CN106943279A - Hand ectoskeleton both hands are servo-actuated convalescence device - Google Patents
Hand ectoskeleton both hands are servo-actuated convalescence device Download PDFInfo
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- CN106943279A CN106943279A CN201710286286.8A CN201710286286A CN106943279A CN 106943279 A CN106943279 A CN 106943279A CN 201710286286 A CN201710286286 A CN 201710286286A CN 106943279 A CN106943279 A CN 106943279A
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
Convalescence device is servo-actuated the present invention relates to healing robot technical field, more particularly to a kind of hand ectoskeleton both hands.The device suffers from hand rehabilitation device including hand ectoskeleton, hand ectoskeleton health hand dominates convalescence device, hand ectoskeleton health hand dominates convalescence device and is placed to health on hand, hand ectoskeleton health hand dominates convalescence device and connects controller by data signal line, controller connects hand ectoskeleton by control signal wire and suffers from hand rehabilitation device, hand ectoskeleton, which suffers from hand rehabilitation device, includes finger section, the back of the hand portion, gloves and controller, finger section includes four finger mechanisms and a thumb mechanism, four finger mechanisms are respectively forefinger mechanism, middle finger mechanism, nameless mechanism and little finger of toe mechanism, the mechanism composition of four finger mechanisms is identical, the first angle sensor and the first power source of each finger mechanism and the back of the hand portion are connected with the controller.Whole device can preferably realize autonomous targetedly rehabilitation training, improve the effect of rehabilitation training.
Description
Technical field
It is servo-actuated the present invention relates to the hand ectoskeleton both hands of healing robot technical field, more particularly to a kind of hand and wrist
Convalescence device.
Background technology
Hand is one of most important part of human body, and hand can not only complete many big and heavy work, and can also be engaged in and day
The often various fine activities of life close ties, the normal kinematics of hand are extremely important for people.Hand exercise obstacle meeting
Strong influence daily life.Unfortunately, can all there is quite a few people every year and be led because disease is either unexpected
The joint of cause hand, bone, nerve sustain damage, and general impaired treatment is required for opponent's fingering row to brake for a long time, but
It is that prolonged braking due to joint tendon extravasated blood formation fibre modification, can cause adhesion and the muscle of finger-joint and tendon
Atrophy.In addition, joint disease, the hemiplegia that the angiocardiopathy such as apoplexy is caused also results in finger-joint tendon fibrosis and flesh
The spasm atrophy of meat, ligament, so as to cause hand movement function obstacle.
Clinical research and practice have shown that, passive rehabilitation training contribute to recover obstacle of limb movement patient's suffering limb fortune
Dynamic function, and after the repetition training of lasting high intensity, patient hand's muscle power obtains certain raising, contributes to hand
The recovery of function.And the compelling element for hemiplegia paralytic, Mental imagery treatment from 1980s appearance
Although these more traditional rehabilitation therapy methods such as method, task orientation training have certain superiority, but all next therewith
High manpower consumption and the complexity of operation be still difficult to evade.In addition, patient can be accustomed to relying in long-term rehabilitation course
Healthy singlehanded life, can be avoided using hand is suffered from daily life, the functional recovery for being less useful for suffering from hand thus, research and development
One kind can implement rehabilitation training according to specific aim program to suffering from hand, can aid in suffering from wearing for the hand daily basic function of completion again
Formula mechanical device is worn, the focus as many focus of attention.
Human hand is an anatomical structure extremely fine organ, and the free degree of finger is more, so the design to ectoskeleton
Propose very high requirement.By to the literature search of prior art discovery, the domestic research to hand ectoskeleton is also in rising
Step section, deploy research in this field mainly has Tsing-Hua University, Shanghai Communications University, Fudan University, Harbin Institute of Technology,
Zhejiang University etc..Wherein it is no lack of some outstanding research works, but generally still faces this some such problem：
(1) hand exoskeleton rehabilitation device is not light and handy enough, lacks portability, it is impossible to which auxiliary suffers from hand and carries out the daily of various occasions
The life activities of property.
(2) corresponding effective rehabilitation institution few to thumb, but thumb is dynamic for many hand routines
The progress made as grasped is indispensable.
(3) patient is difficult to autonomous targetedly rehabilitation training.
The content of the invention
The purpose of the present invention is the above mentioned problem that the hand exoskeleton rehabilitation device existed for prior art faces, it is proposed that
A kind of hand ectoskeleton both hands are servo-actuated convalescence device, including hand ectoskeleton both hands are servo-actuated rehabilitation hand ectoskeleton both hands and are servo-actuated rehabilitation dress
Put.Wherein, the servo-actuated convalescence device of hand ectoskeleton both hands suffers from the leading rehabilitation of hand rehabilitation device, normal hand ectoskeleton including hand ectoskeleton
Device.
The technical scheme is that：
A kind of hand ectoskeleton both hands are servo-actuated convalescence device, including hand ectoskeleton suffers from the healthy hand of hand rehabilitation device, hand ectoskeleton
Leading convalescence device, hand ectoskeleton health hand dominates convalescence device and is placed to health on hand, and hand ectoskeleton health hand dominates rehabilitation
Device connects controller by data signal line, and controller connects hand ectoskeleton by control signal wire and suffers from hand rehabilitation device；
Wherein, hand ectoskeleton, which suffers from hand rehabilitation device, includes finger section, the back of the hand portion and controller；The finger section includes four
Finger mechanism and a thumb mechanism, four finger mechanisms are respectively forefinger mechanism, middle finger mechanism, nameless mechanism and little finger of toe machine
Structure, the mechanism composition of four finger mechanisms is identical, and each finger mechanism includes three fingerstall, the first cable, the second cable, the
One power source, first angle sensor and first gear, the bottom of each fingerstall are mounted on a finger joint connector；
Three fingerstall are respectively the first fingerstall, the second fingerstall and tri-finger stall, and the first fingerstall is rotated with the second fingerstall and is connected,
Second fingerstall is rotated with tri-finger stall and is connected, and tri-finger stall is rotated with the back of the hand portion and is connected, and the first fingerstall is provided with the first line wheel, the
One line wheel is located at the junction of the first fingerstall and the second fingerstall, and tri-finger stall is provided with the second line wheel, and the second line wheel is located at the 3rd
The junction of fingerstall and the second fingerstall, one end of the first cable is fixed in the first line wheel, and the other end is fixed in the second line wheel,
One end of second cable is fixed in the first line wheel, and the other end is fixed in the second line wheel, and the first cable intersects with the second cable,
First power source is arranged on tri-finger stall, and the output shaft of the first power source sequentially passes through first angle sensor and the first tooth
Wheel, the side of the second fingerstall is provided with mate gear, and mate gear is engaged with first gear, and the first angle of each finger mechanism is passed
Sensor and the first power source and the back of the hand portion are connected with the controller.
Described hand ectoskeleton both hands are servo-actuated convalescence device, and the back of the hand portion includes being mounted side by side three in fixed plate, fixed plate
Individual fingerstall controlling organization is plus a thumb stall controlling organization, wherein three fingerstall controlling organizations are respectively the control of the first fingerstall
Mechanism, the second fingerstall controlling organization and tri-finger stall controlling organization, the first fingerstall controlling organization are connected with the forefinger mechanism, the
Two fingerstall controlling organizations are connected with the middle finger mechanism, tri-finger stall controlling organization respectively with the nameless mechanism and described small
Refer to mechanism connection, thumb stall controlling organization is connected with the thumb mechanism；
First fingerstall controlling organization, the second fingerstall controlling organization and tri-finger stall controlling organization include slide rail bearing, electricity
Machine bearing, small-size rack, the second power source, second angle sensor and second gear, wherein slide rail bearing are arranged on fixed plate
On, slide rail bearing is provided with miniature guide rail, and motor support base is arranged in miniature guide rail and can slided in miniature guide rail, and second moves
Power source is arranged on motor support base, and the output shaft of the second power source sequentially passes through second angle sensor and second gear, small-sized
Tooth bar is arranged on slide rail bearing, and second gear is engaged with the small-size rack；
First fingerstall controlling organization and the second fingerstall controlling organization also respectively include a connecting rod, the first fingerstall controlling organization
One end of connecting rod is arranged on the first motor support base, and the other end is connected with the tri-finger stall of forefinger mechanism, the second fingerstall control machine
One end of the connecting rod of structure is arranged on the second motor support base, and the other end is connected with the tri-finger stall of middle finger mechanism；
Tri-finger stall controlling organization also includes two connecting rods, and one end of two connecting rods of tri-finger stall controlling organization is arranged on
3rd motor support base, tri-finger stall of the other end successively with nameless mechanism and little finger of toe mechanism is connected.
