CN112641598B

CN112641598B - Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions

Info

Publication number: CN112641598B
Application number: CN202011481939.6A
Authority: CN
Inventors: 程龙; 李晓理; 胡永平; 孙宁; 李国涛
Original assignee: Beijing University of Technology; Institute of Automation of Chinese Academy of Science
Current assignee: Beijing University of Technology; Institute of Automation of Chinese Academy of Science
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2021-10-15
Anticipated expiration: 2040-12-15
Also published as: CN112641598A

Abstract

The invention belongs to the field of bio-mechanical engineering, aims to solve the problem that the existing finger rehabilitation robot assisting metacarpophalangeal joint adduction-abduction and flexion-extension movement cannot realize self-adaptive alignment of human-machine joints, and particularly relates to a finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension functions, which comprises three groups of driving assemblies, a metacarpophalangeal joint transmission assembly and a near-end joint transmission assembly; the inner and outer driving rope wheels in the metacarpophalangeal joint transmission assembly can control the inward contraction and outward expansion of the hand under the driving of the first driving assembly; the first and second fixed rope wheels in the metacarpophalangeal joint transmission assembly can control the flexion and extension movement of the proximal phalanx under the driving of the second driving assembly; the proximal joint transmission assembly can control the flexion and extension movement of the middle phalanx under the driving of the third driving assembly; the invention can realize the self-adaptive alignment of the human-computer joints of the rehabilitation robot for adduction-abduction and flexion-extension movements and can effectively eliminate the mechanical stress of the joints generated between human and computers.

Description

Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions

Technical Field

The invention belongs to the field of bio-mechanical engineering, and particularly relates to a finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions.

Background

30% -60% of patients after stroke leave upper limb motor dysfunction, especially hand motor dysfunction. In daily life, the hand has the functions of gesture (second language), grabbing and operation, and bears 27% of the whole function of daily activities; in the motor cortex of the brain, the human hand is one of the largest proportion of the organs in the motor control area. Therefore, under the guidance of a rehabilitation doctor, the hand rehabilitation instrument has great significance for standard treatment of the hands of the stroke patient and recovery of the hand function of the patient. But the number of rehabilitation therapists is not enough to meet the huge demand of the rehabilitation market at all, and the pure expectation of relying on the clinical therapist to assist the patient to carry out rehabilitation exercise training is not in line with the actual demand. In order to solve the problem of serious unbalance between therapists and patients, the hand rehabilitation exoskeleton robot aims to introduce advanced robot technology into rehabilitation engineering to assist patients to recover the normal life forms or functions of the hands of the patients.

The human hand has a complex anatomical structure consisting primarily of articular surfaces, joint capsules, luminal ligaments, inner cartilage, and synovial folds. The four fingers of the human hand (except the thumb) consist of three joints: the joint comprises a metacarpophalangeal joint, a proximal joint and a distal joint, wherein the metacarpophalangeal joint can realize flexion/extension and adduction/abduction motions, the proximal joint and the distal joint can realize flexion-extension motions, and the two joints have coupling motions. Relevant studies have shown that joint independent movement can improve the motor learning ability of the patient's limbs. Some hand rehabilitation devices have been developed, but these devices only consider the flexion/extension movements of the finger joints, neglect the adduction/abduction movements of the metacarpophalangeal joints, and fail to sufficiently assist the natural movements of the fingers. Other hand rehabilitation robots can assist fingers to perform adduction-abduction movement, but because the rotating shafts of the finger joints are uncertain, the rotating shafts of the man-machine joints are easy to be dislocated, and unexpected interaction force between man machines is generated, or the robots generate mechanical stress on the joints in order to apply expected torque to the joints; according to the existing medical research, mechanical stress can cause diseases such as joint deformation or degeneration, so the hand rehabilitation exoskeleton robot should avoid unexpected interaction force between human and machine.

In summary, most of the existing rehabilitation robots can only assist the human hand to perform flexion and extension motions, but neglect adduction and abduction motions, generate mechanical stress on finger joints, and easily cause diseases such as joint degeneration or deformation.

Disclosure of Invention

In order to solve the problems in the prior art, namely to solve the problems that the existing rehabilitation robot assisting the metacarpophalangeal joint in adduction-abduction and flexion-extension movement cannot realize the self-adaptive alignment of human-computer joints, and joint mechanical stress exists between the human machines, the invention provides a finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension functions, which comprises a driving assembly, a metacarpophalangeal joint transmission assembly and a near-end joint transmission assembly; the driving assembly comprises a first driving assembly, a second driving assembly and a third driving assembly;

the metacarpophalangeal joint transmission assembly comprises a first translation assembly arranged on the back of a hand, an inner driving rope wheel and an outer driving rope wheel which are rotatably connected with the first translation assembly, a reversing connecting rod fixedly arranged on the inner driving rope wheel and the outer driving rope wheel, a finger base connecting rod and a second translation assembly arranged on a proximal phalanx; the translation direction of the first translation assembly is perpendicular to the length direction of the fingers; a first group of steel wire ropes connected with the first driving assembly are wound on the inner and outer driving rope wheels; one end of the finger base connecting rod is connected with the reversing connecting rod, the other end of the finger base connecting rod is connected with the second translation assembly, and a first fixed rope pulley and a second fixed rope pulley are respectively arranged on two sides of the other end of the finger base connecting rod; a first transition wheel and a second transition wheel are arranged on two sides of one end, away from the inner driving rope wheel and the outer driving rope wheel, of the reversing connecting rod, a second group of steel wire ropes connected with the second driving assembly respectively bypass the first transition wheel, the second transition wheel is connected with the first fixed rope wheel and the second fixed rope wheel, and the steel wire ropes on the first transition wheel and the second transition wheel are arranged in opposite winding directions; the translation direction of the second translation assembly is consistent with the length direction of the fingers; the inner and outer driving rope wheels drive the reversing connecting rod and the finger base connecting rod to control the inward and outward movement of the hands of a person under the driving of the first driving assembly; the first fixed rope wheel and the second fixed rope wheel can drive the finger-based connecting rod to control the flexion and extension movement of the proximal phalanx under the driving of the second driving component;

one end of the near-end joint transmission assembly is rotatably connected with the finger base connecting rod, and the other end of the near-end joint transmission assembly is arranged on the middle finger bone; the proximal joint transmission assembly can control flexion and extension movement of the middle phalanx under the driving of the third driving assembly.

