CN203089779U - Wearable exoskeleton hand functional rehabilitation training device - Google Patents
Wearable exoskeleton hand functional rehabilitation training device Download PDFInfo
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- CN203089779U CN203089779U CN 201220655225 CN201220655225U CN203089779U CN 203089779 U CN203089779 U CN 203089779U CN 201220655225 CN201220655225 CN 201220655225 CN 201220655225 U CN201220655225 U CN 201220655225U CN 203089779 U CN203089779 U CN 203089779U
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Abstract
The utility model relates to a wearable exoskeleton hand functional rehabilitation training device which belongs to the technical field of rehabilitation engineering. The wearable exoskeleton hand functional rehabilitation training device comprises a four-finger driving mechanism, a thumb driving mechanism, a back supporting plate and a finger mechanism. The hand back supporting plate is fixedly connected with the four-finger driving mechanism; a motor driver is connected with the forefinger through the movement of a gear, so as to drive the movement of the forefinger; four fingers are connected through connecting pieces on the near ends of the four fingers; and the movement of the forefinger drives the movement of other fingers. One side of the back supporting plate is connected with the thumb driving mechanism. According to the wearable exoskeleton hand functional rehabilitation training device, the opposite movement of the thumb and the finger can be completed, and the moving speed of a forefinger mechanism can be set according to the rehabilitation of a patient. Meanwhile, the wearable function of the mechanism can be realized through the connection between wearable gloves and hands. The structure is simple, the weight is light, the operation is convenient, and the wearable exoskeleton hand functional rehabilitation training device can be used for the rehabilitation of the patient in a community or at home.
Description
Technical field
This utility model relates to a kind of human finger that imitates to referring to the Wearable ectoskeleton hand faculty training device of motion.
Background technology
The hands of a pair of health has occupied important status in the middle of people's life, yet when being subjected to outer damage and causing hand generation spasm and other injuries for some old peoples and health, just the life to the patient has caused great difficulty.The treatment difficulty of hand damage simultaneously is very big, and treatment back rehabilitation training is subjected to great limitation.For traditional hand rehabilitation generally all is regularly to carry out adversary's rehabilitation training to hospital by some relatively big hand exercise devices by the patient.
The research of domestic extremity rehabilitation equipment is started late, and that launches research in this field mainly contains Tsing-Hua University, Shanghai Communications University, Fudan University, Harbin Institute of Technology etc.At present, the seven freedom analog of doing evil through another person has designed the extraction of finishing nerve information and is carrying out animal experiment, and the integration of information and the design progress of control circuit are smooth.But present shaped article is difficult to satisfy fully patient's requirement.Range of application only limits to local joint in the upper limb healing equipment, and intelligent degree is not high, wearing property is relatively poor.External repetition training at hemiplegic upper limb, it is MIT-MANUS[8 that first upper-limbs rehabilitation training robot finished in MIT design in 1991], robot is different with general industry, although MIT-MANUS has considered the closely compliance of physics contact of safety, stability and patient in mechanical aspects, do not have wearing.
The utility model content
At many defectives of prior art, the utility model proposes the training aids of a kind of Wearable ectoskeleton healing hand function, it is simple in structure, volume is little, be convenient for carrying, the patient can be stayed at home and community can carry out rehabilitation training whenever and wherever possible, fill domestic defective.
A kind of Wearable ectoskeleton healing hand function training aids that this utility model provides is characterized in that: comprising: the back support plate, and finger mechanism, four refer to driving mechanism, thumb drives mechanism;
The anterior fixedly connected finger bracket of back support plate is used for fixing the hands palm of placing the patient; A top and side of back support plate is installed four and is referred to driving mechanism, be used to drive patient's forefinger and little finger of toe motion, thereby drive the motion of other two fingers, the opposite side of back support plate connects thumb drives mechanism, be used to drive the motion of patient's thumb, what realization and four referred to moves to referring to.