Described hand ectoskeleton both hands are servo-actuated convalescence device, and the thumb mechanism that hand ectoskeleton suffers from hand rehabilitation device includes thumb
First fingerstall, the fingerstall of thumb second, thumb tri-finger stall mechanism, the cable of thumb first, the cable of thumb second, thumb first angle
Sensor, thumb first gear, the power source of thumb first, thumb tri-finger stall mechanism include third knuckle applicator ring and the 3rd and referred to
Save gear；
Wherein, the fingerstall of thumb first is rotated with the fingerstall of thumb second and is connected, in the fingerstall of thumb second and thumb tri-finger stall
The connection of third knuckle pinion rotation, third knuckle gear and third knuckle applicator ring be connected, third knuckle applicator ring and the back of the hand
The small rod of thumb stall controlling organization in portion rotates connection；The fingerstall of thumb first is provided with the line wheel of thumb first, thumb the
One line wheel is located at the junction of the fingerstall of thumb first and the fingerstall of thumb second, and thumb tri-finger stall is provided with the line wheel of thumb second,
The line wheel of thumb second is located at the junction of thumb tri-finger stall and the fingerstall of thumb second, is coaxially connected with third knuckle gear, depending on
For a part；One end of the cable of thumb first is fixed in the line wheel of thumb first, and the other end is fixed in the line wheel of thumb second,
One end of the cable of thumb second is fixed in the line wheel of thumb first, and the other end is fixed in the line wheel of thumb second, thumb First Line
Cable intersects with the cable of thumb second, and the power source of thumb first is arranged on the fingerstall of thumb second, the output of the power source of thumb first
Axle sequentially passes through thumb first angle sensor and thumb first gear, and third knuckle gear is engaged with thumb first gear, thumb
Refer to first angle sensor and the power source of thumb first and the back of the hand portion is connected with the controller.
Described hand ectoskeleton both hands are servo-actuated convalescence device, and the thumb stall controlling organization in the back of the hand portion includes an internal gear
Side link, small rod, thumb motor support base, the power source of thumb second, thumb second gear, a thumb second angle is bent to pass
Sensor；Wherein, thumb motor support base is fixedly connected with hand back plate, and the power source of thumb second is arranged on thumb motor support base, thumb
The output shaft for referring to the second power source sequentially passes through thumb second angle sensor and thumb second gear, thumb second gear and interior
Tooth bending side link is engaged, and small rod and internal gear bending side link rotate connection.
Described hand ectoskeleton both hands are servo-actuated convalescence device, tooth bar mounting groove are set on slide rail bearing, by cohesive
Small-size rack is bonded in the tooth bar mounting groove of slide rail bearing by mode.
Described hand ectoskeleton both hands are servo-actuated convalescence device, and hand ectoskeleton, which suffers from hand rehabilitation device, includes finger section, the back of the hand portion,
The finger section that the healthy hand of the hand ectoskeleton dominates convalescence device includes four finger mechanisms, is thumb mechanism, forefinger machine respectively
Structure, middle finger mechanism, nameless mechanism；Wherein forefinger mechanism, middle finger mechanism, nameless mechanism include second knuckle fingerstall machine
Structure, third knuckle fingerstall mechanism, MCP joint link levers mechanism；Second knuckle fingerstall mechanism includes second provided with mate gear
Finger joint fingerstall, and the fingerstall connector being connected to below fingerstall；Third knuckle fingerstall mechanism includes third knuckle fingerstall, little gear
Axle, third knuckle angular transducer, fingerstall connector, pinion shaft are arranged on the top of third knuckle fingerstall, with second knuckle
The mate gear engagement of fingerstall side, third knuckle angular transducer is arranged on gear shaft, and fingerstall connector is connected to the 3rd
The lower section of finger joint fingerstall；MCP joint link levers mechanism includes MCP connecting rods, side link and MCP angular transducers, MCP angular transducers
Installed in the rotation junction of MCP connecting rods and side link.
Described hand ectoskeleton both hands are servo-actuated convalescence device, and hand ectoskeleton health hand dominates the thumb mechanism bag of convalescence device
Include third knuckle applicator ring, third knuckle gear sheet, thumb second knuckle fingerstall, leading small rod, bending side link, thumb master
Lead angular transducer, thumb and dominate second angle sensor, thumb dominate second angle sensor be arranged on bending side link with
The rotation junction of hand backboard；Thumb dominates angular transducer and is arranged on thumb second knuckle fingerstall and third knuckle applicator ring
Rotation vice division chief, third knuckle gear sheet is in third knuckle applicator ring and the perpendicular side in thumb the first two articulation center
Plane is connected, and the center of its third knuckle gear sheet is overlapped with the thumb PIP joints centre of gyration, and is nibbled with pinion shaft
Close, second angle sensor measures the anglec of rotation of gear shaft.
Described hand ectoskeleton both hands are servo-actuated convalescence device, and the forefinger machine of convalescence device is dominated in the healthy hand of hand ectoskeleton
In structure, middle finger mechanism, nameless mechanism, second knuckle fingerstall mechanism is rotated with third knuckle fingerstall mechanism and is connected；Refer to the 3rd
Save in fingerstall mechanism, gear shaft is rotated with fingerstall above third knuckle fingerstall and is connected, third knuckle fingerstall mechanism and MCP joints
Linkage rotates connection；MCP connecting rods and side link formation wherein in MCP joint link levers mechanism rotate connection；MCP joints connect
The side link of linkage is rotated with the back of the hand portion and is connected；In thumb mechanism, thumb second knuckle fingerstall and third knuckle applicator ring
Connection is rotated, third knuckle applicator ring is rotated with leading small rod and is connected, dominate small rod and bending side link rotates connection, it is curved
Bent side link is rotated with the back of the hand portion and is connected.
Described hand ectoskeleton both hands are servo-actuated convalescence device, and hand ectoskeleton health hand dominates the back of the hand portion bag in convalescence device
Hand backboard and palm connector are included, the two ends of palm connector are connected on hand backboard.
Advantages of the present invention and beneficial effect are：
1st, inventor is in apllied application for a patent for invention (application number before：201710060563.3) pin proposed in
The line coupling of opponent's exoskeleton rehabilitation device has good portability and reliability with crank block combination drive scheme, in order to
Auxiliary suffers from hand and carries out the routine life activities of different occasions there is provided possible.On the basis of this combination drive scheme, this
The complete exoskeleton rehabilitation system that invention is proposed has increased the design of thumb drives mechanism newly for the rehabilitation of thumb with auxiliary, makes
Obtaining convalescence device can realize that the number of degrees of freedom of finger motion is further improved, and can more fully help to suffer from hand progress rehabilitation training
And everyday actions auxiliary (and cloth has been done to four finger mechanisms in the convalescence device in Patent No. 201710060563.3 before
Office's optimization design).Simultaneously, the present invention by for rehabilitation institution's high integration of different finger joints in the back of the hand mechanism, simultaneously
Its control system can be mounted on the forearm of people, makes whole system easy donning and portable degree is high.Finally, whole device is in reality
Show after can aiding in patient's progress passive rehabilitation training and routine hand motion, added a kind of ectoskeleton both hands and be servo-actuated
Method of rehabilitation, and except it is upper it is described suffer from hand rehabilitation exoskeleton device in addition to normal hand ectoskeleton master, can be preferably real
Now autonomous targetedly rehabilitation training, improves the effect of rehabilitation training.