In some preferred embodiments, the first translation assembly comprises a slideway supporting base, a palm-side linear slideway, a palm-side linear slider and a palm-side slider connecting block, wherein the slideway supporting base is arranged on the palm back through a palm fixing base; the palm-side linear slideway is arranged on the slideway supporting base, and a palm-side raised slideway is arranged at the side part of the palm-side linear slideway; the palm-side linear sliding block is arranged on the outer side of the palm-side linear slideway, and a palm-side groove matched with the palm-side raised slideway is formed in the side part of the palm-side linear sliding block; one end of the palm side sliding block connecting block is fixedly connected with the palm side linear sliding block, and the other end of the palm side sliding block connecting block is rotatably connected with the inner driving rope wheel and the outer driving rope wheel through a bearing.

In some preferred embodiments, the second translation assembly comprises a finger-side linear slideway, a finger-side linear slider and a finger-base slider connecting block, the finger-side linear slideway is fixed on the proximal phalanx through a binding band, and a finger-side protruding slideway is arranged at the upper part of the finger-side linear slideway; the finger side linear sliding block is arranged at the upper part of the finger side linear slideway, and a finger side groove matched with the finger side raised slideway is arranged at the bottom of the finger side linear sliding block; the finger-based sliding block connecting block is fixedly arranged at the top of the finger-side linear sliding block and is provided with a first connecting through hole and a second connecting through hole, and the first connecting through hole and the second connecting through hole are respectively used for fixing the first fixed rope wheel and the second fixed rope wheel; and a bearing is arranged between the first connecting through hole and the second connecting through hole to fix the finger-based connecting rod.

In some preferred embodiments, the proximal joint drive assembly comprises a drive rod in the finger, a drive sheave in the finger, and a link in the finger; one end of the finger center driving rod is rotatably connected with the finger center driving rope wheel, and the other end of the finger center driving rod is rotatably connected with the finger base sliding block connecting block;

one end of the finger middle connecting rod is fixedly connected with the finger middle driving rope wheel, and the other end of the finger middle connecting rod is connected to the middle finger bone through a finger middle joint connecting block;

the finger middle driving rod, the finger middle connecting rod, the middle phalanx and the proximal phalanx of the human hand form a four-bar linkage.

In some preferred embodiments, the first driving assembly, the second driving assembly and the third driving assembly are carried and arranged by a motor supporting seat;

the first driving assembly comprises a first driving motor and a first motor end driving rope pulley connected with the output end of the first driving motor; the first group of steel wire ropes comprises a first steel wire rope and a second steel wire rope, one ends of the first steel wire rope and the second steel wire rope are fixed on the first motor end driving rope wheel through a first steel wire rope pressing bolt, and the other ends of the first steel wire rope and the second steel wire rope penetrate through a first Bowden wire pipe and a second Bowden wire pipe which are arranged between the motor supporting seat and the inner and outer driving rope wheels through a first adjusting device and a second adjusting device respectively;

the second driving assembly comprises a second driving motor and a second motor end driving rope pulley connected with the output end of the second driving motor; the second group of steel wire ropes comprises a third steel wire rope and a fourth steel wire rope, one ends of the third steel wire rope and the fourth steel wire rope are fixed on the second motor end driving rope wheel through a second steel wire rope pressing bolt, the other end of the third steel wire rope penetrates through a third Bowden wire pipe arranged between the motor supporting seat and the first transition wheel through a third adjusting device, and the other end of the fourth steel wire rope penetrates through a fourth Bowden wire pipe arranged between the motor supporting seat and the second transition wheel through a fourth adjusting device;

the third driving assembly comprises a third driving motor and a third motor end driving rope pulley connected with the output end of the third driving motor; the near-end joint transmission assembly is connected with the third driving assembly through a third group of steel wire ropes, the third group of steel wire ropes comprises a fifth steel wire rope and a sixth steel wire rope, one end of the fifth steel wire rope is fixed on the third motor end driving rope wheel through a third steel wire rope pressing bolt, and the other end of the fifth steel wire rope penetrates through a fifth adjusting device and a sixth adjusting device respectively and is arranged in the motor supporting seat and a fifth Bowden wire tube and a sixth Bowden wire tube between the near-end joint transmission assembly.

In some preferred embodiments, the robot further comprises a first, second, third, fourth, fifth, and sixth rope tube support;

the first rope pipe supporting piece and the second rope pipe supporting piece are fixedly arranged on the first translation assembly, and the extension axes of the first rope pipe supporting piece and the second rope pipe supporting piece are both superposed with the tangent line of the steel wire rope track of the inner and outer driving rope wheels; one end of the first Bowden cable tube, which is far away from the first motor end driving rope wheel, is fixed on one side, which is far away from the inner driving rope wheel and the outer driving rope wheel, of the first rope tube supporting piece; one end of the second Bowden cable tube, which is far away from the first motor end driving rope wheel, is fixed on one side, which is far away from the inner and outer driving rope wheels, of the second rope tube supporting piece;

the third rope pipe supporting piece and the fourth rope pipe supporting piece are fixedly arranged on the reversing connecting rod, and the extension axis of the third rope pipe supporting piece and the extension axis of the fourth rope pipe supporting piece are respectively superposed with the tangent lines of the steel wire rope tracks of the first transition wheel and the second transition wheel; one end of the third Bowden cable pipe, which is far away from the second motor end driving rope wheel, is fixed on one side, which is far away from the first transition wheel, of the third rope pipe supporting piece; one end, far away from the second motor end driving rope wheel, of the fourth Bowden cable pipe is used for fixing one side, far away from the second transition wheel, of the fourth rope pipe supporting piece;

the fifth rope pipe supporting piece and the sixth rope pipe supporting piece are fixedly arranged on the near-end joint transmission assembly; one end of the fifth Bowden cable tube, which is far away from the third motor end driving rope wheel, is fixed on the outer side of the fifth rope tube supporting piece; and one end of the sixth Bowden cable pipe, which is far away from the third motor end driving rope wheel, is fixed on the outer side of the sixth rope pipe supporting piece.