Further, the Wearable ectoskeleton healing hand function training aids that this utility model provides can also have such feature: wherein, four refer to that driving mechanism has: motor, and drive mechanism, gear-box and connecting rod,
Gear-box is fixed on the back support plate,
Motor is installed on the back support plate, comes drive transmission device by the motion that drives the built-up gear in the back support plate upper gear box,
Drive mechanism has: helical gear 1, the rotation of helical gear 2 on the driven gear case inside connecting rod, the gear-box inside connecting rod, pass the gear-box that is fixed on the back support plate, the other end of gear-box inside connecting rod has a pinion, connecting rod simultaneously, helical gear rotation can make pinion rotate, pinion matches with half gear with curved teeth, and half gear with curved teeth matches with the gear-box outer tie rod, thereby moving through of connecting rod drives the motion that belt drives patient's forefinger and little finger of toe.
Further, the Wearable ectoskeleton healing hand function training aids that this utility model provides can also have such feature: wherein, the structure of finger mechanism is: the near-end of four fingers is connected by the curve slide bar with far-end, refers to a connector, and four refer to drive link, power transmission shaft, four refer to drive bar, finger near-end connecting rod, finger tip connecting rod, the finger tip connector refers to a drive link; Four finger brackets are got back two joints of finger by finger near-end and finger tip; The near-end that connector is fixed on four fingers between finger couples together four finger near-ends; Four refer to that drive link transmits the motion of turning cylinder; Power transmission shaft is fixed on the both sides of finger bracket, thereby gear rotates the motion of drive axle, thereby four refer to that move through finger near-end connecting rod, finger tip connecting rod and the finger tip connector driving finger bracket of drive links carry out the bionic movement motion.Patient's finger is dressed below this device, carries out reconditioning by the drive of fingerboard.
Further, the Wearable ectoskeleton healing hand function training aids that this utility model provides can also have such feature: wherein, thumb drives mechanism comprises: linear electric motors, thumb fixing plate, the linear electric motors fixed mount, clutch and linkage, linear electric motors are installed on the thumb fixing plate, fix by two linear electric motors fixed mounts, and come drive link mechanism by a clutch; Linkage comprises push rod, the push rod gangbar, and thumb, the thumb link, the motion of motor-driven push rod, thus the motion of promotion push rod gangbar drives the motion of thumb, and thumb links to each other with the push rod gangbar by the thumb link, links to each other with patient's thumb simultaneously.The motion of thumb can only realize with four refer to referring to motion.
Utility model effect and effect
Back support plate fixedly connected four refers to driving mechanism, and motor-driven connects forefinger by the motion of gear, drives the motion of forefinger, and four refer to refer to that by four the connector on the near-end connects, and is driven the motion of other fingers by the motion of forefinger.One side of back support plate connects thumb drives mechanism, and the training aids of this Wearable ectoskeleton healing hand function can be finished moving to referring to of thumb and forefinger, and forefinger motion of mechanism speed can be set according to patient's self rehabilitation situation.The wearable function of this mechanism can be by dressing the glove realization that is connected with hand simultaneously.This utility model is simple in structure, and is light, easy to operate, can independently carry out rehabilitation training in community and family for the patient.In sum, the Wearable ectoskeleton healing hand function training aids that this utility model provides has: four refer to driving mechanism, thumb drives mechanism, back support plate and finger mechanism.Hand
Description of drawings
The Wearable ectoskeleton healing hand function training aids structural representation in an embodiment that Fig. 1 relates to for this utility model;
The back support board mount structural representation in an embodiment that Fig. 2 relates to for this utility model;
The motor mechanism structural representation in an embodiment that Fig. 3 relates to for this utility model;
The four charge system mechanism structural representations in an embodiment that Fig. 4 relates to for this utility model;
The thumb controlling organization structural representation in an embodiment that Fig. 5 relates to for this utility model.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and embodiment.It should be understood that these embodiment only to be used to this utility model is described and be not used in the restriction scope of the present utility model.
Embodiment
The Wearable ectoskeleton healing hand function training aids structural representation in an embodiment that Fig. 1 relates to for this utility model.
The back support board mount structural representation in an embodiment that Fig. 2 relates to for this utility model.
The motor mechanism structural representation in an embodiment that Fig. 3 relates to for this utility model.
The four charge system mechanism structural representations in an embodiment that Fig. 4 relates to for this utility model.
