CN102895091A - Wearable portable power exoskeleton hand function rehabilitation training device - Google Patents
Wearable portable power exoskeleton hand function rehabilitation training device Download PDFInfo
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Abstract
The invention relates to a wearable portable power exoskeleton hand function rehabilitation training device, which comprises a palm plate, a shell, five fingers, a bionic tendon connecting rod assembly, a driving push rod and a linear push rod motor assembly. The linear push rod motor assembly is fixed on the palm plate, and is respectively connected with the five fingers through the driving push rod and the bionic tendon connecting rod assembly fixed on a finger root fixing seat to form a finger driving mechanism. The device is powered by two linear push rod motors which respectively drive the four fingers and the thumb, a driving mode is greatly simplified, and the number of the used motors is reduced; and the device is simple in structure and easy to use. A hand exoskeleton part well clings to a palm of a patient, a good bionic effect is achieved, and the rehabilitation training of the patient with impaired hand functions can be well carried out by the device. Owing to the design of a position-adjustable finger bandage system, the wearing mode of the device can be flexibly adjusted according to the sizes of the hands of the patient, and the device is not required to be tailor-made specially, and has high practicality.
Description
Technical field
The present invention relates to a kind of ectoskeleton hand device for healing and training, especially a kind of rehabilitation training convalescence device of the patients with cerebral apoplexy for the hand function obstacle.
Background technology
Hands is one of most important structure of human body, and hands can not only be finished many thick work, and can also be engaged in the various meticulous activity of maintaining close ties with daily life.Yet many contingencies and disease may cause sensation and the loss of motor function of staff such as wound, apoplexy etc.So how to allow the hands function of forfeiture obtain rehabilitation, be the urgent problem of hands function impaired subjects, also be the most insoluble problem.
In the impaired patient colony of hand function, because causing the patient of hand function forfeiture, apoplexy sequela accounts for the overwhelming majority.The existing patients with cerebral apoplexy of China is 9,000,000 people approximately, and annual new cases are more than 1,500,000 people, and about 75% patients with cerebral apoplexy can stay sequela in various degree after morbidity, in numerous sequela, the highest with the hemiplegia incidence rate, in the rehabilitation of hemiplegia, the rehabilitation with the hands function is the most difficult again.Patient's hands the later stage often because of muscle spasm, form half fit of a flexing.Theory of medicine and facts have proved, the patient of limb injury is in order to prevent muscle " the useless property use " atrophy, must carry out effective limbs and train and could recover its function.
Along with the development of robotics and rehabilitation medicine, in order to improve traditional rehabilitation means and to improve the rehabilitation effect, the staff healing robot arises at the historic moment.It possesses the not available advantage of some Traditional Rehabilitation means, robot not only can apply to patient's hands accurate force and motion control, the patient information that all right real time record is full and accurate and treatment data, and with information visualization, for the clinical rehabilitation doctor provide objective, accurately, intuitively the treatment and evaluating.Replaced therapist's part muscle power work by robot, can not only alleviate therapist's working strength, and the training parameter good reproducibility, guaranteed efficient and the intensity of training, realize long-term, stable rehabilitation training, can effectively accelerate the rehabilitation process.In addition, Combining with technology of virtual reality, the rehabilitation training task can be finished in simulated environment, the rehabilitation training form is horn of plenty, interesting more, the patient can obtain the multichannel information feedback such as sense of touch, vision and audition simultaneously in training process, improve the interest of rehabilitation training, thereby the excitation patient carries out rehabilitation training initiatively, energetically.
The exoskeleton robot technology is to have merged sensing, control, information, and a kind of complex art of wearable mechanical mechanism is provided for the operator.As the application of exoskeleton robot in the medical rehabilitation field, the main task of wound finger gymnastic exoskeleton hand is the rehabilitation training that the nondominant hand traumatic patient carries out postoperative, according to modern evidence-based medicine EBM (Evidence Based Medicine, EBM) and continuous passive motion (Continuous Passive Motion, CPM) theory can make the patient get well within the short as far as possible time.
Summary of the invention
The present invention proposes the portable powered exoskeleton hand function rehabilitation training of a kind of Wearable device on the basis of analyst's hands biological characteristics, be used for the rehabilitation training of the patients with cerebral apoplexy of hand function obstacle.
The present invention is achieved through the following technical solutions: a kind of Wearable power ectoskeleton hand recovery training appliance for recovery, comprise palm plate, shell, five fingers, bionical tendon connecting rod assembly, driving push rod, line handspike motor assembly, be characterized in: the line handspike motor assembly is fixed on the palm plate, and is connected to form finger actuation mechanism with five fingers respectively by driving push rod and being fixed on the bionical tendon connecting rod assembly that refers on the root holder.