In some preferred embodiments, the first adjusting device, the second adjusting device, the third adjusting device, the fourth adjusting device, the fifth adjusting device and the sixth adjusting device are all disposed on the motor support base;

the first adjusting device comprises a first hollow tube and a first group of locking nuts, the first hollow tube comprises a first section and a second section, and the outer diameter of the first section is smaller than that of the second section; the outer side of the first section is provided with threads, and the first section penetrates through a through hole in the side wall of the motor supporting seat and is fixed through the first group of locking nuts; the first section is arranged close to the first motor end driving rope wheel and used for penetrating the first steel wire rope, and the second section is arranged at one end of the first section, which is far away from the first motor end driving rope wheel, and used for penetrating and fixing the first Bowden wire pipe;

the second adjusting device comprises a second hollow pipe and a second group of locking nuts, the second hollow pipe comprises a third section and a fourth section, and the outer diameter of the third section is smaller than that of the fourth section; the outer side of the third section is provided with threads, and the third section penetrates through a side wall through hole of the motor supporting seat and is fixed through the second group of locking nuts; the third section is arranged close to the first motor end driving rope wheel and used for penetrating the second steel wire rope, and the fourth section is arranged at one end of the third section, which is far away from the first motor end driving rope wheel, and used for penetrating and fixing the second Bowden wire pipe;

the third adjusting device comprises a third hollow pipe and a third group of locking nuts, the third hollow pipe comprises a fifth section and a sixth section, and the outer diameter of the fifth section is smaller than that of the sixth section; threads are arranged on the outer side of the fifth section, and the fifth section penetrates through a through hole in the side wall of the motor supporting seat and is fixed through the third group of locking nuts; the fifth section is arranged close to the second motor end driving rope pulley and used for penetrating the third steel wire rope, and the sixth section is arranged at one end of the fifth section, which is far away from the second motor end driving rope pulley, and used for penetrating and fixing the third Bowden wire pipe;

the fourth adjusting device comprises a fourth hollow tube and a fourth group of locking nuts, the fourth hollow tube comprises a seventh section and an eighth section, and the outer diameter of the seventh section is smaller than that of the eighth section; threads are arranged on the outer side of the seventh section, and the seventh section penetrates through a side wall through hole of the motor supporting seat and is fixed through the fourth group of locking nuts; the seventh section is arranged close to the second motor end driving rope pulley and used for penetrating the fourth steel wire rope, and the eighth section is arranged at one end of the seventh section, which is far away from the second motor end driving rope pulley, and used for penetrating and fixing the fourth Bowden wire pipe;

the fifth adjusting device comprises a fifth hollow tube and a fifth group of locking nuts, the fifth hollow tube comprises a ninth section and a tenth section, and the outer diameter of the ninth section is smaller than that of the tenth section; the outer side of the ninth section is provided with threads, and the ninth section penetrates through a side wall through hole of the motor supporting seat and is fixed through the fifth group of locking nuts; the ninth section is arranged close to the third motor end driving rope pulley and used for penetrating the fifth steel wire rope, and the tenth section is arranged at one end of the ninth section, which is far away from the third motor end driving rope pulley, and used for penetrating and fixing the fifth Bowden wire pipe;

the sixth adjusting device comprises a sixth hollow tube and a sixth group of locking nuts, the sixth hollow tube comprises a tenth section and a twelfth section, and the outer diameter of the eleventh section is smaller than that of the twelfth section; threads are arranged on the outer side of the eleventh section, and the eleventh section penetrates through a through hole in the side wall of the motor supporting seat and is fixed through the sixth group of locking nuts; the eleventh section is close to the third motor end driving rope wheel for penetrating the sixth steel wire rope, and the twelfth section is arranged at one end of the ninth section far away from the third motor end driving rope wheel for penetrating and fixing the sixth Bowden wire pipe.

In some preferred embodiments, the first hollow pipe and the second hollow pipe are arranged in parallel, and the extending axes of the first hollow pipe and the second hollow pipe are arranged to be coincident with the tangent line of the steel wire rope track of the first motor end driving rope wheel;

the third hollow pipe and the fourth hollow pipe are arranged in parallel, and the extension axes of the third hollow pipe and the fourth hollow pipe are superposed with the tangent line of the steel wire rope track of the second motor end driving rope wheel;

the fifth hollow pipe and the sixth hollow pipe are arranged in parallel, and the extension axes of the fifth hollow pipe and the sixth hollow pipe are coincided with the tangent line of the steel wire rope track of the third motor end driving rope wheel.

In some preferred embodiments, the arc of the finger-based link is arranged in line with the direction of flexion of the finger.

In some preferred embodiments, the first transition wheel, the second transition wheel, the first fixed sheave and the second fixed sheave are disposed at the same radius.

1) The finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions provided by the invention can independently execute adduction, abduction and flexion and extension motions of metacarpophalangeal joints and flexion and extension motions of proximal joints, and the flexion and extension motions of distal joints are realized by means of coupling motions of the distal joints and the proximal joints.

2) The invention fully takes the finger joint as a part of the transmission mechanism, can realize the self-adaptive alignment of the human-computer joint, and particularly provides a spatial serial connection link mechanism aiming at the metacarpophalangeal joint with two orthogonal degrees of freedom.

3) The invention eliminates acting force along the direction of the fingers by placing the sliding pair on the back of the fingers, applies the same driving torque to two rotary joints of the metacarpophalangeal joint exoskeleton connecting rod by adopting rope transmission, and eliminates mechanical stress of the exoskeleton on the other two orthogonal directions of the finger joints.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is a perspective view of one embodiment of a finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension of the present invention;

FIG. 2 is a perspective view of the metacarpophalangeal joint transmission assembly and the proximal joint transmission assembly of FIG. 1;

FIG. 3 is a partially exploded view of the metacarpophalangeal joint transmission assembly of FIG. 1;

FIG. 4 is a schematic diagram of the motion of one embodiment of the finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension of the present invention;

FIG. 5 is a four bar linkage model of an embodiment of the mid-phalangeal flexion movement of the present invention;

FIG. 6 is a schematic representation of a motion model for a mid-phalangeal flexion movement of the finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension according to one embodiment of the present invention;

FIG. 7 is a schematic motion diagram of one embodiment of the proximal phalanx flexion extension of the finger rehabilitation exoskeleton robot with adduction-abduction and flexion extension of the present invention;

FIG. 8 is a schematic diagram of the motions of one embodiment of the flexion-extension of the finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension of the present invention;

figure 9 is a motion diagram of one embodiment of the adduction-abduction of the finger rehabilitation exoskeleton robot of the present invention with adduction-abduction and flexion-extension.