The thumb controlling organization structural representation in an embodiment that Fig. 5 relates to for this utility model.
Shown in Fig. 1,2,3,4,5, wearable exoskeleton rehabilitation hands training aids in the present embodiment, comprise that back support plate (Fig. 2), back support plate (22) rear are that a collar is fixed on the back support board mount on hand, gear-box of back support plate upper fixed design is used to connect Electric Machine Control.Linear electric motors (32), linear electric motors fixed mount (25), thumb fixed frame (23), forefinger, middle finger, nameless, little finger of toe, forefinger terminal connector, drive bar, connector between finger (16), finger near-end connecting rod (10), finger tip connecting rod (11), finger tip connector (12), drive link between finger (15), four refer to drive link (18), power transmission shaft (19), four refer to drive bar (17), thumb (27), the thumb connecting rod, push rod (29), push rod gangbar (30), back bracket (22), motor (32), gear-box outer tie rod (33), helical gear (34), bar (35) in the gear-box, half gear with curved teeth (36), pinion (37), gear box cover (38).
Functional description is as follows:
1, four refer to training control:
Referring to Fig. 3, Fig. 4, control by muscle signal or sound, control motor (32) drives, motor on the back support plate connects helical gear 1(34), motor (32) driving helical gear 1(34) rotation, helical gear 1(34) the rotation last helical gear 2(29 of rotation meeting driven gear case inside connecting rod (35)), gear-box inside connecting rod (34) passes the gear-box that is fixed on the back support plate, the other end of gear-box inside connecting rod has a pinion (37) simultaneously, connecting rod, helical gear rotation can make pinion rotate, and pinion (37) matches with half gear with curved teeth (36), and half gear with curved teeth (36) matches with gear-box outer tie rod (33), outer tie rod is fixing by two back support board mounts (31).Fifth wheel on the back support plate is connected with power transmission shaft 1,2 on four refer to by conveyer belt, and four refer to drive bar (17) and power transmission shaft 1,2(19) be connected, pass four finger drive links (18).Connector between finger (16) couples together four finger near-ends, the motion four of motor-driven gear and power transmission shaft refers to the motion of drive links, by finger near-end connecting rod (10), refer to a drive link (15), finger tip connecting rod (11) and finger tip connector (12) thus driving finger bracket carries out bionic movement and moves.Thereby drive the motion of four fingers.
2, thumb training control
Referring to Fig. 5, control by electromyographic signal or sound, control thumb fixing plate (23) is gone up linear electric motors (24), because linear electric motors (24) are fixed on the thumb fixing plate (23) by linear electric motors fixed mount (25), therefore linear electric motors maintain static, linear electric motors (24) drive push rod (29) and travel forward, the motion of push rod (29) drives push rod gangbar (30) and moves downward forward, because push rod gangbar (30) is connected with thumb (27) by thumb link (28), so the motion of thumb is with the motion campaign of gangbar.Thumb (27) is connected with thumb fixing plate (23) by thumb fixed mount (28) to be fixed.
The effect of embodiment and effect
This utility model relates to the training aids of a kind of Wearable ectoskeleton healing hand function, belongs to the rehabilitative engineering technology field.It comprises: four refer to driving mechanism, thumb drives mechanism, back support plate and finger mechanism.Hand back support plate fixedly connected four refers to driving mechanism, and motor-driven connects forefinger by the motion of gear, drives the motion of forefinger, and four refer to refer to that by four the connector on the near-end connects, and is driven the motion of other fingers by the motion of forefinger.One side of back support plate connects thumb drives mechanism, and the training aids of this Wearable ectoskeleton healing hand function can be finished moving to referring to of thumb and forefinger, and forefinger motion of mechanism speed can be set according to patient's self rehabilitation situation.The wearable function of this mechanism can be by dressing the glove realization that is connected with hand simultaneously.This utility model is simple in structure, and is light, easy to operate, can independently carry out rehabilitation training in community and family for the patient.
In addition, the control system of this mechanism may adopt myoelectricity control, sound control etc.