Bionical tendon connecting rod assembly 9 comprises and finger the and brevis tendon connecting rod that is connected and the longue tendon connecting rod that is connected with the finger actuation axle, wherein, longue tendon connecting rod one end is connected with driving push rod 10 by driving shaft, the other end is connected with and brevis tendon connecting rod, is connected with the limit sliding chutes that refers to root holder 8 upper ends by alignment pin in the middle of the longue tendon connecting rod.
Finger actuation mechanism comprises thumb driving mechanism and four finger driving mechanisms, each finger actuation mechanism also comprises the connecting rod connecting plate, point the first drive rod, point the second drive rod, point joint in dactylus far away, the finger, finger middle finger joint link lever one, finger middle finger joint link lever two, point large joint link lever, connecting rod connecting plate upper end is connected with and brevis tendon connecting rod, the lower end is connected with finger the first drive rod, point the first drive rod front end and be connected with finger middle finger joint link lever one, the rear end is connected by the alignment pin limit sliding chutes middle with referring to the root holder.
The line handspike motor assembly comprises motor housing, firm banking, line handspike motor, motor-driven push rod, and motor housing is fixing with installed surface firm banking support at angle by one, and line handspike motor is located by motor housing.
In the finger joint be connected the second drive rod below connect middle finger joint bandage plate and metacarpophalangeal joints bandage plate by four locating holes on it respectively, form the adjustable system that wears in position, adapt to various patients' the demand of wearing.
Compared with prior art, the present invention has obtained following beneficial effect:
1. obtain power by two line handspike motors, drive respectively four fingers and thumb, greatly simplified the quantity of type of drive and used motor, structure is more simple, be easy to realize.
2. hand ectoskeleton part is fitted preferably with palm, plays good bionical effect, can better assist the impaired patient of hand function to carry out rehabilitation training.
3. rehabilitation course requires to guarantee that rehabilitation power vertically acts on phalanges all the time to avoid damaging periarticular soft tissue.Ectoskeleton joints of hand single-degree-of-freedom and two degrees of freedom configuration are analyzed, carried out more reasonably Design of Mechanical Structure, adopt the connecting rod sliding track mechanism to simulate preferably the movement locus of staff, wear more naturally, the training effect is better.
4. adopt the design of position adjustable finger strap system, can need not specific customization according to patient's hand size adjusting wearing mode freely, have widely practicality.
The present invention is based on quadrilateral connecting rod and the connecting rod slide way mechanism has designed the exoskeleton hand mechanism body, this exoskeleton hand can adapt to the pushing degree of different people, helps the impaired finger of motor function to carry out bending and interior receipts/abduction rehabilitation exercise.Have good bio-imitability, motility and portability.After hands function impaired subjects was worn, the trouble limb was supported by ectoskeleton training aids and fixes, and received the weak current of patient's arm muscular movement by being attached to the external electrode of suffering from the limb arm Antagonistic muscle, and electric current is amplified rear drive driven by motor ectoskeleton training aids campaign.Carry out grasping movement thereby drive the hand that can't move, carry out rehabilitation training and daily life auxiliary, in addition to the control of training aids can also by voice signal the healthy side hand signal control.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is forefinger modular construction schematic diagram;
Fig. 3 is four finger driving mechanism schematic diagrams;
Fig. 4 is four finger driving mechanisms finger flat condition schematic diagram;
Fig. 5 is that four finger driving mechanisms finger receipts are held view;
Fig. 6 is thumb driving mechanism schematic diagram;
Fig. 7 is line handspike motor modular construction schematic diagram;
Fig. 8 is position adjustable finger strap system schematic diagram.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing and embodiment.
Extremely shown in Figure 8 such as Fig. 1, Wearable power ectoskeleton hand recovery training appliance for recovery of the present invention comprises that the finger of palm plate 1, shell 2, thumb 3, forefinger 4, middle finger 5, the third finger 6, little finger 7 and each finger is with fixed pedestal 8, bionical tendon connecting rod assembly 9, driving push rod 10, line handspike motor assembly 11 etc.