Description of reference numerals:

111. a first driving motor 112, a first motor end driving rope pulley 113, a first adjusting device 114, a first Bowden cable tube 115, a first steel wire rope 116, a second steel wire rope 117, a second adjusting device 118 and a second Bowden cable tube; 121. a second drive motor 122, a second motor end drive sheave 123, a third adjustment device 124, a third bowden cable tube 125, a third wire rope 126, a fourth wire rope 127, a fourth adjustment device 128, a fourth bowden cable tube; 131. a third drive motor 132, a third motor end drive sheave 133, a fifth adjusting device 134, a fifth bowden cable tube 135, a fifth wire rope 136, a sixth wire rope 137, a sixth adjusting device 138, a sixth bowden cable tube;

200. a metacarpophalangeal joint transmission assembly; 210. the first translation assembly 211, the slideway supporting base 212, the palm-side linear slideway 213, the palm-side linear slider 214 and the palm-side slider connecting block; 220. an inner and outer drive sheave; 230. a reversing connecting rod 231, a first transition wheel 232 and a second transition wheel; 240. a finger base connecting rod 241, a first fixed rope pulley 242 and a second fixed rope pulley; 250. the second translation assembly 251, a finger-side linear slide way 252, a finger-side linear slide block 253 and a finger-based slide block connecting block; 260. a palm fixing base; 271. a first rope tube support, 272, a second rope tube support, 273, a third rope tube support, 274, a fourth rope tube support, 275, a fifth rope tube support, 276, a sixth rope tube support;

300. a proximal articulation transmission assembly; 310. a drive rod in the finger, 320, a drive rope wheel in the finger, 330, a connecting rod in the finger, 340, a connecting block of a middle bone joint in the finger, 350, a fifth rope pipe supporting piece, 260 and a sixth rope pipe supporting piece.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, and it will be understood by those skilled in the art that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of the present invention.

The invention provides a finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension functions, which comprises a driving assembly, a metacarpophalangeal joint transmission assembly and a proximal end joint transmission assembly, wherein the driving assembly is connected with the metacarpophalangeal joint transmission assembly; the driving assembly comprises a first driving assembly, a second driving assembly and a third driving assembly which are borne by the motor supporting seat, and the first driving assembly, the second driving assembly and the third driving assembly are independently arranged; the palm and finger joint transmission assembly comprises a palm fixing base, a first translation assembly arranged on the palm fixing base, an internal and external driving rope pulley, a reversing connecting rod, a finger base connecting rod, a transition wheel set and a second translation assembly; the translation direction of the first translation assembly is perpendicular to the length direction of the fingers; the inner and outer driving rope wheels are rotatably connected with the first translation assembly, and a first group of steel wire ropes connected with the first driving assembly are wound on the inner and outer driving rope wheels; one end of the reversing connecting rod is fixedly connected with the inner and outer driving rope wheels, and the other end of the reversing connecting rod is used for connecting the finger base connecting rod and the transition wheel set; one end of the finger base connecting rod, which is far away from the reversing connecting rod, is connected with the second translation assembly in a sliding manner, and the radian of the finger base connecting rod is consistent with the buckling direction of the fingers; a first finger base fixing rope wheel and a second finger base fixing rope wheel are fixedly arranged on two sides of the finger base connecting rod respectively; the transition wheel group comprises a first transition wheel and a second transition wheel which are rotatably arranged on two sides of the reversing connecting rod, two ends of a second steel wire rope respectively bypass the first transition wheel and the second transition wheel to be fixedly connected with the first finger-based fixed rope wheel and the second finger-based fixed rope wheel, and the steel wire ropes on the first transition wheel and the second transition wheel are oppositely wound; the second translation assembly is arranged on the proximal phalanx, and the translation direction of the second translation assembly is consistent with the length direction of the finger; the near-end joint transmission assembly comprises a finger middle driving rod, a finger middle driving rope wheel and a finger middle connecting rod arranged at the middle finger bone, and the finger middle driving rod and the finger middle connecting rod are hinged with the finger middle driving rope wheel; the finger middle driving rod is connected with a third driving assembly through a third steel wire rope; the inner and outer driving rope wheels can drive the reversing connecting rod, the finger base connecting rod and the near-end joint transmission assembly to move under the driving of the first driving assembly, and the near-end joint transmission assembly is matched with the first driving assembly under the driving of the third driving assembly to realize the flexion and extension movement of a human hand; the second driving assembly controls the inward-contraction and outward-expansion movement of the hand through the first transition wheel, the first finger-based fixed rope wheel, the second transition wheel and the second finger-based fixed rope wheel; the exoskeleton robot for finger rehabilitation can control finger joints to independently perform adduction-abduction and flexion-extension motions, so that self-adaptive alignment of human-computer joints is realized, and mechanical stress of the robot on metacarpophalangeal joints is eliminated.

The invention is further described with reference to the following detailed description of embodiments with reference to the accompanying drawings.

Referring to fig. 1, there is shown a schematic perspective view of a finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension functions, according to an embodiment of the present invention, including a driving assembly, a metacarpophalangeal joint transmission assembly 200 and a proximal joint transmission assembly 300; the driving assembly comprises a first driving assembly, a second driving assembly and a third driving assembly; the first driving assembly, the second driving assembly and the third driving assembly are arranged through a motor supporting seat in a bearing mode, the first driving assembly is connected with an inner driving rope wheel and an outer driving rope wheel in the metacarpophalangeal joint transmission assembly 200 through a first group of steel wire ropes, and the inward-retraction and outward-extension movement of a hand of a person can be controlled through the first driving assembly; the second driving component is connected with the finger-based connecting rod in the metacarpophalangeal joint transmission component 200 through a second group of steel wire ropes, and the flexion and extension movement of the proximal phalanx can be controlled through the second driving component; the third driving component is connected with the driving rope wheel in the finger in the near-end joint transmission component 300 through a third group of steel wire ropes, and the flexion and extension movement of the middle-section phalanx can be controlled through the third driving component.

The first driving component comprises a first driving motor 111 and a first motor end driving rope pulley 112 connected with the output end of the first driving motor; the first group of steel wire ropes comprises a first steel wire rope 115 and a second steel wire rope 116, one ends of the first steel wire rope and the second steel wire rope are fixed on a first motor end driving rope wheel through a first steel wire rope pressing bolt, and the other ends of the first steel wire rope and the second steel wire rope penetrate through a first Bowden cable tube 114 and a second Bowden cable tube 118 which are arranged between a motor supporting seat and an inner driving rope wheel and an outer driving rope wheel in the metacarpophalangeal joint transmission assembly through a first adjusting device 113 and a second adjusting device 117 respectively.