2nd, the hand ectoskeleton both hands in the present invention are servo-actuated convalescence device, by controlling the first power source and the second power simultaneously
Under source, and the cooperation of line coupled motions in the first line wheel and the second line wheel, the hand of patient is set to realize multiple degrees of freedom
Motion, it is effectively taken exercise.Device has carried out appropriate coupling in the driving of nameless and little finger of toe third knuckle,
Its free degree is driven using a power source, on the premise of meeting practicality, the structure of device is further simplify, maintains dress
The portability put；Device in the present invention reasonably can set the first line wheel and second according to being actually needed for rehabilitation training
The radius of line wheel, when the shape of first line wheel and second line wheel is circle, the radius of first line wheel with
The ratio between radius of second line wheel can be selected in as 1~2.2 (preferred value is 1.83), the device is reached different exercises effects
Really；Most of parts of device in the present invention can be processed by 3D printing technique, make its matching with patient
More preferably, to reach optimal rehabilitation efficacy.
Brief description of the drawings
Fig. 1 is the structural representation that hand ectoskeleton of the present invention suffers from hand rehabilitation device；
Fig. 2 is the structural representation that the healthy hand of hand ectoskeleton of the present invention dominates convalescence device.
Fig. 3-Fig. 4 is the structural representation of thumb mechanism of the present invention.Wherein, Fig. 3 is front view；Fig. 4 is stereogram.
Fig. 5-Fig. 7 is the structural representation of the first fingerstall of the invention, the second fingerstall and tri-finger stall.Wherein, Fig. 5 is main view
Figure；Fig. 6 is three-dimensional exploded view；Fig. 7 is top exploded view.
Fig. 8 is the forefinger mechanism and the attachment structure schematic diagram of the first fingerstall controlling organization that the present invention is provided.
Fig. 9 is the overall assembling schematic diagram of thumb mechanism that the present invention is provided.
Figure 10 is the schematic diagram in thumb DIP joints of the present invention, MCP joints and CMC joints.
Figure 11 is the BENDING PROCESS schematic diagram of the first fingerstall that the present invention is provided and the second fingerstall.
Figure 12 be the Dan Zhi mechanisms that provide of the present invention (such as：Forefinger mechanism or middle finger mechanism) be case of bending when structure show
It is intended to.
Wherein：1 forefinger mechanism；2 middle finger mechanisms；3 nameless mechanisms；4 little finger of toe mechanisms；5 first fingerstall；6 second fingerstall；7
Tri-finger stall；8 first cables；9 second cables；10 first power sources；11 first angle sensors；12 first gears；14 first
Line wheel；15 second line wheels；16 mate gears；17 fixed plates；18 first fingerstall controlling organizations；19 second fingerstall controlling organizations；20
Tri-finger stall controlling organization；21 slide rail bearings；22 motor support bases；23 small-size racks；24 second power sources；25 second angles are sensed
Device；26 second gears；27 connecting rods；28 miniature guide rails；40 thumb stall controlling organizations；41 internal gears bend side link；42 little Lian
Bar；43 thumb motor support bases；44 the second power sources of thumb；45 thumb second gears；46 thumb second angle sensors；47 thumbs
Mechanism；48 the first fingerstall of thumb；49 the second fingerstall of thumb；50 thumb tri-finger stall mechanisms；51 third knuckle applicator rings；52 the 3rd
Finger joint gear；53 the first cables of thumb；54 the second cables of thumb；55 thumb first angle sensors；56 thumb first gears；57
The power source of thumb first；58 the first line wheels of thumb；59 the second line wheels of thumb；60 thumb mechanisms；61 forefinger mechanisms；62 middle finger machines
Structure；63 nameless mechanisms；64 second knuckle fingerstall mechanisms；65 third knuckle fingerstall mechanisms；66th, MCP joint link levers mechanism；67 match somebody with somebody
Close gear；68 second knuckle fingerstall；70 third knuckle fingerstall；71 pinion shafts；72 third knuckle angular transducers；74th, MCP connects
Bar；75 side links；76th, MCP angular transducers；77 third knuckle applicator rings；78 thumb second knuckle fingerstall；79 leading little Lian
Bar；80 bending side links；81 thumbs dominate angular transducer；82 thumbs dominate second angle sensor；83 hand backboards；3rd
Finger joint gear sheet 84.
Embodiment
In specific implementation process, method of rehabilitation is servo-actuated the invention provides a kind of hand ectoskeleton both hands, including：
(1) healthy hand (not limiting right-hand man) is being carried out (for example by various daily sexual acts by displacement sensing apparatus：Grab
Hold) each articulations digitorum manus measures in real time.
(2) the angle displacement data of each finger joint during the healthy hands movement obtained measurement, being transferred to will enter to suffering from hand
Row rehabilitation training either aids in the hand exoskeleton device for suffering from hand.
(3) exoskeleton device of the angle displacement data of healthy finger segments is obtained, is gone using the angle displacement as target location
Hand is suffered from driving, is allowed and is suffered from hand and make and healthy hand identical action.
Wherein, healthy hand (not limiting right-hand man) is being carried out (for example by various daily sexual acts by displacement sensing apparatus：
Grasping) each articulations digitorum manus real-time angle displacement is when measuring, including：
Ⅰ：The device (i.e. the healthy hand of described hand ectoskeleton dominates convalescence device) for measuring angle-data is worn on health
On hand, and each of ectoskeleton is made to rotate the rotation subjoint rotary shaft of subjoint rotational axis line and corresponding finger-joint
Heart line is overlapped.
Ⅱ：MCP joints can be considered as to one in the measurement to carrying out MCP cradle head angle displacements and be connected to fixed machine
The rotation pair of frame, the four-bar mechanism principle of convalescence device is dominated using the healthy hand of hand ectoskeleton, is measured with angular transducer and removes MCP
Outer other of articulation pair rotate secondary angular displacement, by calculating so as to draw the angular displacement data in MCP joints indirectly.
Ⅲ：When carrying out the measurement of angle displacement to PIP joints, the above-mentioned survey in MCP joint angles displacements can be also used
The method of four-bar mechanism principle used in amount is measured, but before in patent application (application number：
201710060563.3) driving second knuckle is that motor is driven by direct geared in, so in measurement PIP joint angular displacements
Data are that angular transducer is placed in into gearing shaft, and secondary angle displacement is rotated by calculating PIP.
Ⅳ：When carrying out the measurement of angle displacement to DIP joints, above-mentioned two methods can be used.Because DIP joints
Angular transducer enough, directly can also be directly installed on DIP joints sideways, its centre of gyration is passed through DIP by surrounding space
The centre of gyration in joint, is directly measured to DIP angle displacement.But in the present invention, because during human hand proper motion
Coupled relation between DIP and PIP joints is more strong, and suffers from the DIP joint drives portion of hand rehabilitation device in hand ectoskeleton
Divide the line coupling scheme for employing drive lacking, directly can be immediately arrived at by the angular displacement in PIP joints by calculating coupled relation
The angular displacement data in DIP joints.In the present invention, using the motion coupled relation by calculating PIP joint D IP joints, PIP angles are used
Displacement data draws the angular displacement data in DIP joints, referring to patent application (application number before：201710060563.3).
Ⅴ：The record of angle displacement data can be realized with transmission by single-chip microcomputer.
In specific implementation process, in order to solve the volume that the hand exoskeleton rehabilitation device of prior art presence is present it is big,
Weight is big, portability is poor and the quantity of whole device mechanical linkage is more, the problem of complex structure, and the present invention is also provided
A kind of hand ectoskeleton both hands are servo-actuated convalescence devices, including hand ectoskeleton suffers from the healthy hand of hand rehabilitation device, hand ectoskeleton and dominates health
Apparatus for coating, hand ectoskeleton health hand dominates convalescence device and is placed to health on hand, and hand ectoskeleton health hand is dominated convalescence device and led to
Data signal line connection controller is crossed, controller connects hand ectoskeleton by control signal wire and suffered from outside hand rehabilitation device, whole hand
It is wearable that bone both hands are servo-actuated convalescence device.