Line handspike motor assembly 11 is fixed on the palm plate 1, and is connected to form finger actuation mechanism with five fingers respectively by driving push rod 10 and being fixed on the bionical tendon connecting rod assembly 9 that refers on the root holder 8.Finger actuation mechanism comprises thumb driving mechanism and four finger driving mechanisms.Four finger driving mechanisms also comprise forefinger 4 assemblies, middle finger 5 assemblies, nameless 6 assemblies and little finger 7 assemblies.The thumb driving mechanism also comprises thumb 3 assemblies, and forefinger 4 assemblies, middle finger 5 assemblies, nameless 6 assemblies and little finger 7 assemblies and thumb 3 assemblies are all identical.
The power of Wearable power ectoskeleton hand recovery training appliance for recovery comes from two straight-line electric units that split, and one is used for driving thumb mechanism, and another is used for driving other four fingers.
Bionical tendon connecting rod assembly 9 comprises and finger the and brevis tendon connecting rod that is connected and the longue tendon connecting rod that is connected with the finger actuation axle, wherein, longue tendon connecting rod one end is connected with driving push rod 10 by driving shaft, the other end is connected with and brevis tendon connecting rod, is connected with the limit sliding chutes that refers to root holder 8 upper ends by alignment pin in the middle of the longue tendon connecting rod.
As shown in Figure 3, the line handspike motor group 11 that four finger driving mechanisms are installed on the palm plate 1 passes through to drive push rod 10 promotion extremity driving shafts 27, promotes to be fixed on four fingers (forefinger 4, middle finger 5, the third finger 6, little finger 7) that refer to root holder 8 and do grasping movement (Fig. 5) under the effect of positioning runner.
As shown in Figure 6, thumb driving mechanism and four finger driving mechanisms are similar, drive push rod 10 drive thumb driving shafts 28 by line handspike motor group 11 thumb 3 is moved under the position-limiting action that refers to root fixed pedestal 8.
As shown in Figure 7, line handspike motor assembly 11 supports fixing by one with the angled firm banking of installed surface 30.Line handspike motor 31 makes motor-driven push rod 32 and finger actuation axle angled by motor housing 29 location, can increase the arm of force, effectively reduces required driving force, reduces power of motor, saves cost.
As shown in Figure 2, the forefinger drive mechanism comprises connecting rod connecting plate 16, forefinger the first drive rod 15, forefinger the second drive rod 23, save 13 in forefinger dactylus 12 far away, the forefinger, forefinger middle finger joint link lever 1, forefinger middle finger joint link lever 2 22, the large joint link lever 20 of forefinger, connecting rod connecting plate 16 upper ends are connected with forefinger and brevis tendon connecting rod 17, the lower end is connected with forefinger the first drive rod 15, forefinger and brevis tendon connecting rod 17 upper ends are connected with forefinger longue tendon connecting rod 18, and forefinger longue tendon connecting rod 18 refers to that by alignment pin root holder 8 top limit sliding chutes connect; Forefinger the first drive rod 15 front ends are connected with forefinger middle finger joint link lever 1, the rear end is connected with referring to root holder 8 realizing middle limiting chutes 26 by alignment pin, forefinger middle finger joint link lever 1 respectively with forefinger in joint 13 are connected with forefinger middle finger joint link lever and 22 are connected, forefinger middle finger joint link lever 2 22 rear ends connect forefinger the second drive rod 23, forefinger the second drive rod 23 is connected with the limit sliding chutes 25 that refers to root holder 8 lower ends by alignment pin, joint 13 front ends connect forefinger dactylus 12 far away, forefinger dactylus 12 far away in the forefinger, joint 13 and finger middle finger joint link lever 1 in the forefinger, forefinger middle finger joint link lever 2 22, the large joint link lever 20 of forefinger forms quadrilateral connecting rod mechanism.
(mode such as EMG) Yu Yinxinhao patient healthy side hand section actuating signal is controlled the miniature line handspike motor in the training aids of ectoskeleton hand by the user Ipsilateral hand muscle signal of telecommunication in the present invention, thereby drive thumb and four finger frame for movements, the trouble limb that drive can't be moved is realized grasping movement, carry out rehabilitation training and daily life auxiliary, repetitious stimulation by grasping movement, can help gradually the part or all of hand motion function of cerebral apoplexy patient, also can play certain assosting effect to patient's daily life.The profile of palm plate is with reference to national standard Chinese adult (GB) hand-type size and small sample sampling statistics and design, the hand profile that meets the growth adult guarantees in wearing training the support of patient's hand and prevents its hand injury and deformity.In addition, design the adjustable degree of tightness bandage fixture in position at each finger of ectoskeleton training aids, can by the position of patient oneself adjustment bandage, obtain the best effect of wearing.