The second driving assembly comprises a second driving motor 121 and a second motor end driving rope pulley 122 connected with the output end of the second driving motor; the second group of steel wire ropes comprises a third steel wire rope 125 and a fourth steel wire rope 126, one end of the third steel wire rope and one end of the fourth steel wire rope are fixed on the second motor end driving rope wheel through a second steel wire rope pressing bolt, the other end of the third steel wire rope penetrates through a third Bowden wire pipe 124 arranged between the motor supporting seat and a first transition wheel in the metacarpophalangeal joint transmission assembly through a third adjusting device 123, and the other end of the fourth steel wire rope penetrates through a fourth Bowden wire pipe 128 arranged between the motor supporting seat and a second transition wheel in the metacarpophalangeal joint transmission assembly through a fourth adjusting device 127.

The third driving assembly comprises a third driving motor 131 and a third motor end driving rope pulley 132 connected with the output end of the third driving motor; the near-end joint transmission assembly is connected with the third driving assembly through a third group of steel wire ropes, the third group of steel wire ropes comprises a fifth steel wire rope 135 and a sixth steel wire rope 136, one ends of the fifth steel wire rope and the sixth steel wire rope are fixed on a third motor end driving rope wheel through third steel wire rope compression bolts, and the other ends of the fifth steel wire rope and the sixth steel wire rope penetrate through a fifth Bowden wire tube 134 and a sixth Bowden wire tube 138 which are arranged between the motor supporting seat and the near-end joint transmission assembly through a fifth adjusting device 133 and a sixth adjusting device 137 respectively.

Further, the first adjusting device 113, the second adjusting device 117, the third adjusting device 123, the fourth adjusting device 127, the fifth adjusting device 133 and the sixth adjusting device 137 are all disposed on the motor support base.

Preferably, the first adjusting device comprises a first hollow tube and a first group of locking nuts, the first hollow tube comprises a first section and a second section, and the outer diameter of the first section is smaller than that of the second section; the outer side of the first section is provided with threads, and the first section penetrates through a side wall through hole of the motor supporting seat and is fixed through a first group of locking nuts; the first section is close to the setting of first motor end drive rope sheave for wear to establish first wire rope, and the second section sets up in the one end that first motor end drive rope sheave was kept away from to wear to establish and fix first bowden spool.

Preferably, the second adjusting device comprises a second hollow tube and a second group of locking nuts, the second hollow tube comprises a third section and a fourth section, and the outer diameter of the third section is smaller than that of the fourth section; the outer side of the third section is provided with threads, and the third section penetrates through a side wall through hole of the motor supporting seat and is fixed through a second group of locking nuts; the third section is close to the first motor end driving rope wheel and is used for penetrating and arranging a second steel wire rope, and the fourth section is arranged at one end, far away from the first motor end driving rope wheel, of the third section and is used for penetrating and fixing a second Bowden wire pipe.

Preferably, the third adjusting device comprises a third hollow tube and a third group of locking nuts, the third hollow tube comprises a fifth section and a sixth section, and the outer diameter of the fifth section is smaller than that of the sixth section; the outer side of the fifth section is provided with threads, and the fifth section penetrates through a through hole in the side wall of the motor supporting seat and is fixed through a third group of locking nuts; the fifth section is close to the second motor end driving rope wheel and is used for penetrating and arranging a third steel wire rope, and the sixth section is arranged at one end, far away from the second motor end driving rope wheel, of the fifth section and is used for penetrating and fixing a third Bowden wire pipe.

Preferably, the fourth adjusting device comprises a fourth hollow tube and a fourth group of locking nuts, the fourth hollow tube comprises a seventh section and an eighth section, and the outer diameter of the seventh section is smaller than that of the eighth section; the outer side of the seventh section is provided with threads, and the seventh section penetrates through a side wall through hole of the motor supporting seat and is fixed through a fourth group of locking nuts; the seventh section is close to the second motor end driving rope wheel and is used for penetrating a fourth steel wire rope, and the eighth section is arranged at one end, far away from the second motor end driving rope wheel, of the seventh section and is used for penetrating and fixing a fourth Bowden wire pipe.

Preferably, the fifth adjusting device comprises a fifth hollow tube and a fifth group of locking nuts, the fifth hollow tube comprises a ninth section and a tenth section, and the outer diameter of the ninth section is smaller than that of the tenth section; the outer side of the ninth section is provided with threads, and the ninth section penetrates through a side wall through hole of the motor supporting seat and is fixed through a fifth group of locking nuts; the ninth section is close to the third motor end driving rope wheel and is used for penetrating a fifth steel wire rope, and the tenth section is arranged at one end, far away from the third motor end driving rope wheel, of the ninth section and is used for penetrating and fixing a fifth Bowden wire pipe.

Preferably, the sixth adjusting device comprises a sixth hollow tube and a sixth group of locking nuts, the sixth hollow tube comprises a tenth section and a twelfth section, and the outer diameter of the tenth section is smaller than that of the twelfth section; the outer side of the eleventh section is provided with threads, and the eleventh section penetrates through a side wall through hole of the motor supporting seat and is fixed through a sixth group of locking nuts; the eleventh section is close to the third motor end driving rope wheel and is used for penetrating and arranging a sixth steel wire rope, and the twelfth section is arranged at one end, far away from the third motor end driving rope wheel, of the ninth section and is used for penetrating and fixing a sixth Bowden wire pipe.

Preferably, the first hollow pipe and the second hollow pipe are arranged in parallel, and the extension axes of the first hollow pipe and the second hollow pipe are superposed with the tangent line of the steel wire rope track of the first motor end driving rope wheel; the third hollow pipe and the fourth hollow pipe are arranged in parallel, and the extension axes of the third hollow pipe and the fourth hollow pipe are superposed with the tangent line of the steel wire rope track of the driving rope wheel at the second motor end; the fifth hollow pipe and the sixth hollow pipe are arranged in parallel, and the extension axes of the fifth hollow pipe and the sixth hollow pipe are overlapped with the tangent line of the steel wire rope track of the third motor end driving rope wheel, so that friction between the steel wire rope and the third motor end driving rope wheel is avoided.

Preferably, two identical nuts are selected from the first group of locking nuts, the second group of locking nuts, the third group of locking nuts, the fourth group of locking nuts, the fifth group of locking nuts and the sixth group of locking nuts and screwed on the corresponding hollow pipes; the steel wire rope can be loosened in the using process to generate return difference, and the error can be eliminated through the arrangement of the corresponding adjusting device; the motor support is provided with threads, the front nut and the rear nut are used for clamping the hollow pipe with the external threads, and the hollow pipe is connected reliably by adding a tightening torque between the two nuts.