As shown in Fig. 1, Fig. 3-Fig. 9, Figure 12, hand ectoskeleton of the present invention suffers from hand rehabilitation device and sets finger section, the back of the hand portion, hand
Set and controller, its structure mainly include：Forefinger mechanism 1, middle finger mechanism 2, nameless mechanism 3, little finger of toe mechanism 4, the first fingerstall
5th, the second fingerstall 6, tri-finger stall 7, the first cable 8, the second cable 9, the first power source 10, first angle sensor 11, first
Gear 12, the first line wheel 14, the second line wheel 15, mate gear 16, fixed plate 17, the first fingerstall controlling organization 18, the second fingerstall
Controlling organization 19, tri-finger stall controlling organization 20, slide rail bearing 21, motor support base 22, small-size rack 23, the second power source 24,
Second angle sensor 25, second gear 26, connecting rod 27, miniature guide rail 28, thumb stall controlling organization 40, internal gear bending connect
Hack lever 41, small rod 42, thumb motor support base 43, the second power source of thumb 44, thumb second gear 45, thumb second angle are passed
(thumb the 3rd refers to for sensor 46, thumb mechanism 47, the first fingerstall of thumb 48, the second fingerstall of thumb 49, thumb tri-finger stall mechanism 50
Covering mechanism 50 includes third knuckle applicator ring 51 and third knuckle gear 52), the first cable of thumb 53, the second cable of thumb 54,
Thumb first angle sensor 55, thumb first gear 56, the first power source of thumb 57, the first line wheel of thumb 58, thumb second
Line wheel 59 etc., concrete structure is as follows：
The finger section that the hand ectoskeleton suffers from hand rehabilitation device includes four finger mechanisms (including forefinger mechanism 1, middle finger machine
Structure 2, nameless mechanism 3, little finger of toe mechanism 4 etc.) and thumb mechanism 47 (including thumb stall controlling organization 40 etc.), this finger
Mechanism is different with the finger mechanism that the healthy hand of hand ectoskeleton recited above dominates convalescence device.Four finger mechanisms are food respectively
Refer to mechanism 1, middle finger mechanism 2, nameless mechanism 3, little finger of toe mechanism 4, wherein forefinger mechanism 1, middle finger mechanism 2, nameless mechanism 3
Part is identical, though and the part of little finger of toe mechanism 4 and forefinger mechanism 1, middle finger mechanism 2, nameless mechanism 3 phase
Together, but in order to which space arranges convenient, it is changed into mirror image placement.Each finger mechanism includes three fingerstall, the first cables
8th, the second cable 9 (line coupling is used), the first power source 10, first angle sensor 11 and first gear 12, the bottom of each fingerstall
Portion is mounted on a finger joint connector.
As shown in Fig. 3-Fig. 7, three fingerstall are respectively the first fingerstall 5, the second fingerstall 6 and tri-finger stall 7, the first fingerstall 5
Rotate and be connected with the second fingerstall 6, the second fingerstall 6 is rotated with tri-finger stall 7 and is connected, tri-finger stall 7 is rotated with the back of the hand portion and is connected, the
One fingerstall 5 is provided with the first line wheel 14, and the first line wheel is located on the junction of the first fingerstall 5 and the second fingerstall 6, tri-finger stall 7
Provided with the second line wheel 15, the second line wheel 15 is located at the junction of the fingerstall 6 of tri-finger stall 7 and second, and one end of the first cable 8 is fixed
In the first line wheel 14, the other end is fixed in the second line wheel 15, and one end of the second cable 9 is fixed in the first line wheel 14, separately
One end is fixed in the second line wheel 15, and the first cable 8 intersects with the second cable 9, and the first power source 10 is arranged on tri-finger stall 7
On, the output shaft of the first power source 10 sequentially passes through first angle sensor 11 and first gear 12, the one side of the second fingerstall 6
Provided with mate gear 16, mate gear 16 is engaged with first gear 12, the first angle sensor 11 of each finger mechanism and
One power source 10 and the back of the hand portion are connected with the controller.In addition, the another side of the second fingerstall 6 is provided with bilateral company
Fitting 6-1, the side of tri-finger stall 7 sets unilateral connector 7-1.
The back of the hand portion that the hand ectoskeleton suffers from hand rehabilitation device includes being mounted side by side three in fixed plate 17, fixed plate 17
Fingerstall controlling organization is plus a thumb stall controlling organization, wherein three fingerstall controlling organizations are respectively the first fingerstall control machine
Structure 18, the second fingerstall controlling organization 19 and tri-finger stall controlling organization 20, the first fingerstall controlling organization 18 and the forefinger mechanism 1
Connection, the second fingerstall controlling organization 19 is connected with the middle finger mechanism 2, tri-finger stall controlling organization 20 respectively with the third finger
Mechanism 3 and the little finger of toe mechanism 4 are connected, and thumb stall controlling organization is connected with the thumb mechanism.
As shown in Fig. 1, Fig. 8, Figure 12, the first fingerstall controlling organization 18, the second fingerstall controlling organization 19 and tri-finger stall control
Mechanism 20 processed include slide rail bearing 21, motor support base 22 (wherein the first fingerstall controlling organization is corresponding be the first motor support base,
It is that the second motor support base, corresponding tri-finger stall controlling organization are the 3rd motor support bases that second fingerstall controlling organization is corresponding, often
The profile of individual motor support base slightly has difference), small-size rack 23, the second power source 24, second angle sensor 25 and second gear
26.Wherein slide rail bearing 21 is arranged in fixed plate 17, and slide rail bearing 21 is provided with miniature guide rail 28, and motor support base 22 is arranged on
It can slide in miniature guide rail 28 and in miniature guide rail 28, the second power source 24 is arranged on motor support base 22, the second power source
24 output shaft sequentially passes through second angle sensor 25 and second gear 26, and small-size rack 23 is arranged on slide rail bearing 21,
Second gear 26 is engaged with the small-size rack 23.Specifically, tooth bar mounting groove can be set on slide rail bearing 21, by viscous
Small-size rack 23 is bonded in the tooth bar mounting groove of slide rail bearing 21 by the mode of knot.
First fingerstall controlling organization 18 and the second fingerstall controlling organization 19 also respectively include a connecting rod 27, the control of the first fingerstall
One end of the connecting rod 27 of mechanism 18 is arranged on the first motor support base 22, and the other end is connected with the tri-finger stall 7 of forefinger mechanism 1,
One end of the connecting rod 27 of second fingerstall controlling organization 19 is arranged on the second motor support base 22, and the of the other end and middle finger mechanism 2
Tri-finger stall 7 is connected.
Tri-finger stall controlling organization 20 also includes two connecting rods 27, the one of two connecting rods 27 of tri-finger stall controlling organization 20
End is arranged on the 3rd motor support base 22, and tri-finger stall 7 of the other end successively with nameless mechanism 3 and little finger of toe mechanism 4 is connected.
The thumb stall controlling organization 40 in the back of the hand portion includes internal gear bending side link 41, small rod 42, a thumb
Refer to motor support base 43, the second power source of thumb 44, thumb second gear 45, thumb second angle sensor 46.Wherein, thumb electricity
Machine bearing 43 is fixedly connected with hand back plate 17, and the second power source of thumb 44 is arranged on thumb motor support base 43, and thumb second is moved
The output shaft in power source 44 sequentially passes through thumb second angle sensor 46 and thumb second gear 45, thumb second gear 45 and interior
Tooth bending side link 41 is engaged, and small rod 42 and internal gear bending side link 41 rotate connection.
