduction plate, a motor, a rotary shaft, cams, a connecting seat, first inflators, first pistons, springs, second inflators, second pistons, a slide groove, an electric push rod and a slide bar. The upper limb and hand functional rehabilitation apparatus has the advantages thatthe upper limb and hand functional rehabilitation apparatus is ingenious in structure and has powerful functions; the arms and the backs of patients can be compressed in a point contact manner under effects of inflatable blood activating massage mechanisms, accordingly, the subcutaneous nerve tissues can be stimulated, and the blood circulation can be promoted; exercise rehabilitation on functional positions of the upper limbs of the patients can be reinforced under matching effects of arm swing and back flexure mechanisms, accordingly, effective forced movement of the upper limbs of the hemiplegic patients can be guaranteed, and the purpose of effectively clinically popularizing and applying the upper limb and hand functional rehabilitation apparatus can be ultimately achieved.

The invention discloses a multifunctional rehabilitation nursing bed for the pediatric department. The multifunctional rehabilitation nursing bed comprises a bed frame. Supporting posts are arranged at four corners of the bed frame; clamp slots are formed in the upper surfaces of two supporting posts at the left side; first fastening knobs are arranged at the upper ends of the lateral sides of thesupporting posts, by corresponding to the clamp slots; supporting rods are inserted in the clamp slots movably; hooks are arranged at lateral upper ends of the supporting rods; first fences are respectively arranged at the left, right and back ends of the bed frame; a second fence is arranged at the front end of the bed frame; a bottom plate is arranged at the lower end of the supporting posts; two electric telescopic rods in symmetrical arrangement are disposed on the upper surface of the bottom plate; the bottom plate is connected with fixed ends of the electric telescopic rods; connectingplates are arranged at telescopic ends of the electric telescopic rods. The height of a bed plate of the multifunctional rehabilitation nursing bed is adjustable, patient's legs can be supported through supporting plates, which facilitates rehabilitation nursing of the patient; infusion bottles can be hung by adjusting position of the supporting plates, and thus, the multifunctional rehabilitationnursing bed is multifunctional and convenient to use.

The invention provides a device and a system for hand functional rehabilitation. The device for hand functional rehabilitation comprises at least one cylinder body, a rehabilitation interactive sensing device, a control device, an induction device and a first sending device, wherein a first magnet is arranged at least one end of the each cylinder body. The rehabilitation interactive sensing device comprises a plurality of interactive component touch receiving units, an induction device and a first sending device, wherein each interactive component touch receiving unit comprises a concave hole, a second magnet is arranged in the concave hole, after one end of each cylinder body is inserted into the concave hole, the first magnet and the second magnet are mutually attracted, and the induction device induces the current produced by attraction between the first magnet and the second magnet to judge whether the cylinder body is inserted into the concave hole and the interactive component touch receiving unit position corresponding to the concave hole where the cylinder body is inserted, and the first sending device sends the information obtained by the induction device to the control device. The control device provides the interactive component touch receiving unit position wherein the cylinder body needs to be inserted, and judges whether the cylinder body is inserted into the corresponding interactive component touch receiving unit according to the information obtained by the induction device.

The invention discloses a spiral bone plate for use on the outer side of the proximally middle section of a humerus. The head part of a plate body is provided with a plate-shaped part(1), and the tail part is a strip-shaped part(2); and a plurality of connecting holes(3) are distributed on the plate-shaped part(1), a plurality of fixed holes(4) are distributed on the strip-shaped part(2), the plate-shaped part(1) is wider than the strip-shaped part(2), and a spiral part(5) used for transition between the plate-shaped part(1) and the strip-shaped part(2) is arranged between the plate-shaped part(1) and the strip-shaped part(2). The bone plate has the advantages of narrowing a stripping range of a dead point of the deltoid muscle, reducing the influences of the long head tendon of the biceps brachii, avoiding affecting the slide of the tendon, reducing operative wound and operation time and facilitating the functional rehabilitation after the operation.

The invention relates to a multi-functional rehabilitation physical therapy device, in particular to a multi-functional exercise rehabilitation device, and belongs to the field of rehabilitation therapy devices. The device comprises a machine frame, a base, a head and neck rehabilitating device, an upper limb rehabilitating device and a lower limb rehabilitating device. The device is characterized in that the head and neck rehabilitating device is provided with a traction belt and a traction belt controller inside, and the traction belt controller can make the traction belt move; the upper limb rehabilitating device is provided with a power controlling device, a movable plate and a fixed plate inside, the power controlling device is connected with the movable plate, the movable plate is connected with the fixed plate, and the power controlling device can drive the movable plate to move; and the lower limb rehabilitating device comprises a pedal and a reciprocation controlling device, the pedal is connected with the reciprocation controlling device, and the reciprocation controlling device can drive the pedal to reciprocate. The device has the advantages of simple and reasonable structure, simple operation, and low manufacture cost, and is applicable to be popularized in industrial production and daily life; and one set of a machine can carry out the rehabilitation therapy on a plurality of positions of a human body and has obvious effect.