Referring to fig. 2 in conjunction with fig. 1, fig. 2 is a perspective view of the metacarpophalangeal joint transmission assembly and the proximal joint transmission assembly of fig. 1; the proximal joint transmission assembly comprises a finger middle driving rod 310, a finger middle driving rope wheel 320 and a finger middle connecting rod 330; one end of the drive rod in the finger is rotatably connected with the drive rope wheel in the finger, and the other end of the drive rod in the finger is rotatably connected with a finger-based sliding block connecting block in the metacarpophalangeal joint transmission assembly; one end of the connecting rod in the finger is fixedly connected with the driving rope wheel in the finger, and the other end of the connecting rod in the finger is connected with the middle finger bone through the connecting block of the middle finger bone joint, namely, the other end of the connecting rod in the finger is hinged with the connecting block of the middle finger bone joint, and the connecting block of the middle finger bone joint is fixedly connected with the middle finger bone. One end of the near-end joint transmission component is rotatably connected with the finger base connecting rod, the other end of the near-end joint transmission component is arranged on the middle phalanx, and the near-end joint transmission component can control the flexion and extension movement of the middle phalanx under the driving of the third driving component; the proximal joint transmission part is formed by sequentially connecting a revolute pair, a revolute pair and a revolute pair, and the first revolute pair is connected with the last revolute pair of the metacarpophalangeal joint transmission part and can rotate relatively.

Preferably, a fifth rope tube support 350 and a sixth rope tube support 360 are arranged on the outer side of the middle drive rod 310, and are used for fixing a fifth bowden cable tube and a sixth bowden cable tube respectively.

The metacarpophalangeal joint transmission assembly comprises a first translation assembly 210 arranged on the back of the hand, an inner and outer driving rope wheel 220 rotatably connected with the first translation assembly, a reversing connecting rod 230 fixedly arranged on the inner and outer driving rope wheel, a finger base connecting rod 240 and a second translation assembly 250 arranged on the proximal phalanx; the translation direction of the first translation assembly is perpendicular to the length direction of the fingers, so that the resisting force of the hand in the inward-contraction outward-expansion movement is counteracted conveniently; one end of the finger base connecting rod is connected with the reversing connecting rod, and the other end of the finger base connecting rod is connected with the second translation assembly; the inner and outer driving rope wheels are wound with a first group of steel wire ropes connected with the first driving assembly, and the inner and outer driving rope wheels drive the reversing connecting rod and the finger base connecting rod to control inward and outward movement of hands of a person under the driving of the first driving assembly.

Referring to fig. 3 in conjunction with fig. 2, fig. 3 is a partially exploded schematic view of the metacarpophalangeal joint transmission assembly of fig. 1; a first fixed rope pulley 241 and a second fixed rope pulley 242 are respectively arranged on two sides of the other end of the finger-based connecting rod; two sides of one end of the reversing connecting rod, which is far away from the inner driving rope wheel and the outer driving rope wheel, are provided with a first transition wheel 231 and a second transition wheel 232, a second group of steel wire ropes connected with the second driving assembly respectively bypass the first transition wheel and the second transition wheel to be connected with the first fixed rope wheel and the second fixed rope wheel, and the winding directions of the steel wire ropes on the first transition wheel and the second transition wheel are opposite to each other, so that the driving device can control the inward contraction and outward expansion movement of hands.

The translation direction of the second translation assembly is consistent with the length direction of the fingers; the first fixed rope pulley 241 and the second fixed rope pulley 242 can drive the finger-based connecting rod 240 to control the flexion and extension movement of the proximal phalanx under the driving of the second driving component.

Further, the first translation assembly comprises a slideway support base 211, a palm-side linear slideway 212, a palm-side linear slider 213 and a palm-side slider connecting block 214, wherein the slideway support base is arranged on the palm back through a palm fixing base 260; the palm-side linear slideway is arranged on the slideway supporting base, and the side part of the palm-side linear slideway is provided with a palm-side raised slideway; the palm-side linear sliding block is arranged on the outer side of the palm-side linear slideway, and a palm-side groove matched with the palm-side raised slideway is arranged on the side part of the palm-side linear sliding block; one end of the palm side sliding block connecting block is fixedly connected with the palm side linear sliding block, and the other end of the palm side sliding block connecting block is rotatably connected with the inner and outer driving rope wheels through a bearing.

Further, the second translation assembly comprises a finger-side linear slideway 251, a finger-side linear slider 252 and a finger-base slider connecting block 253, the finger-side linear slideway is fixed on the proximal phalanx through a binding band, and a finger-side convex slideway is arranged at the upper part of the finger-side linear slideway; the finger side linear sliding block is arranged at the upper part of the finger side linear slideway, and the bottom of the finger side linear sliding block is provided with a finger side groove matched with the finger side raised slideway; the finger-based sliding block connecting block is fixedly arranged at the top of the finger-side linear sliding block and is provided with a first connecting through hole and a second connecting through hole so as to respectively fix the first fixed rope pulley and the second fixed rope pulley, and furthermore, bulges which are correspondingly fixed with the first connecting through hole and the second connecting through hole are arranged on the inner sides of the first fixed rope pulley and the second fixed rope pulley so as to be convenient for the fixed clamping of the first fixed rope pulley and the second fixed rope pulley; a bearing is arranged between the first connecting through hole and the second connecting through hole to fix the finger-based connecting rod, and the finger-based connecting rod is rotatably connected with the finger-based sliding block connecting block through the bearing.

The robot also comprises a first rope pipe supporting piece 271, a second rope pipe supporting piece 272, a third rope pipe supporting piece 273 and a fourth rope pipe supporting piece 274, wherein the first rope pipe supporting piece and the second rope pipe supporting piece are fixedly arranged on the palm side sliding block connecting block, and the extension axes of the first rope pipe supporting piece and the second rope pipe supporting piece are coincided with the tangent line of the steel wire rope track of the inner driving rope wheel and the outer driving rope wheel; one end of the first Bowden cable pipe, which is far away from the first motor end driving rope pulley, is fixed on one side, which is far away from the inner driving rope pulley and the outer driving rope pulley, of the first rope pipe supporting piece; one end of the second Bowden cable pipe, which is far away from the first motor end driving rope wheel, fixes one side of the second rope pipe supporting piece, which is far away from the inner driving rope wheel and the outer driving rope wheel.