The thumb mechanism 47 that hand ectoskeleton suffers from hand rehabilitation device includes the first fingerstall of thumb 48, the second fingerstall of thumb 49, thumb
Refer to tri-finger stall mechanism 50 (thumb tri-finger stall mechanism 50 includes third knuckle applicator ring 51 and third knuckle gear 52), thumb
First cable 53, the second cable of thumb 54, thumb first angle sensor 55, thumb first gear 56, the power source of thumb first
57。
Wherein, the first fingerstall of thumb 48 is rotated with the second fingerstall of thumb 49 and is connected, the second fingerstall of thumb 49 and thumb the 3rd
Third knuckle gear 52 in fingerstall rotates connection, and third knuckle gear 52 and third knuckle applicator ring 51 are connected, third knuckle
Applicator ring 51 is rotated with the small rod 42 of the thumb stall controlling organization 40 in the back of the hand portion and is connected.The first fingerstall of thumb 48 is provided with
The first line wheel of thumb 58 (see Fig. 3-Fig. 4, Fig. 9), the line wheel of thumb first is located at the first fingerstall of thumb 48 and the second fingerstall of thumb 49
Junction, thumb tri-finger stall 50 be provided with the second line wheel of thumb 59, the second line wheel of thumb 59 be located at thumb tri-finger stall 50
With the junction of the second fingerstall of thumb 49, one end of the first cable of thumb 53 is fixed in the first line wheel of thumb 58, and the other end is solid
It is scheduled in the second line wheel of thumb 59, one end of the second cable of thumb 54 is fixed in the first line wheel of thumb 58, and the other end is fixed on
In the second line wheel of thumb 59, the first cable of thumb 53 intersects with the second cable of thumb 54, and the first power source of thumb 57 is arranged on thumb
Refer on the second fingerstall 49, the output shaft of the first power source of thumb 57 sequentially passes through thumb first angle sensor 55 and thumb first
Gear 56, third knuckle gear 52 is engaged with thumb first gear 56, thumb first angle sensor 55 and the power of thumb first
Source 57 and the back of the hand portion are connected with the controller.
As shown in Fig. 2 hand ectoskeleton health hand, which dominates convalescence device, is put into health on hand for displacement data collection, will be strong
The displacement data of health hand is delivered to controller, and sending order-driven hand ectoskeleton by controller suffers from hand rehabilitation device.Outside the hand
Bone health hand dominates convalescence device and sets finger section, the back of the hand portion, and its structure includes：Thumb mechanism 60, forefinger mechanism 61, middle finger
Mechanism 62, nameless mechanism 63 (for finger section), second knuckle fingerstall mechanism 64, third knuckle fingerstall mechanism 65, MCP are closed
Save linkage 66, mate gear 67, second knuckle fingerstall 68, fingerstall connector, third knuckle fingerstall 70, pinion shaft 71,
Third knuckle angular transducer 72, MCP connecting rods 74, side link 75, MCP angular transducers 76, (thumb portion) third knuckle are worn
Wear ring 77, thumb second knuckle fingerstall 78, leading small rod 79, bending side link 80, thumb and dominate angular transducer 81, thumb
Leading second angle sensor 82, hand backboard 83 etc., concrete structure is as follows：
The finger section that the healthy hand of the hand ectoskeleton dominates convalescence device includes four finger mechanisms, is thumb mechanism respectively
60th, forefinger mechanism 61, middle finger mechanism 62, nameless mechanism 63.Wherein forefinger mechanism 61, middle finger mechanism 62, nameless mechanism 63
Part be identical (size difference only in terms of length, width, height, motion principle is all identical), including the
Two finger joint fingerstall mechanisms 64, third knuckle fingerstall mechanism 65, MCP joint link levers mechanism 66.Second knuckle fingerstall mechanism 64 includes
There are the second knuckle fingerstall 68 provided with mate gear 67, and the fingerstall connector being connected to below fingerstall.Third knuckle fingerstall machine
Structure 65 includes third knuckle fingerstall 70, pinion shaft 71, third knuckle angular transducer 72, fingerstall connector.Pinion shaft 71
Installed in the top of third knuckle fingerstall 70, engaged with the mate gear 67 of the side of second knuckle fingerstall 68, third knuckle angle
Sensor 72 is arranged on gear shaft 71, and fingerstall connector is connected to the lower section of third knuckle fingerstall 70.MCP joint link levers mechanism
66 include MCP connecting rods 74, side link 75 and MCP angular transducers 76, and MCP angular transducers 76 are arranged on MCP connecting rods 74 and connected
The rotation junction of hack lever 75.
The thumb mechanism that hand ectoskeleton health hand dominates convalescence device includes third knuckle applicator ring 77, third knuckle gear
Piece 84, thumb second knuckle fingerstall 78, leading small rod 79, bending side link 80, thumb dominate angular transducer 81, thumb master
Second angle sensor 82 is led, thumb dominates turn that second angle sensor 82 is arranged on bending side link 80 and hand backboard 83
Dynamic junction.Thumb dominates the rotation that angular transducer 81 is arranged on thumb second knuckle fingerstall 68 and third knuckle applicator ring 77
Vice division chief, third knuckle gear sheet 84 is put down in third knuckle applicator ring 77 and the perpendicular side in thumb the first two articulation center
Face is connected, and the center of its third knuckle gear sheet 84 is overlapped with the thumb PIP joints centre of gyration, and is nibbled with pinion shaft 71
Close, second angle sensor 82 can measure the anglec of rotation of gear shaft 71.
In the healthy hand of hand ectoskeleton dominates the forefinger mechanism 61, Zhong Zhi mechanisms 62, nameless mechanism 63 of convalescence device, the
Two finger joint fingerstall mechanisms 64 are rotated with third knuckle fingerstall mechanism 65 and are connected；In third knuckle fingerstall mechanism 65, gear shaft 71
Rotate and be connected with fingerstall in the top of third knuckle fingerstall 70, third knuckle fingerstall mechanism 65 and MCP joint link levers mechanism 76 are rotated
Connection；MCP connecting rods 74 and the formation of side link 75 wherein in MCP joint link levers mechanism 76 rotate connection；MCP joint link levers mechanism
Side link 75 and hand backboard 83 rotate and be connected.In thumb mechanism, thumb second knuckle fingerstall 78 and third knuckle are worn
Ring 77 rotates connection, and third knuckle applicator ring 77 is rotated with leading small rod 79 and is connected, and dominates small rod 79 and bending side link
80 rotate connection, and bending side link 80 is rotated with hand backboard 83 and is connected.
The back of the hand portion that hand ectoskeleton health hand is dominated in convalescence device includes hand backboard 83 and palm connector, and palm connects
The two ends of fitting are connected on hand backboard 83.
It is noted that the hand ectoskeleton of full version of the present invention suffers from hand rehabilitation device (number of patent application than before：
201710060563.3) done and improved (see Fig. 5-Fig. 7) in the design aspect of three fingerstall：
1：By script be attached to the second fingerstall gear be changed to it is SMD, while subtracting to the line wheel side of the second fingerstall
Thickness, line wheel side is attached to by paster gear by way of screw either other fixations；
2：Optimize the appearance design of the first fingerstall；
3：Optimize the appearance design of tri-finger stall.
Make the structure of device compacter the direct benefit that these places are optimized, four finger mechanisms is being carried out each
Self-movement when will not produce and interfere with each other, while also because the space of occupancy of the device between each refers to reduces, further
Add the comfortableness that patient wears.
4：In terms of fingerstall controlling organization, improvement is have also been made in the control aspect of nameless and little finger of toe, connection is nameless
The connecting rod of the fingerstall of little finger of toe third knuckle has all been connected on a motor support base, because unknown in actual daily life campaign
The motion coupled relation for referring to little finger of toe is more strong, so sharing a this mode of controller joint driving before satisfaction is practical
Put and can make on the contrary device more compact, increase portability, see Fig. 1.