Claims (4)
1. Wearable ectoskeleton healing hand function training aids is characterized in that, comprising: the back support plate, and finger mechanism, four refer to driving mechanism and thumb drives mechanism,
The fixedly connected described finger mechanism of the front end of described back support plate is used for fixing the palm of placing the patient,
One side of described back support plate is installed described four and is referred to driving mechanism, is used to drive described patient's forefinger and little finger of toe motion, thereby drives the motion of other two fingers,
The opposite side of described back support plate connects described thumb drives mechanism, is used to drive the motion of described patient's thumb.
2. Wearable ectoskeleton healing hand function according to claim 1 training aids is characterized in that:
Wherein, described four refer to that driving mechanism has: motor, and drive mechanism, gear-box and connecting rod,
Gear-box is fixed on the described back support plate,
Described motor is installed on the described back support plate, comes drive transmission device by the motion that drives the built-up gear in described the above gear-box of back support plate,
Described drive mechanism has: helical gear 1, the rotation of helical gear 2 on the driven gear case inside connecting rod, the gear-box inside connecting rod, pass the described gear-box that is fixed on the back support plate, the other end of described gear-box inside connecting rod has a pinion, connecting rod simultaneously, helical gear rotation can make described pinion rotate, described pinion matches with half gear with curved teeth, and described half gear with curved teeth matches with described gear-box outer tie rod
Thereby moving through of described connecting rod drives the motion that belt drives described forefinger of described patient and described little finger of toe.
3. Wearable ectoskeleton healing hand function according to claim 1 training aids is characterized in that:
Described finger mechanism makes four finger near-ends be connected with four finger tips, and have: refer to a connector, four refer to drive link, power transmission shaft, and four refer to drive bar, finger near-end connecting rod, the finger tip connecting rod, the finger tip connector refers to a drive link;
Described finger bracket is positioned at back two joints that described finger near-end and described finger tip are got finger,
The near-end that connector is fixed on described four fingers between described finger couples together described four finger near-ends,
Described four refer to the motion that drive link transmits described power transmission shaft,
Described power transmission shaft is fixed on the both sides of described finger bracket, thereby drives described power transmission shaft motion by described gear rotation,
Described four refer to that thereby move through described finger near-end connecting rod, described finger tip connecting rod and the described finger tip connector of drive links drive described finger bracket and carry out bionic movement.
4. Wearable ectoskeleton healing hand function according to claim 1 training aids is characterized in that:
Wherein, described thumb drives mechanism comprises: linear electric motors, and thumb fixing plate, the linear electric motors fixed mount, clutch and linkage,
Described linear electric motors are installed on the thumb fixing plate, and fix by two described linear electric motors fixed mounts, and come drive link mechanism by a described clutch,
Described linkage comprises push rod, the push rod gangbar, and thumb, the thumb link,
The motion of the described push rod of described motor-driven, thus the motion that promotes described push rod gangbar drives the motion of described thumb, and described thumb links to each other with described push rod gangbar by described thumb link, links to each other with patient's described thumb simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220655225 CN203089779U (en) | 2012-12-02 | 2012-12-02 | Wearable exoskeleton hand functional rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220655225 CN203089779U (en) | 2012-12-02 | 2012-12-02 | Wearable exoskeleton hand functional rehabilitation training device |