The invention discloses an elderly people limb functional rehabilitation training device. One end of a linear guiding rail of a synchronous linear mechanism is connected with a fixed connecting seat,the fixed connecting seat is provided with an installing hook, a hanging rod is clamped in the installing hook, the hanging rod is fixed to one end of a safety supporting frame, the other end of the safety supporting frame is connected with a seat, the hanging rod is clamped in the installing hook to allow the seat and the synchronous linear mechanism to be detachable, the other end of the linearguiding rail of the synchronous linear mechanism is fixedly connected with a power mechanism, the lower portion of the other end of the linear guiding rail is provided with a guiding wheel, an emergency stopping switch is fixed to the other end of the linear guiding rail, and the training mechanism is arranged on a loading platform of the synchronous linear mechanism. The device has the advantagesof smooth operation, low noise, high driving power, simple structure, low cost, convenient moving, safety and reliability, and secondary damage on a rehabilitation trainee is prevented.

The invention relates to a finger functional rehabilitation training apparatus, comprising a support, a four fingers rehabilitation mechanism and a thumb rehabilitation mechanism; the four fingers rehabilitation mechanism comprises a distal finger support unit, a proximal finger support unit and a first link unit, the first link unit is connected with a power mechanism, the power mechanism drives the distal and proximal finger support units to turn relatively; the thumb rehabilitation mechanism comprises a thumb support unit and a second link unit, the second link unit is connected with the power mechanism, and the power mechanism drives the thumb support unit to turn. The relative turn of the distal and proximal finger support units or the turn of the thumb support unit is linked, folding and unfolding actions of palm joints are simulated, and finger functional rehabilitation is achieved for a patient.

The invention discloses a wearable device suitable for hand function rehabilitation monitoring and evaluation of a patient with Parkinson's disease, and belongs to the technical field of medical rehabilitation auxiliary equipment aiming at solving the problems of incapability of monitoring the patient with Parkinson's disease, inaccurate measurement result in the rehabilitation process and the like in the prior art. The wearable device comprises a glove body, a signal acquisition unit arranged on the glove body, a signal processing unit arranged on the glove body and an upper computer, and thesignal acquisition unit comprises a tremor signal acquisition unit used for acquiring hand tremor signals, a bending signal acquisition unit used for acquiring the hand bending degree and a pressuresignal acquisition unit used for acquiring the hand pressure.; the signal processing unit processes the signals acquired by the signal acquisition unit and transmitting the signals to the upper computer; and the upper computer judges the tremor degree of the patient through the tremor signals, grades the hand bending degree through a bending degree digital signal, and grades the hand muscle forcedamage degree through a pressure digital signal.

The invention provides a functional rehabilitation robot based on flexible cable-driven hand movement. The functional rehabilitation robot is composed of a driving unit and an execution unit connected with the driving unit; the execution unit comprises a metacarpophalangeal joint unit module for driving the finger root joints to move, a proximal interphalangeal joint unit module for driving the finger middle joints to move and a distal interphalangeal joint unit module for driving the finger end joints to move, and the driving unit comprises three sets of driving modules which work independently, have the completely same structure and correspondingly drive the metacarpophalangeal joint unit module, the proximal interphalangeal joint unit module and the distal interphalangeal joint unit module. According to the functional rehabilitation robot, not only can the three freedom degrees of the fingers except for the thumb and the movement angles of all the joints be met, but also a serial elastic driver is introduced, and therefore precise control over the joint moment is guaranteed; in addition, most parts are made through 3D printing, the weight of the acting fingers is greatly decreased on the premise that the strength is guaranteed; furthermore, the robot adapts to the individual difference of the finger length within a certain range.

The invention relates to a flexible hand functional rehabilitation training device. The device comprises a double-shaft output speed reducer, a pair of first-stage synchronous belt drive mechanisms symmetrically arranged on the two sides of the speed reducer and in drive connection with the speed reducer, second-stage planet synchronous belt drive mechanisms in drive connection with the first-stage synchronous belt drive mechanisms, an adaptive adjusting bracket in drive connection with the second-stage planet synchronous belt drive mechanisms through gear sets, and finger flexible drive modules arranged on the adaptive adjusting bracket. Compared with the prior art, the overall structure is compact, the problems that hand rehabilitation of a stroke patient is difficult, and hand training can be carried out only by depending on professional doctors can be effectively solved, the current situation that existing hand rehabilitation equipment is poor in adaptability is broken through, left and right interchange can be achieved, rapid adjustment of the lengths of modules and the intervals between the modules is driven, and independent motion of thumb metacarpophalangeal joints, four-finger metacarpophalangeal joints and proximal interphalangeal joints under a lightweight structure can be achieved.

The invention discloses a rehabilitation glove for the external skeleton and belongs to the field of rehabilitation robots. According to the rehabilitation glove for the external skeleton, an electromyographic signal collection device is arranged for collecting an action intention of the forearm of a patient in real time, and action information is transmitted to an ARM control system; the data glove is used for feeding back the finger position and fingertip force information to the ARM control system, so that the system forms a touch sensing capacity, and a driving device is controlled to precisely control a glove body. Through man-machine interaction and resistance control, the control system is driven to form a control inner ring and a control outer ring, the inner ring collects hand position information through the data collection glove, the hand position information is compared with the target position of the system for adjusting the position output of the system, the data glove isused by the outer ring to obtain the fingertip force information, and a force signal is converted into a position signal through active flexible control, so that the control over the rehabilitation glove for the external skeleton is more precise. Accordingly, the motion expected by the patient is accurately made, and the glove helps the patient to restore the hand function.