In the present invention, thumb structure and other differences of four fingers mechanism in design：
(1) the thumb first knuckle of design is only connected by the cradle head of side with second knuckle fingerstall；
(2) design of thumb second knuckle fingerstall and the placement of thumb second knuckle power source and other four referred to mechanisms
Difference, difference is that the power source for driving thumb second knuckle has been placed on thumb second knuckle fingerstall, corresponding
It is the motor slot on thumb second knuckle fingerstall.And the power source of other four fingers mechanism driving second knuckles has been placed on the 3rd finger
Save on fingerstall, corresponding is the motor slot of third knuckle fingerstall.Meanwhile, in order to coordinate thumb second knuckle power source drive
Second knuckle fingerstall, be connected third knuckle gear on third knuckle applicator ring.But coordinate the in other four fingers mechanisms
The gear paster of two finger joint power source drive second knuckle fingerstall is connected with second knuckle fingerstall.
(3) there are two parts in the third knuckle mechanism of thumb：Third knuckle applicator ring and third knuckle gear 52.And four
Refer to the third knuckle only one of which part in mechanism.
Hand ectoskeleton suffers from the hand back part of hand rehabilitation device by one piece of hand back plate, and motor support base can pass through with hand back plate
Various ways are fixed together, can also 3D printing be integrally formed, the when integrally formed mode that uses of the present invention.
The use process and principle that the hand ectoskeleton both hands of hand and wrist of the present invention are servo-actuated convalescence device are as follows：
One：With the wearing mode of finger：The fixed plate 17 in the back of the hand portion (can be taken by finger joint connector for nylon
Button), and be respectively provided with fixing groove in two sides of each fingerstall, can by velcro through the fixing groove on fingerstall and
Linked together by way of suture with fingerstall, can be by when needing to use the device in the present invention to carry out rehabilitation training
On gloves band, now the back of the hand portion of the device is located on the back of the hand of patient, and by the nylon hook band and nylon velvet of velcro
Band is torn, and the first fingerstall 5 of the device is stuck in the distal end finger joint of human hand, the second fingerstall 6 is stuck in the middle-end finger joint of human hand,
Tri-finger stall 7 is stuck in the left knee of human hand, and by the nylon hook band and nylon velvet band of the velcro of each fingerstall bottom
Again it is bonded together, so just the hand ectoskeleton both hands in the present invention can be servo-actuated into convalescence device is fixed on one with human hand
Rise, it is also such to dominate wearing for convalescence device for the healthy hand of hand ectoskeleton.
Two：The design principle of thumb mechanism
The motion of thumb be for the overwhelming majority performs activitiess of daily life (such as grasp) it is indispensable, even
Play certain decisive action.Because for the integrality and practicality of whole mechanism, devising thumb rehabilitation institution.
As shown in Figure 10, when analyzing thumb movement, it was found that the kinematic relation of thumb is different from other fingers：
Ⅰ：The root joint of thumb is the motion that CMC joints are able to carry out 3D scopes, equivalent to ball pair.
Ⅱ：Thumb can pass through CMC articulation centers and put down around one when revolution action is performed around CMC joints
Row is moved in the axle of middle finger.Especially when thumb stretches, the third knuckle of thumb can be along a circular conical surface (fortune for this thumb
It is dynamic learn description relation be called and do " surgeons method ") motion, although actually thumb is when performing various actions
Movement locus can become more complicated, but the method for this description motion of thumb most of the time is for realizing that thumb is main
It is enough for function aspects.
Ⅲ：The DIP joints and MCP joints of thumb front end can only realize the gyration of single-degree-of-freedom.
For the kinematics situation of thumb, determine to use following ectoskeleton solution：
Ⅰ：The third knuckle of thumb is driven with a set of four-bar mechanism.
Ⅱ：The first two joint (DIP, MCP joint) of thumb is driven with line coupling scheme.
Carry out after the preliminary kinematics experiment of thumb, it is found that the covering device disclosure satisfy that basic thumb movement demand, can
Complete such as to actions such as the palm, stretching, extensions.
Thumb four-bar mechanism measuring angle principle：Parallelogram principle；
In the present invention, the principle of line coupling works as patient referring to Chinese patent application (application number 201710060563.3)
The hand ectoskeleton both hands of the good present invention of wearing are servo-actuated after convalescence device, the axle center of the first line wheel 14 and the DIP joints of human hand
The axis of rotation of (Distal Interphalangeal Point, distal interphalangeal joint) is overlapped, the axle center of the second line wheel 15 with
The axis of rotation in the PIP joints (Proximal Interphalangeal Point, proximal phalangeal joints) of human hand is overlapped.As schemed
1st, Fig. 8, Figure 12, the first fingerstall 5 of each finger mechanism are identical with the principle of the rotoflector of the second fingerstall 6, herein with forefinger machine
Illustrated exemplified by structure 1, can refer to Fig. 8, Figure 11, Figure 12, the second fingerstall 6 rotates around tri-finger stall 7 and the first fingerstall 5 encloses
The principle rotated around the second fingerstall 6 is as follows：
The output shaft of first power source 10 drives first gear 12 to be rotated, due to the fingerstall 6 of first gear 12 and second
On mate gear 16 engage, therefore by gear drive, mate gear 16 can be driven to be rotated, referring to Fig. 8, if in Fig. 8
First gear 12 turn clockwise, then mate gear 16 can be made to be rotated according to the direction of solid arrow in Fig. 8, due to cooperating teeth
The structure that the fingerstall 6 of wheel 16 and second is integrated, therefore the second fingerstall 6 and the first fingerstall 5 can be made to be rotated relative to tri-finger stall 7
Certain angle.As shown in figure 11, now the first fingerstall 5 and the second fingerstall 6 are changed into case of bending, i.e. Figure 11 from straight configuration
In M state be converted into N-state, the middle-end finger joint and distal end finger joint of patient is bent certain angle；When first
When fingerstall 5 is rotated relative to tri-finger stall 7, due to the first line wheel 14, the second line wheel 15, the first cable 8 and the second cable 9
Line coupled motions, the first fingerstall 5 can be made to be rotated a certain angle relative to the second fingerstall 6.It is 1. and 2. second referring to Figure 11
Two fixing points in line wheel 15, are 3. and 4. the two fixing points in the first line wheel 14, the first cable 8 and the second cable 9 can
Think steel wire tightrope, the two ends of the first cable 8 be separately fixed at fixing point 2. with fixing point 3. on, the two ends point of the second cable 9
Be not fixed on fixing point 1. with fixing point 4. on, the first cable 8 and the second cable 9 intersect, when the first fingerstall 5 relative to the 3rd refer to
When set 7 is rotated, the first line wheel 14 is rotated around the second line wheel 15.As shown in figure 11, but due to the first cable 8 and
The two ends of two cables 9 are fixed, and therefore, the first cable 8 is wound in the first line wheel 14, while the second cable 9 is second
It is wound in line wheel 15, therefore relative second fingerstall 6 of the first fingerstall 5 can be made to rotate a certain angle, you can so that patient
Distal end finger joint rotated around DIP joints, the first power source 10 continue drive first gear 12 rotate, the He of the first fingerstall 5
Second fingerstall 6 is converted to L states from N-state, therefore in the present invention, is only driven by first power source 10, then
Can be so that the second fingerstall 6 rotates a certain angle around tri-finger stall 7 and makes first by way of line coupled motions
Fingerstall 5 rotates a certain angle around the second fingerstall 6, without being respectively provided with mechanical linkage at each finger-joint, eliminates big
The quantity of the mechanical linkage of amount, the structure of the device greatly simplified and alleviates weight.
