CN216496395U - Finger rehabilitation robot - Google Patents

Abstract

The utility model discloses a finger rehabilitation robot, which comprises a mechanical arm, a control module, a mode change-over switch, a motor driving module and a control system power module, wherein the motor driving module at one end of the mechanical arm is provided with a first finger joint and a second finger joint, a bending angle sensor is arranged at the joint of the first finger joint and the second finger joint, one end of the second finger joint is provided with a fingertip pressure sensor, the output ends of the bending angle sensor, the fingertip pressure sensor and the mode change-over switch are electrically connected with the input end of an ADC data acquisition module, and the output end of the ADC data acquisition module is electrically connected with the input end of the control module. Multiple modes are set, the problem of singleness of the training mode is effectively solved, and safety is improved by combining program and configuration names of the structure.

Description

Finger rehabilitation robot

Technical Field

The utility model relates to the technical field of robots, in particular to a finger rehabilitation robot.

Background

With the rapid development of modern science and technology, the living standard of people is greatly improved, but the problem of aging of people is accompanied. In the aging population, there are many patients with stroke. Cerebral apoplexy (CVA), also known as stroke, is a general term for a group of acute cerebral circulatory disorders caused by different causes (spasm, obstruction or fragmentation) that can cause a persistent local neurological deficit in the hemispheres or brainstems. Stroke is one of the major causes of damage to the finger nerves. The incidence, disability rate and fatality rate of the cerebral apoplexy are extremely high. Stroke is a sudden disorder of cerebral blood circulation, and the main clinical symptoms of the stroke are the loss of the ability of a patient to control movement with consciousness, such as hemiplegia, facial paralysis, language disorder and the like, and the hemiplegia is the most common symptom of stroke patients. And survey shows that: about 55% -75% of stroke patients leave the problem of limb movement dysfunction, finger movement dysfunction accounts for more than eight of the stroke patients, wherein only about 30% of the stroke patients can completely recover the finger movement function, and the recurrence rate of the stroke patients reaches 25% within two years and 75% within four years. In recent years, with the continuous development of modern rehabilitation technology, although the death rate is greatly reduced, the disability rate is still high, and the recurrence rate is also high.

The rehabilitation robot is one of the important components of the medical robot and is the perfect combination of rehabilitation medicine and related robot technology. The device is an auxiliary device for helping a patient to recover the shape or function of the patient or an organ after trauma or disease, the research content relates to a plurality of disciplines, such as rehabilitation medicine, biomechanics, mechanical engineering, electronic and electrical engineering, computer science, human engineering, robots, control science and the like, and the research has important practical significance. The finger rehabilitation robot is a robot technology, takes clinical rehabilitation medicine as a theoretical basis, completes rehabilitation treatment of patients with finger dyskinesia by assisting or completely replacing doctors, reduces the disability rate of limb dysfunction, and simultaneously has the function of recovering the movement ability of the patients; the living ability and the satisfaction degree of the health care product are improved; the high manual nursing cost is reduced; social resources are saved, and the like.

With the development of scientific technology, the development speed of the finger rehabilitation robot is remarkable. The current situation of hand rehabilitation robots at home and abroad is researched, and the research level at home and abroad has certain gaps, but the gaps are continuously reduced. So far, the research on exoskeleton finger rehabilitation robots at home and abroad has achieved a few achievements, but still has some problems. The following list of several existing problems in the current phase of research:

(1) the portability is low. The driving and executing structure of the rehabilitation robot is too complex, the size is large, the portability is poor, and the safety and the comfort are also to be improved.

(2) The cost is high. The existing finger rehabilitation robots in the market mostly adopt expensive motors and sensors, so that the cost of the finger rehabilitation robot is high, and the finger rehabilitation robot cannot bear the cost at all by ordinary families.

(3) Is bulky. The finger rehabilitation robot is mostly fixed on the base, has large volume, can not be used in a family, can only be used in a hospital or a rehabilitation center, and a patient needs to go to the rehabilitation center regularly to do rehabilitation treatment, thereby reducing the rehabilitation effect.