The third rope pipe supporting piece 273 and the fourth rope pipe supporting piece 274 are fixedly arranged on the reversing connecting rod, and the extension axis of the third rope pipe supporting piece 230 and the extension axis of the fourth rope pipe supporting piece are respectively superposed with the tangent lines of the steel wire rope tracks of the first transition wheel and the second transition wheel; one end of the third Bowden cable pipe, which is far away from the second motor end driving rope pulley, is fixed on one side, which is far away from the first transition wheel, of the third rope pipe supporting piece; one end of the fourth Bowden cable pipe, which is far away from the second motor end driving rope wheel, fixes one side of the fourth rope pipe supporting piece, which is far away from the second transition wheel.

Preferably, the radian of the finger-based link is arranged in line with the flexion direction of the finger.

Preferably, the radiuses of the first transition wheel, the second transition wheel, the first fixed rope wheel and the second fixed rope wheel are the same, so that the equal driving torque can be applied to the two corresponding rotating pairs through the transmission of the steel wire rope.

Preferably, the side of the palm fixing base is provided with a strap fixing part to be fixed to the back of the hand; the binding bands can be adjusted to adapt to the sizes of the hands of different people; similarly, the finger-holding member may be an elastic ring with damping, or a strap.

Referring to fig. 4, a motion diagram of one embodiment of the finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension of the present invention is illustrated; the exoskeleton robot for finger rehabilitation provided by the invention has three active degrees of freedom, can realize independent movement of finger joints, the open-loop link mechanism and the human finger joints form a movement closed chain, can realize self-adaptive alignment of human-computer joints, and adopts a proper link configuration and a rope driving structure to eliminate mechanical stress of the joints. The metacarpophalangeal joint transmission part is formed by sequentially connecting and combining a sliding pair J1-a sliding pair J2-a sliding pair J3-a sliding pair J4-a sliding pair J5, and the driving moment of a first driving component acts on the sliding pair J2 through a first group of steel wire ropes so as to sequentially drive a reversing connecting rod and a finger base connecting rod to realize adduction and abduction of fingers; through a second translation assembly arranged on the proximal phalanx, the finger-side linear slider can be driven to translate on the finger-side linear slideway through the finger-based slider connecting block, namely, a sliding pair J5 generates corresponding motion; when the second driving assembly is driven by the second group of steel wire ropes, the first transition wheel and the second transition wheel act on the first fixed rope wheel and the second fixed rope wheel respectively and further act on the revolute pair J4, so that the bending and stretching motion training of the proximal phalanx is realized; the proximal joint transmission component is formed by sequentially connecting a revolute pair J4, a revolute pair J6 and a revolute pair J7, and the revolute pair J4 is connected with the last revolute pair of the metacarpophalangeal joint transmission part and can rotate relatively.

Referring to fig. 4 and fig. 5 and 6 together, fig. 5 is a schematic diagram of a four-bar linkage motion model of an embodiment of the mid-phalange flexion movement of the present invention, and fig. 6 is a schematic diagram of a motion model of an embodiment of the mid-phalange flexion movement of the finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension of the present invention; the connecting rod A1B is equivalent to a middle finger driving rod, the connecting rod A1C1 is equivalent to a middle finger connecting rod, the connecting rod C1O is equivalent to a middle finger bone, and the connecting rod OB is equivalent to a proximal finger bone; when middle-segment phalanx training is carried out, because the first driving assembly and the second driving assembly are not started, the position of the point B is fixed under the action of the interference force of the finger base connecting rod, the reversing connecting rod and the inner and outer driving rope wheels, namely the point B is fixed on the second translation assembly, and OB in the formed four connecting rods is a fixed connecting rod section; when the drive torque of the third drive assembly is applied to revolute pair J6 at A1, specifically, when the third drive assembly drives revolute pair J6 clockwise, angle A1BO decreases (becomes angle A2BO), the revolute pair at B (i.e., revolute pair J4) rotates counterclockwise, and angle C1OB decreases (becomes angle C2OB), flexion exercise training of the mid-phalange (i.e., segment of connecting rod C1O) can be achieved.

Further, referring to fig. 7 and 8, fig. 7 is a motion diagram of a proximal phalanx flexion and extension embodiment of the finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension of the present invention, and fig. 8 is a motion diagram of a flexion and extension embodiment of the finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension of the present invention; when the second driving assembly acts on the first transition wheel and the second transition wheel through the second group of steel wire ropes, the buckling and stretching movement of the proximal phalanx can be realized through the first fixing rope wheel and the second fixing rope wheel, and the first driving assembly and the third driving assembly are not started at the moment. In the invention, the flexion-extension movement comprises flexion-extension movement of a middle phalange, flexion-extension movement of a proximal phalange and mutual coupling movement between the two; when the driving moment of the third driving assembly is applied to the revolute pair J6, specifically, when the third driving assembly drives the revolute pair J6 to move clockwise, the revolute pair J4 moves anticlockwise, and when the third driving assembly is started in cooperation with the second driving assembly, the flexion motion of the middle phalanx and the proximal phalanx of the finger can be realized respectively, and meanwhile, the motion pair J5, the revolute pair J3 and the revolute pair J7 generate corresponding motions under the constraint of closed-chain kinematics; the clockwise motion of drive revolute pair J6 can be viewed as two parts: one part generates flexion movement of the middle phalanx, and the other part counteracts the coupling movement generated by the metacarpophalangeal joint transmission component part; in the same way, the two rotation by-products generate opposite directions of movement to enable the fingers to perform stretching movement.

Further, with reference to fig. 9, fig. 9 is a schematic motion diagram of an embodiment of the adduction and abduction of the finger rehabilitation exoskeleton robot with adduction and abduction and flexion extension of the present invention; the first driving assembly drives the revolute pair J2 to move anticlockwise (namely the inner and outer driving rope wheels move anticlockwise), and the inner and outer driving rope wheels sequentially drive the reversing connecting rod and the finger base connecting rod to realize outward extending movement of fingers; under the constraint of closed chain kinematics, a sliding pair J1, a sliding pair J3, a sliding pair J5, a sliding pair J4, a sliding pair J6 and a sliding pair J7 generate corresponding motions; note that to eliminate the coupled extension motion of the metacarpophalangeal joint and the proximal joint caused by this motion, revolute pair J6 is now controlled by the third drive assembly to move clockwise to rotate counter-clockwise revolute pair J4; similarly, the revolute pair J2 can perform the opposite movement to perform the finger adduction movement.