Publications (1)
| Publication Number | Publication Date |
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| CN203089779U true CN203089779U (en) | 2013-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220655225 Expired - Fee Related CN203089779U (en) | 2012-12-02 | 2012-12-02 | Wearable exoskeleton hand functional rehabilitation training device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103417355A (en) * | 2012-12-02 | 2013-12-04 | 上海理工大学 | Wearable exoskeleton hand function rehabilitation trainer |
| CN103750977A (en) * | 2014-01-03 | 2014-04-30 | 哈尔滨工业大学 | Exoskeleton-type hand function rehabilitation robot |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN106232063A (en) * | 2014-04-21 | 2016-12-14 | 韩国技术教育大学产学协力团 | Ectoskeleton type glove |
| CN106913447A (en) * | 2017-02-27 | 2017-07-04 | 河北工业大学 | A kind of drive lacking type exoskeleton rehabilitation manipulator |
| WO2019033305A1 (en) * | 2017-08-16 | 2019-02-21 | 深圳市八指科技有限公司 | Portable puzzle-assisted anti-dementia rehabilitation device |
| CN109498373A (en) * | 2019-01-17 | 2019-03-22 | 中山大学 | Wearable hand healing robot |
| CN109938963A (en) * | 2019-03-15 | 2019-06-28 | 杭州电子科技大学 | Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function |
| CN110151493A (en) * | 2019-06-24 | 2019-08-23 | 深圳睿瀚医疗科技有限公司 | The five fingers linkage grasps manipulator |
| CN110711110A (en) * | 2019-09-26 | 2020-01-21 | 河海大学常州校区 | Push-down under-actuated finger rehabilitation training device |
| CN110916972A (en) * | 2019-11-29 | 2020-03-27 | 山东大学 | Exoskeleton hand rehabilitation training device |
| CN114557858A (en) * | 2022-02-23 | 2022-05-31 | 南京邮电大学 | Hemiplegia patient sitting position upper limbs trainer |
-
2012
- 2012-12-02 CN CN 201220655225 patent/CN203089779U/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103417355B (en) * | 2012-12-02 | 2015-03-11 | 上海理工大学 | Wearable exoskeleton hand function rehabilitation trainer |
| CN103417355A (en) * | 2012-12-02 | 2013-12-04 | 上海理工大学 | Wearable exoskeleton hand function rehabilitation trainer |
| CN103750977A (en) * | 2014-01-03 | 2014-04-30 | 哈尔滨工业大学 | Exoskeleton-type hand function rehabilitation robot |
| CN106232063B (en) * | 2014-04-21 | 2019-01-04 | 韩国技术教育大学产学协力团 | Ectoskeleton type gloves |
| CN106232063A (en) * | 2014-04-21 | 2016-12-14 | 韩国技术教育大学产学协力团 | Ectoskeleton type glove |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN105796283B (en) * | 2016-03-01 | 2017-11-21 | 哈尔滨工程大学 | A kind of ectoskeleton hand device for healing and training |
| CN106913447B (en) * | 2017-02-27 | 2019-05-03 | 河北工业大学 | A kind of drive lacking type exoskeleton rehabilitation manipulator |
| CN106913447A (en) * | 2017-02-27 | 2017-07-04 | 河北工业大学 | A kind of drive lacking type exoskeleton rehabilitation manipulator |
| WO2019033305A1 (en) * | 2017-08-16 | 2019-02-21 | 深圳市八指科技有限公司 | Portable puzzle-assisted anti-dementia rehabilitation device |
| CN109498373A (en) * | 2019-01-17 | 2019-03-22 | 中山大学 | Wearable hand healing robot |
| CN109498373B (en) * | 2019-01-17 | 2020-04-03 | 中山大学 | Wearable hand rehabilitation robot |
| CN109938963A (en) * | 2019-03-15 | 2019-06-28 | 杭州电子科技大学 | Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function |
| CN110151493A (en) * | 2019-06-24 | 2019-08-23 | 深圳睿瀚医疗科技有限公司 | The five fingers linkage grasps manipulator |
| CN110151493B (en) * | 2019-06-24 | 2024-01-19 | 深圳睿瀚医疗科技有限公司 | Five-finger linkage grasping manipulator |
| CN110711110A (en) * | 2019-09-26 | 2020-01-21 | 河海大学常州校区 | Push-down under-actuated finger rehabilitation training device |
| CN110711110B (en) * | 2019-09-26 | 2022-02-22 | 河海大学常州校区 | Push-down under-actuated finger rehabilitation training device |
| CN110916972A (en) * | 2019-11-29 | 2020-03-27 | 山东大学 | Exoskeleton hand rehabilitation training device |
| CN114557858A (en) * | 2022-02-23 | 2022-05-31 | 南京邮电大学 | Hemiplegia patient sitting position upper limbs trainer |
| CN114557858B (en) * | 2022-02-23 | 2024-02-09 | 南京邮电大学 | Upper limb training device for sitting position of hemiplegia patient |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130731 Termination date: 20131202 |