(4) The safety is poor. In the research results at home and abroad, most exoskeleton finger rehabilitation robots are of pure rigid structures, but the rigid structures are easy to cause secondary damage to patients, and are not beneficial to the development of the robots.

(5) The rehabilitation training movement mode and the training process are single. The rehabilitation training mode is limited to the flexion/extension of the fingers, the realization of abduction/adduction of each finger is lacked, the training process is monotonous and boring, and the initiative of exciting the active movement idea of a patient and participating in training are not facilitated.

(6) The accuracy is not high enough. The mechanical structure and control system of the rehabilitation robot need to be improved, and the parameters such as the angle of the finger joint, the moment of the joint, the speed of the joint and the like of a patient are not accurately controlled in real time in the rehabilitation training process.

In the market, most foreign continuous passive exercise equipment aims at simple rehabilitation training of knee joints, elbow joints and shoulder joints, and relatively less rehabilitation equipment for more complicated finger joints is mainly caused by the complexity of human fingers and palms and the flexibility of human hands. Some devices suitable for finger recovery treatment appear in the domestic market at present, but the price is high, but the devices cannot realize accurate control and cannot adjust the state of a patient in the rehabilitation process.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Aiming at the defects of the prior art, the utility model provides a finger rehabilitation robot, which is designed into a bionic finger mechanical structure manufactured by combining a 3D printing technology and a mechanical structure according to the size of a finger according to the modern rehabilitation medical theory, the bionics theory and the human engineering theory. Multiple modes are set, the problem of singleness of the training mode is effectively solved, and safety is improved by combining program and configuration names of the structure.

(II) technical scheme

In order to realize the purposes of omnibearing angle adjustment and use, electric control rotation, convenient operation and the like, the utility model provides the following technical scheme: the utility model provides a finger rehabilitation robot, includes manipulator, control module, mode change over switch, motor drive module and control system power module, manipulator one end motor drive module installs first knuckle and second knuckle, camber angle sensor is installed to first knuckle and second knuckle junction, fingertip pressure sensor is installed to second knuckle one end, camber angle sensor, fingertip pressure sensor and mode change over switch's output all with ADC data acquisition module's input electric connection, ADC data acquisition module's output and control module's input electric connection, control module's output and motor drive module's input electric connection.

Further optimize this technical scheme, motor drive module comprises motor, transmission shaft, A-frame and tip articulated arm, motor one end articulates on the manipulator, and the motor output passes through the transmission shaft and is articulated with A-frame one end, and the A-frame lower part is articulated with first knuckle upside one end, and the A-frame other end articulates there is the tip articulated arm, and tip articulated arm one end is articulated with second knuckle tip.

Further optimize this technical scheme, control module's output and control system power module and OLED liquid crystal display's input electric connection.

Further optimize this technical scheme, control module's input electric connection has the safety button.

Further optimize this technical scheme, control module adopts the model STM32F103 microprocessor as the master control core.

Further optimizing the technical scheme, the mode selector switch is provided with three modes, namely a passive training mode, an assisted training mode and an active training mode.

(III) advantageous effects

Compared with the prior art, the utility model provides a finger rehabilitation robot, which has the following beneficial effects:

1. the finger rehabilitation robot has mode selection, and can select three modes: passive training, assisted training mode, active training mode. The passive mode is driven by a rehabilitation exercise method mechanically set according to a program, the power-assisted training mode and the active training mode are mainly manually operated, and the sensors, the motor and the exoskeleton are auxiliary training methods.

2. This finger rehabilitation robot has the safe button of transferring the comfortable position of finger promptly, avoids the secondary damage to take place.

3. The finger rehabilitation robot has a display function, displays data during training and is used for assisting rehabilitation treatment.

Drawings

FIG. 1 is a schematic diagram of the system architecture of the present invention;

FIG. 2 is a schematic view of the overall structure and partial electrical installation of the present invention;

FIG. 3 is a schematic drawing of the stretched structure of the present invention;

FIG. 4 is a schematic view of the present invention in a bent configuration;

FIG. 5 is a functional schematic of the power supply circuit of the present invention;

fig. 6 is a circuit diagram of the motor control of the present invention.