Through the structural design of the invention, the finger joints can be controlled to move independently: adduction-abduction and flexion-extension movements of metacarpophalangeal joints and flexion-extension movements of proximal joints; the series connecting rods and the finger bone joints form a closed chain structure, so that the self-adaptive alignment between the human-computer joints can be realized; the moving pair of the metacarpophalangeal joints is directly connected with the fingers to eliminate the force of the mechanism to the fingers along the finger direction, and the same driving torque is applied to the exoskeleton joints through rope transmission to eliminate the mechanical stress of the fingers in the other two orthogonal directions, so that the mechanical stress of the exoskeleton robot for finger rehabilitation to the finger joints can be avoided; the invention reduces the complexity of the structure under the condition of the same multiple degrees of freedom, and simultaneously approaches the actual condition of rehabilitation training under the condition of improving the precision.

Different from the existing exoskeleton robot for finger rehabilitation, the exoskeleton robot for finger rehabilitation only has two groups of driving components arranged on fingers, namely only the middle phalanx and the near phalanx are provided with the driving components and not arranged on the tail phalanx, but the exoskeleton robot for finger rehabilitation can still realize training of the tail phalanx because the motion of human fingers is not completely independent and the motion of the near end joint and the tail end joint on each finger of a human is not completely independent; the movement between the near-end joint (the hinge joint of the middle phalanx and the near-end phalanx) and the tail-end joint (the hinge joint of the tail-end phalanx and the middle phalanx) has a certain coupling relation, so that the finger comprehensive rehabilitation training can be realized only by controlling the movement of the hinge joint of the tail-end phalanx and the middle phalanx and the hinge joint of the middle phalanx and the near-end phalanx.

While the invention has been described with reference to a preferred embodiment, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention, and particularly, features shown in the various embodiments may be combined in any suitable manner without departing from the scope of the invention. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, which are for convenience of description only, and do not indicate or imply that the devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims

1. A finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension functions, which is characterized by comprising a driving assembly, a metacarpophalangeal joint transmission assembly and a proximal joint transmission assembly; the driving assembly comprises a first driving assembly, a second driving assembly and a third driving assembly;

the metacarpophalangeal joint transmission assembly comprises a first translation assembly arranged on the back of a hand, an inner driving rope wheel and an outer driving rope wheel which are rotatably connected with the first translation assembly, a reversing connecting rod fixedly arranged on the inner driving rope wheel and the outer driving rope wheel, a finger base connecting rod and a second translation assembly arranged on a proximal phalanx; the translation direction of the first translation assembly is perpendicular to the length direction of the fingers; a first group of steel wire ropes connected with the first driving assembly are wound on the inner and outer driving rope wheels; one end of the finger base connecting rod is connected with the reversing connecting rod, the other end of the finger base connecting rod is connected with the second translation assembly, and a first fixed rope pulley and a second fixed rope pulley are respectively arranged on two sides of the other end of the finger base connecting rod; a first transition wheel and a second transition wheel are arranged on two sides of one end, away from the inner driving rope wheel and the outer driving rope wheel, of the reversing connecting rod, a second group of steel wire ropes connected with the second driving assembly bypass the first transition wheel to be connected with the first fixed rope wheel, a second group of steel wire ropes connected with the second driving assembly simultaneously bypass the second transition wheel to be connected with the second fixed rope wheel, and the steel wire ropes on the first transition wheel and the second transition wheel are arranged in opposite winding directions; the translation direction of the second translation assembly is consistent with the length direction of the fingers; the inner and outer driving rope wheels drive the reversing connecting rod and the finger base connecting rod to control the inward and outward movement of the hands of a person under the driving of the first driving assembly; the first fixed rope wheel and the second fixed rope wheel can drive the finger-based connecting rod to control the flexion and extension movement of the proximal phalanx under the driving of the second driving component;

2. The finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension functions as claimed in claim 1, wherein said first translation assembly comprises a slideway support base, a palmar linear slideway, a palmar linear slider and a palmar slider connection block, said slideway support base being arranged on the palmar back through a palmar fixed base; the palm-side linear slideway is arranged on the slideway supporting base, and a palm-side raised slideway is arranged at the side part of the palm-side linear slideway; the palm-side linear sliding block is arranged on the outer side of the palm-side linear slideway, and a palm-side groove matched with the palm-side raised slideway is formed in the side part of the palm-side linear sliding block; one end of the palm side sliding block connecting block is fixedly connected with the palm side linear sliding block, and the other end of the palm side sliding block connecting block is rotatably connected with the inner driving rope wheel and the outer driving rope wheel through a bearing.

3. The finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension functions as claimed in claim 1, wherein the second translation assembly comprises a finger-side linear slideway, a finger-side linear slider and a finger-base slider connection block, the finger-side linear slideway is fixed to a proximal phalanx through a binding band, and a finger-side convex slideway is arranged at the upper part of the finger-side linear slideway; the finger side linear sliding block is arranged at the upper part of the finger side linear slideway, and a finger side groove matched with the finger side raised slideway is arranged at the bottom of the finger side linear sliding block; the finger-based sliding block connecting block is fixedly arranged at the top of the finger-side linear sliding block and is provided with a first connecting through hole and a second connecting through hole, and the first connecting through hole and the second connecting through hole are respectively used for fixing the first fixed rope wheel and the second fixed rope wheel; and a bearing is arranged between the first connecting through hole and the second connecting through hole to fix the finger-based connecting rod.

4. The finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension of claim 3, wherein the proximal joint transmission assembly comprises a drive rod in the finger, a drive sheave in the finger, and a link in the finger; one end of the finger center driving rod is rotatably connected with the finger center driving rope wheel, and the other end of the finger center driving rod is rotatably connected with the finger base sliding block connecting block;

5. The finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension of claim 1, wherein the first, second and third drive assemblies are carried by a motor support;

6. The finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension of claim 5, further comprising a first, second, third, fourth, fifth and sixth rope tube support;

7. The finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension as claimed in claim 5, wherein said first, second, third, fourth, fifth and sixth adjustment devices are each provided to said motor mount;

8. The finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension functions as claimed in claim 7, wherein the first hollow tube and the second hollow tube are arranged in parallel, and the extension axes of the first hollow tube and the second hollow tube are arranged to coincide with the tangent of the steel wire track of the first motor-end driving rope pulley;

9. The finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension as claimed in any one of claims 1 to 8, wherein the arc of the finger base link is arranged in line with the flexion direction of the fingers.

10. The finger rehabilitation exoskeleton robot with adduction-abduction and flexion-extension as claimed in any one of claims 1 to 8, wherein the first transition wheel, the second transition wheel, the first fixed sheave and the second fixed sheave are arranged with the same radius.