Be provided with pressure transducer at each mechanical finger and staff contact surface, can in the process of hands functional training, carry out data acquisition to training in the individual finger hands, be convenient to rehabilitation training teacher training is analyzed, to specify more reasonably rehabilitation training scheme.
During use, the patient is placed on palm plate 1 inboard with hands.Each finger of patient (each finger situation is identical, here take forefinger as example) installs the degree of tightness bandage additional by the adjustable middle finger joint in position on the mechanical finger (PIP) bandage plate 21() and metacarpophalangeal joints (MCP) bandage plate 24 and frame for movement applying.Drive by connecting rod connecting plate 16 by power source and to be fixed on forefinger and brevis tendon connecting rod 17 on the mechanical finger, forefinger longue tendon connecting rod (molectron) 18 moves under finger root holder 8 top limit sliding chutes position-limiting actions, referred to that forefinger the first drive rod 15 that root retainingf key 25 is fixing and forefinger the second drive rod 23 are along the limit sliding chutes orbiting motion that refers on the root holder 26 thereby make, and then drive by forefinger dactylus far away (DIP) 12, save 13 in the finger, articulations digitorum manus in the forefinger (PIP) connecting rod 1, articulations digitorum manus in the forefinger (PIP) connecting rod 2 22, the quadrilateral connecting rod mechanism kinematic that the large joint link lever 20 of forefinger forms allows whole mechanical finger according to staff bionic movement orbiting motion.
As shown in Figure 8, the position-adjustable strap system of Wearable power ectoskeleton hand recovery training appliance for recovery, by four locating holes on the middle finger joint, can before and after regulate the position of middle finger joint (PIP) bandage plate, thereby realize that user wears the free adjustment of position.Allow wearing that finger length different patient can be more comfortable, auxiliary to finish better rehabilitation training and it is carried out daily life.
Claims (4)
1. Wearable power ectoskeleton hand recovery training appliance for recovery, comprise palm plate (1), shell (2), five fingers, bionical tendon connecting rod assembly (9), driving push rod (10), line handspike motor assembly (11), it is characterized in that: described line handspike motor assembly (11) is fixed on the palm plate (1), and is connected to form finger actuation mechanism with five fingers respectively by driving push rod (10) and being fixed on the bionical tendon connecting rod assembly (9) that refers on the root holder (8).
2. Wearable power ectoskeleton hand recovery training appliance for recovery according to claim 1, it is characterized in that: described bionical tendon connecting rod assembly (9) comprises and finger the and brevis tendon connecting rod that is connected and the longue tendon connecting rod that is connected with the finger actuation axle, wherein, longue tendon connecting rod one end is connected with driving push rod (10) by driving shaft, the other end is connected with and brevis tendon connecting rod, is connected with the limit sliding chutes that refers to root holder (8) upper end by alignment pin in the middle of the longue tendon connecting rod.
3. Wearable power ectoskeleton hand recovery training appliance for recovery according to claim 1, it is characterized in that: described finger actuation mechanism comprises thumb driving mechanism and four finger driving mechanisms, each finger actuation mechanism also comprises the connecting rod connecting plate, point the first drive rod, point the second drive rod, point dactylus far away, save in the finger, finger middle finger joint link lever one, finger middle finger joint link lever two, point large joint link lever, connecting rod connecting plate upper end is connected with and brevis tendon connecting rod, the lower end is connected with finger the first drive rod, pointing the first drive rod front end is connected with finger middle finger joint link lever one, the rear end is connected by the alignment pin limit sliding chutes middle with referring to root holder (8), finger middle finger joint link lever one respectively with the finger middle part be connected middle finger joint link lever two and be connected, finger middle finger joint link lever two rear ends connect finger the second drive rod, point the second drive rod and are connected with the limit sliding chutes that refers to root holder (8) lower end by alignment pin
Wearable power ectoskeleton hand recovery training appliance for recovery according to claim 1, it is characterized in that: described line handspike motor assembly (11) comprises motor housing (29), firm banking (30), line handspike motor (31), motor-driven push rod (32), motor housing (29) is fixing with installed surface firm banking (30) support at angle by one, and line handspike motor (31) is by motor housing (29) location.
4. Wearable power ectoskeleton hand recovery training appliance for recovery according to claim 3, it is characterized in that: in the described finger joint be connected the second drive rod below connect middle finger joint bandage plate and metacarpophalangeal joints bandage plate by four locating holes on it respectively, form the adjustable system that wears in position, adapt to various patients' the demand of wearing.
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