In the figure: 1. a manipulator; 2. a first knuckle; 3. a second finger joint; 4. a camber angle sensor; 5. A fingertip pressure sensor; 6. a motor drive module; 601. a motor; 602. a drive shaft; 603. a triangular bracket; 604. an end hinge rod; 7. a control module; 8. a control system power module; 9. an OLED liquid crystal display screen; 10. a safety key; 11. a mode changeover switch; 12. and an ADC data acquisition module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the utility model discloses a finger rehabilitation robot, comprising a manipulator 1, a control module 7, a mode switch 11, a motor driving module 6 and a control system power module 8, wherein the motor driving module 6 at one end of the manipulator 1 is provided with a first finger joint 2 and a second finger joint 3, a bending angle sensor 4 is arranged at the joint of the first finger joint 2 and the second finger joint 3, the bending angle sensor 4 is arranged to be attached to a finger, the stroke of the motor 601 is correspondingly controlled according to the change of the sensor, and then a PID algorithm is assisted, so that accurate control is achieved, one end of the second finger joint 3 is provided with a fingertip pressure sensor 5, the fingertip pressure sensor 5 judges the intention of a user, when the downward pressure of the finger is greater than the normal touch force, the switch is closed downwards, the finger is judged to be adducted inwards, otherwise, when the finger is pressed upwards, the switch can be closed upwards, the outward extending finger is judged, the output ends of the bending angle sensor 4, the fingertip pressure sensor 5 and the mode switching switch 11 are electrically connected with the input end of the ADC data acquisition module 12, the output end of the ADC data acquisition module 12 is electrically connected with the input end of the control module 7, and the output end of the control module 7 is electrically connected with the input end of the motor driving module 6.

Specifically, the motor drive module 6 comprises a motor 601, a transmission shaft 602, a triangular support 603 and an end part hinge rod 604, one end of the motor 601 is hinged on the manipulator 1, the output end of the motor 601 is hinged with one end of the triangular support 603 through the transmission shaft 602, the lower part of the triangular support 603 is hinged with one end of the upper side of the first finger joint 2, the other end of the triangular support 603 is hinged with the end part hinge rod 604, one end of the end part hinge rod 604 is hinged with the end part of the second finger joint 3, the motor 601 of the motor drive module 6 is a servo motor, a closed-loop servo control system is adopted, in order to enable the machine to accurately move to a specified position, a classic three-loop position servo mode is adopted.

Specifically, the output end of the control module 7 is electrically connected with the input ends of the control system power module 8 and the OLED liquid crystal display 9, and the control system power module 8 adopts a 24V direct-current power supply voltage reduction circuit, a filter circuit and a voltage stabilizing circuit to realize the power supply required by the control system power supply 5V and the motor 601 control circuit.

Specifically, the input end of the control module 7 is electrically connected to a safety key 10.

Specifically, the control module 7 adopts a microprocessor of the model STM32F103 as a main control core.

Specifically, the mode switch 11 is provided with three modes, which are a passive training mode, an assisted training mode, and an active training mode. The passive mode is driven by a rehabilitation exercise method mechanically set according to a program, the power-assisted training mode and the active training mode are mainly manually operated, and the sensors, the motor and the exoskeleton are auxiliary training methods. Based on the requirements of clinical finger rehabilitation training contents, three modes are adopted to carry out rehabilitation therapy training on the affected hand, and the finger rehabilitation training device is suitable for patients in different recovery stages.

A passive training mode: the fingers of a patient in the soft paralysis stage can hardly move autonomously, and the passive training mode is not greatly different from a dead hand, and is just suitable for the affected hand at the stage. During the training process, the fingers of the patient are moved by the traction mechanism at a constant speed according to a fixed track in a natural and relaxed state.