In the present invention, the shape of the first line wheel 14 and the second line wheel 15 can be circle, and the radius of the first line wheel 14 can
Can be with identical with the radius with the second line wheel 15, i.e. structure shown in Fig. 1 and Figure 11.Now, the first fingerstall 5 refers to around second
The angular speed of the rotation of set 6 is identical around the angular speed that tri-finger stall 7 rotates with the second fingerstall 6, i.e. the gearratio of line coupling is 1；
When the radius of the first line wheel 14 and the different radius of the second line wheel 15, the first fingerstall 5 surrounds the angular speed that the second fingerstall 6 rotates
It is different around the angular speed that tri-finger stall 7 rotates from the second fingerstall 6, if the radius of the first line wheel 14 is the radius of the second line wheel 15
Twice.Now, the first fingerstall 5 is that the second fingerstall 6 rotates around tri-finger stall 7 around the angular speed that the second fingerstall 6 rotates
The gearratio of the 1/2 of angular speed, i.e. line coupling is 2；When the shape of the first line wheel 14 and the second line wheel 15 is circle, line coupling
The gearratio of conjunction is stable drive ratio.In the present invention, the gearratio of line coupling can also be variable ratio, i.e., by the first line wheel 14
Gradual change radius line wheel is designed as with the second line wheel 15, the radius of line wheel is not definite value.When the first line wheel 14 and the second line wheel 15 are
During gradual change radius, the first fingerstall 5 rotates around the angular speed that the second fingerstall 6 rotates relative to the second fingerstall 6 around tri-finger stall 7
Angular speed is lasting change.But human hand, in the motion sequence that one is stretched naturally or is bent, DIP joints are to PIP joints
Relative angular speed be also lasting change.So being better able to allow finger to reach a naturally motion with gradual change radius line wheel
Sequence, more favorably and rehabilitation efficacy.Consideration when but can also be manufactured according to the actual conditions or reality of patient, rational design
The shape of first line wheel 14 and the second line wheel 15.
In the present invention, the tri-finger stall 7 of the first fingerstall controlling organization 18 control forefinger mechanism 1 is revolved around the back of the hand portion
The principle turned controls the tri-finger stall 7 of middle finger mechanism 2 to surround the principle that the back of the hand portion is rotated with the second fingerstall controlling organization 19
It is identical, illustrated by taking the first fingerstall controlling organization 18 as an example, referring to Fig. 8, Figure 12 and Fig. 1, the output shaft of the second power source 24
Second gear 26 is driven to be rotated, second gear 26 carries out horizontal movement on small-size rack 23 so that motor support base 22 exists
Slided in miniature guide rail 28, the left knee of the forefinger of patient and the tri-finger stall 7 of forefinger mechanism 1 are solid by finger joint connector
It is fixed, a monolithic linkage is can be considered, the monolithic linkage constitutes a slider-crank mechanism with the first fingerstall controlling organization 18, works as electricity
When machine bearing 22 is slided in miniature guide rail 28, and tri-finger stall 7 and the left knee of patient are fixed together, therefore can make
Tri-finger stall 7 is rotated around the back of the hand portion, i.e., tri-finger stall 7 drives the left knee of patient to surround MCP joints
(Metacarpophalangeal Point, metacarpophalangeal joints) is bent.
Three：In the present invention, it can be that (Programmable Logic Controller may be programmed PLC that controller, which is,
Logic controller), single-chip microcomputer or arduino microcontrollers and motor drive module composition, controller is not shown；The
One power source and the second power source can be micromachine, and micromachine can be model GA12YN20-380 deceleration electricity
Machine, speed reducing ratio is 1:380, the rotating speed of reducing motor is 34r/min, and first angle sensor and second angle sensor can be
Model SV01A103AEA01R00 angular sensor, can also be selected according to actual conditions other models motor and
Angular transducer.In terms of control program, program mainly includes the parts such as data acquisition filtering, PID control.
In terms of filtering, feedback transducer uses village field SV01A103AEA01R00 angular sensors, electric during rotation
Resistance gradually increases from zero, after a complete cycle is turned over, resistance zero, and sensor has obvious fluctuation and noise here.For
This, by increasing middle parameter, using methods such as limit filtrations, is handled input signal, so as to get the ripple of stable and continuous
Shape, makes control stable, reliable.
In terms of PID control, prolonged debugging has been carried out on model machine, by the analysis to shaking waveform, have selected
One group of more suitable parameter.9 reducing motors on model machine, a pid control signal can be received respectively every about 10ms, can
More it is accurately controlled with realizing.
In addition, the material of the parts of device in the present invention can select plastics or lightweight gold according to actual conditions
Category.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modifications, equivalent substitutions and improvements made etc. should be included within the scope of the present invention.
Claims (9)
1. a kind of hand ectoskeleton both hands are servo-actuated convalescence device, it is characterised in that suffer from hand rehabilitation device, hand dermoskeleton including hand ectoskeleton
Bone health hand dominates convalescence device, and hand ectoskeleton health hand dominates convalescence device and is placed to health on hand, hand ectoskeleton health hand
Leading convalescence device connects controller by data signal line, and controller connects hand ectoskeleton by control signal wire and suffers from hand rehabilitation
Device；
Wherein, hand ectoskeleton, which suffers from hand rehabilitation device, includes finger section, the back of the hand portion and controller；The finger section includes four fingers
Mechanism and a thumb mechanism, four finger mechanisms are respectively forefinger mechanism, middle finger mechanism, nameless mechanism and little finger of toe mechanism,
The mechanism composition of four finger mechanisms is identical, and each finger mechanism includes three fingerstall, the first cable, the second cable, first
Power source, first angle sensor and first gear, the bottom of each fingerstall are mounted on a finger joint connector；
Three fingerstall are respectively the first fingerstall, the second fingerstall and tri-finger stall, and the first fingerstall is rotated with the second fingerstall and is connected, and second
Fingerstall is rotated with tri-finger stall and is connected, and tri-finger stall is rotated with the back of the hand portion and is connected, and the first fingerstall is provided with the first line wheel, First Line
Wheel is positioned at the junction of the first fingerstall and the second fingerstall, and tri-finger stall is provided with the second line wheel, and the second line wheel is located at tri-finger stall
With the junction of the second fingerstall, one end of the first cable is fixed in the first line wheel, and the other end is fixed in the second line wheel, and second
One end of cable is fixed in the first line wheel, and the other end is fixed in the second line wheel, and the first cable intersects with the second cable, and first
Power source is arranged on tri-finger stall, and the output shaft of the first power source sequentially passes through first angle sensor and first gear, the
The side of two fingerstall is provided with mate gear, and mate gear is engaged with first gear, the first angle sensor of each finger mechanism
It is connected with the first power source and the back of the hand portion with the controller.
2. hand ectoskeleton both hands according to claim 1 are servo-actuated convalescence device, it is characterised in that the back of the hand portion includes solid
Three fingerstall controlling organizations are mounted side by side in fixed board, fixed plate plus a thumb stall controlling organization, wherein three fingerstall
Controlling organization is respectively the first fingerstall controlling organization, the second fingerstall controlling organization and tri-finger stall controlling organization, the first fingerstall control
Mechanism processed is connected with the forefinger mechanism, and the second fingerstall controlling organization is connected with the middle finger mechanism, tri-finger stall controlling organization
It is connected respectively with the nameless mechanism and the little finger of toe mechanism, thumb stall controlling organization is connected with the thumb mechanism；
First fingerstall controlling organization, the second fingerstall controlling organization and tri-finger stall controlling organization include slide rail bearing, motor branch
Seat, small-size rack, the second power source, second angle sensor and second gear, wherein slide rail bearing are arranged in fixed plate, sliding
Rail bearing is provided with miniature guide rail, and motor support base is arranged in miniature guide rail and can slided in miniature guide rail, the second power source
On motor support base, the output shaft of the second power source sequentially passes through second angle sensor and second gear, small-size rack
On slide rail bearing, second gear is engaged with the small-size rack；
First fingerstall controlling organization and the second fingerstall controlling organization also respectively include a connecting rod, the connecting rod of the first fingerstall controlling organization
One end be arranged on the first motor support base on, the other end is connected with the tri-finger stall of forefinger mechanism, the second fingerstall controlling organization
One end of connecting rod is arranged on the second motor support base, and the other end is connected with the tri-finger stall of middle finger mechanism；
Tri-finger stall controlling organization also includes two connecting rods, and one end of two connecting rods of tri-finger stall controlling organization is arranged on the 3rd
Motor support base, tri-finger stall of the other end successively with nameless mechanism and little finger of toe mechanism is connected.