A power-assisted training mode: the training mode is suitable for a patient with certain primary autonomous movement ability, and the rehabilitation device mainly plays a role in assisting correction and helps the affected hand to perform stretching exercise training on a correct track. In the training process, the traction mechanism compensates the deviation between the wrong position and the correct position of the affected hand, so that the affected hand moves back to the correct track.

Active training mode: when the motor function of the fingers of the patient is recovered to more than five elements and the autonomous motor ability is further enhanced, the method is more suitable for the active training mode. In the mode, the rehabilitation device does not provide assistance or resistance, and only serves as a monitoring tool for observing and recording the movement posture of the affected hand. In the process, the fingers of the patient move freely.

In addition to the passive training mode, both of the other training modes may be referred to as interactive training modes. In the passive training process, a trainee does not have any intention to actively participate in the passive training process, and the affected hand is driven to move by a traction mechanism; in the other two modes, the trainee shows active willingness and has interactive content with the rehabilitative apparatus.

When the device is used, mainly aiming at a finger rehabilitation machine of a hemiplegic patient, an STM32F103 microprocessor is used as a main control core, and the intention of a user is judged through a fingertip pressure sensor 5, so that the abduction or adduction movement of the exoskeleton is controlled; the bending angle sensor 4 is used for detecting the real-time bending degree of the finger, controlling the bending degree of the exoskeleton according to the bending degree of the finger tip, combining a PID algorithm to realize accurate control, and stopping at any time and any position accurately; the mode switch 11 is used for switching to different rehabilitation exercise modes; when an accident occurs, the safety button 10 can be pressed and the exoskeleton will adjust to the most appropriate finger position according to the curvature sensor.

Referring to fig. 3 and 4, when the fingertip pressure sensor 5 detects the intention of the user, the motor 601 of the motor driving module 6, the transmission shaft 602, the triangular bracket 603 and the end hinge rod 604 cooperate to perform inward contraction and outward expansion correspondingly. Then, after the intention of the user is determined, the exoskeleton machine correspondingly abducts and adduces, the movement is controlled according to the bending angle sensor 4, and data are displayed on the OLED liquid crystal display screen 9, so that a certain reference can be provided for rehabilitation training.

Referring to fig. 6, the control circuit of the motor internal circuit is shown.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, 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, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a recovered robot of finger, includes manipulator (1), control module (7), mode switch (11), motor drive module (6) and control system power module (8), its characterized in that: manipulator (1) one end motor drive module (6) are installed first knuckle (2) and second knuckle (3), camber angle sensor (4) are installed to first knuckle (2) and second knuckle (3) junction, fingertip pressure sensor (5) are installed to second knuckle (3) one end, the output of camber angle sensor (4), fingertip pressure sensor (5) and mode switch (11) all with the input electric connection of ADC data acquisition module (12), the output of ADC data acquisition module (12) and the input electric connection of control module (7), the output of control module (7) and the input electric connection of motor drive module (6).

2. The finger rehabilitation robot according to claim 1, wherein: motor drive module (6) comprises motor (601), transmission shaft (602), A-frame (603) and tip articulated arm (604), motor (601) one end articulates on manipulator (1), and motor (601) output passes through transmission shaft (602) and A-frame (603) one end is articulated, and A-frame (603) lower part is articulated with first finger joint (2) upside one end, and A-frame (603) other end articulates there is tip articulated arm (604), and tip articulated arm (604) one end is articulated with second finger joint (3) tip.

3. The finger rehabilitation robot according to claim 1, wherein; and the output end of the control module (7) is electrically connected with the input ends of the control system power module (8) and the OLED liquid crystal display screen (9).

4. The finger rehabilitation robot according to claim 1, wherein: the input end of the control module (7) is electrically connected with a safety key (10).

5. The finger rehabilitation robot according to claim 1, wherein: and the control module (7) adopts an STM32F103 microprocessor as a main control core.

6. The finger rehabilitation robot according to claim 1, wherein: the mode switch (11) is provided with three modes, namely a passive training mode, an assisted training mode and an active training mode.

Images