3. hand ectoskeleton both hands according to claim 1 or 2 are servo-actuated convalescence device, it is characterised in that hand ectoskeleton suffers from hand
The thumb mechanism of convalescence device includes the fingerstall of thumb first, the fingerstall of thumb second, thumb tri-finger stall mechanism, thumb First Line
Cable, the cable of thumb second, thumb first angle sensor, thumb first gear, the power source of thumb first, thumb tri-finger stall machine
Structure includes third knuckle applicator ring and third knuckle gear；
Wherein, the fingerstall of thumb first and the fingerstall of thumb second are rotated and be connecteds, and the in the fingerstall of thumb second and thumb tri-finger stall
Three finger joint pinion rotations are connected, and third knuckle gear and third knuckle applicator ring are connected, in third knuckle applicator ring and the back of the hand portion
Thumb stall controlling organization small rod rotate connection；The fingerstall of thumb first is provided with the line wheel of thumb first, thumb First Line
Wheel is located at the junction of the fingerstall of thumb first and the fingerstall of thumb second, and thumb tri-finger stall is provided with the line wheel of thumb second, thumb
Second line wheel is located at the junction of thumb tri-finger stall and the fingerstall of thumb second, is coaxially connected with third knuckle gear, is considered as one
Individual part；One end of the cable of thumb first is fixed in the line wheel of thumb first, and the other end is fixed in the line wheel of thumb second, thumb
One end of second cable is fixed in the line wheel of thumb first, and the other end is fixed in the line wheel of thumb second, the cable of thumb first with
The cable of thumb second intersects, and the power source of thumb first is arranged on the fingerstall of thumb second, the output shaft of the power source of thumb first according to
Secondary to pass through thumb first angle sensor and thumb first gear, third knuckle gear engages with thumb first gear, thumb the
One angular transducer and the power source of thumb first and the back of the hand portion are connected with the controller.
4. hand ectoskeleton both hands according to claim 2 are servo-actuated convalescence device, it is characterised in that the thumb stall in the back of the hand portion
Controlling organization includes internal gear bending side link, small rod, thumb motor support base, the power source of thumb second, a thumb
Second gear, thumb second angle sensor；Wherein, thumb motor support base is fixedly connected with hand back plate, the power source of thumb second
On thumb motor support base, the output shaft of the power source of thumb second sequentially passes through thumb second angle sensor and thumb
Two gears, thumb second gear and internal gear bending side link engagement, small rod and internal gear bending side link rotate connection.
5. hand ectoskeleton both hands according to claim 2 are servo-actuated convalescence device, it is characterised in that set on slide rail bearing
Small-size rack, is bonded in the tooth bar mounting groove of slide rail bearing by tooth bar mounting groove by cohesive mode.
6. hand ectoskeleton both hands according to claim 1 are servo-actuated convalescence device, it is characterised in that hand ectoskeleton suffers from hand rehabilitation
Device includes finger section, the back of the hand portion, and the finger section that the healthy hand of the hand ectoskeleton dominates convalescence device includes four finger mechanisms,
It is thumb mechanism, forefinger mechanism, middle finger mechanism, nameless mechanism respectively；Wherein forefinger mechanism, middle finger mechanism, nameless mechanism
Include second knuckle fingerstall mechanism, third knuckle fingerstall mechanism, MCP joint link levers mechanism；Second knuckle fingerstall mechanism includes
There are the second knuckle fingerstall provided with mate gear, and the fingerstall connector being connected to below fingerstall；Third knuckle fingerstall mechanism bag
Third knuckle fingerstall, pinion shaft, third knuckle angular transducer, fingerstall connector are included, pinion shaft is arranged on third knuckle
The top of fingerstall, is engaged with the mate gear of second knuckle fingerstall side, and third knuckle angular transducer is arranged on gear shaft,
Fingerstall connector is connected to the lower section of third knuckle fingerstall；MCP joint link levers mechanism includes MCP connecting rods, side link and MCP angles
Sensor, MCP angular transducers are arranged on the rotation junction of MCP connecting rods and side link.
7. hand ectoskeleton both hands according to claim 6 are servo-actuated convalescence device, it is characterised in that hand ectoskeleton health hand master
Lead the thumb mechanism of convalescence device and include third knuckle applicator ring, it is third knuckle gear sheet, thumb second knuckle fingerstall, leading small
Connecting rod, bending side link, thumb dominate angular transducer, thumb and dominate second angle sensor, and thumb is dominated second angle and passed
Sensor is arranged on the rotation junction of bending side link and hand backboard；Thumb is dominated angular transducer and referred to installed in thumb second
The rotation vice division chief of fingerstall and third knuckle applicator ring is saved, third knuckle gear sheet is closed in third knuckle applicator ring and thumb the first two
Save the perpendicular side plane of center of rotation to be connected, center and the thumb PIP joints centre of gyration weight of its third knuckle gear sheet
Close, and be engaged with pinion shaft, second angle sensor measures the anglec of rotation of gear shaft.
8. hand ectoskeleton both hands according to claim 6 are servo-actuated convalescence device, it is characterised in that in the healthy hand of hand ectoskeleton
In the forefinger mechanism, middle finger mechanism, nameless mechanism that dominate convalescence device, second knuckle fingerstall mechanism and third knuckle fingerstall machine
Structure rotates connection；In third knuckle fingerstall mechanism, gear shaft is rotated with fingerstall above third knuckle fingerstall and is connected, and the 3rd refers to
Save fingerstall mechanism and MCP joint link levers mechanism rotates connection；MCP connecting rods and frame linking rod wherein in MCP joint link levers mechanism
Connected into rotating；The side link of MCP joint link levers mechanism is rotated with the back of the hand portion and is connected；In thumb mechanism, thumb second knuckle
Fingerstall and third knuckle applicator ring rotate connection, and third knuckle applicator ring is rotated with leading small rod and be connected, leading small rod with
Bend side link and rotate connection, bending side link is rotated with the back of the hand portion and is connected.
9. hand ectoskeleton both hands according to claim 6 are servo-actuated convalescence device, it is characterised in that hand ectoskeleton health hand master
The back of the hand portion led in convalescence device includes hand backboard and palm connector, and the two ends of palm connector are connected to hand backboard
On.
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| CN201710286286.8A CN106943279B (en) | 2017-04-27 | 2017-04-27 | Hand exoskeleton and two-hand follow-up rehabilitation device |
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|---|---|---|---|
| CN201710286286.8A CN106943279B (en) | 2017-04-27 | 2017-04-27 | Hand exoskeleton and two-hand follow-up rehabilitation device |
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| CN106943279B CN106943279B (en) | 2023-05-12 |
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| CN108186289A (en) * | 2018-02-08 | 2018-06-22 | 东北大学 | A kind of variable freedom upper-limb recovery training device |
| CN108969305A (en) * | 2018-08-10 | 2018-12-11 | 田秀丽 | A kind of ectoskeleton hand device for healing and training |
| CN109223442A (en) * | 2018-09-25 | 2019-01-18 | 上海交通大学 | Exoskeleton-type seven freedom manipulators in rehabilitation |
| CN109620487A (en) * | 2019-02-19 | 2019-04-16 | 上海理工大学 | A kind of artificial limb thumb mechanism |
| CN109730896A (en) * | 2019-03-06 | 2019-05-10 | 北可精密机械（上海）有限公司 | A kind of ectoskeleton hand healing robot based on finger function different degree |
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| CN112641596A (en) * | 2020-12-02 | 2021-04-13 | 上海海每康智能医疗科技有限公司 | Hand action auxiliary device based on line drive |
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