CN106074092A - A kind of novel exoskeleton finger healing robot and method of work thereof - Google Patents
A kind of novel exoskeleton finger healing robot and method of work thereof Download PDFInfo
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
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Abstract
一种新型外骨骼手指康复机器人，其特征在于它包括控制单元、电机驱动单元、传动单元和执行单元；其工作方法包括：控制单元输出控制信号、驱动电机动力输入、手指MCP关节运动、手指PIP关节运动和运动参数的调节；其优越性在于：智能化、便携式、可穿戴、康复训练高效、利用手指关节的弯曲伸展动作控制患者的康复运动。
A new type of exoskeleton finger rehabilitation robot is characterized in that it includes a control unit, a motor drive unit, a transmission unit and an execution unit; its working method includes: control unit output control signal, drive motor power input, finger MCP joint movement, finger PIP Adjustment of joint motion and motion parameters; its advantages are: intelligent, portable, wearable, efficient rehabilitation training, using the bending and stretching of finger joints to control the patient's rehabilitation motion.
Description
(一)技术领域：(1) Technical field:
本发明属于机器人领域，尤其是涉及一种新型外骨骼手指康复机器人，主要适用于由于中风疾病引起的手指功能障碍的患者进行康复训练。The invention belongs to the field of robots, and in particular relates to a novel exoskeleton finger rehabilitation robot, which is mainly suitable for rehabilitation training for patients with finger dysfunction caused by stroke.
(二)背景技术：(two) background technology:
脑卒中，也称脑中风，是严重威胁中老年人身体健康的疾病之一，多数情况下可引起偏瘫，该病近年来发病率呈明显的上升趋势。偏瘫患者一侧肢体运动功能丧失，给日常生活带来很大不便。据不完全统计，我国现有的脑中风患者多达500万以上；美国的脑中风患者数量也超过450万。临床上对偏瘫患者的康复绝大多数采用治疗师和患者间一对一治疗的方法。虽然现有的医疗水平可以治愈60-70％的中风患者，但大多数的幸存患者均存在上肢或下肢运动功能缺陷。其中，手是人体中最为精细的机构之一，血管分布错综复杂，细小肌肉遍布全手，导致手部损伤的治疗难度增大，且治疗周期时间长。通常医学上把手指的康复作为上肢康复的关键难题。Cerebral stroke, also known as cerebral apoplexy, is one of the diseases that seriously threaten the health of middle-aged and elderly people. In most cases, it can cause hemiplegia. The incidence of this disease has shown an obvious upward trend in recent years. Hemiplegic patients lose motor function on one side of their limbs, which brings great inconvenience to daily life. According to incomplete statistics, there are more than 5 million stroke patients in my country, and more than 4.5 million stroke patients in the United States. Clinically, most of the rehabilitation of hemiplegia patients adopts one-on-one treatment method between therapist and patient. Although the current medical level can cure 60-70% of stroke patients, most of the surviving patients have upper or lower limb motor function deficits. Among them, the hand is one of the most delicate mechanisms in the human body. The distribution of blood vessels is intricate, and the small muscles are all over the hand, which makes the treatment of hand injuries more difficult and the treatment cycle time is long. Usually the rehabilitation of fingers is regarded as the key problem of upper limb rehabilitation in medicine.
根据科学研究，大脑中枢神经具有可塑性，科学有效的运动方式有助于刺激大脑神经的恢复，这就为运动康复疗法带来了理论基础。目前的运动康复治疗主要是通过康复治疗师用针灸、按摩等方法或者借助一些简易的医疗器械帮助患者恢复运动功能。首先，这使得康复训练对人力和物力的要求比较高，昂贵的医疗费用对患者造成了沉重的经济负担；其次，康复效果主要依靠医疗师的经验和主观判断，缺少客观量化的评价；最后，康复训练过程中，缺少舒适的支撑结构，这使得偏瘫肢体在训练中容易造成二次的伤害。According to scientific research, the central nervous system of the brain has plasticity, and scientific and effective exercise methods can help stimulate the recovery of the brain nerves, which provides a theoretical basis for exercise rehabilitation therapy. The current sports rehabilitation treatment mainly uses acupuncture, massage and other methods by rehabilitation therapists or with the help of some simple medical devices to help patients recover their motor functions. First of all, this makes rehabilitation training require relatively high manpower and material resources, and the expensive medical expenses have caused a heavy economic burden on patients; second, the rehabilitation effect mainly depends on the experience and subjective judgment of medical practitioners, and lacks objective and quantitative evaluation; finally, In the process of rehabilitation training, there is a lack of comfortable support structures, which makes the hemiplegic limbs prone to secondary injuries during training.
在满足人体工学的基础上，外骨骼手指康复机器人为脑中风偏瘫患者提供了一种新型的外“骨骼”，用来帮助患者进行手指康复训练动作，同时，高效传感器的应用使得外骨骼手指康复机器人在辅助患者进行康复训练时更加高效可靠，并为患者康复程度提供了准确可靠的评价方法。目前，市面上的外骨骼手指康复机器人都比较庞大，运输起来比较困难，而且不能应用于家庭里使用。此外，现有的外骨骼手指康复机器人的工作方法多采用提取人体脑电信号或肌电信号的方式控制机器人的方法，但由于脑电信号或肌电信号在提取过程中经常出现偏差导致机器人出现误操作的情况，对患者造成一定的损伤。On the basis of satisfying ergonomics, the exoskeleton finger rehabilitation robot provides a new type of exoskeleton for stroke patients with hemiplegia to help patients perform finger rehabilitation training. At the same time, the application of high-efficiency sensors enables exoskeleton finger rehabilitation Robots are more efficient and reliable when assisting patients in rehabilitation training, and provide an accurate and reliable evaluation method for the degree of rehabilitation of patients. At present, the exoskeleton finger rehabilitation robots on the market are relatively bulky, difficult to transport, and cannot be used at home. In addition, the existing working methods of exoskeleton finger rehabilitation robots mostly adopt the method of controlling the robot by extracting human EEG signals or EMG signals. Misoperation may cause certain damage to the patient.
(三)发明内容：(3) Contents of the invention:
本发明的目的在于提供一种新型外骨骼手指康复机器人及其工作方法，它可以克服现有技术的不足，是一种结构简单，对患者无伤害，操作方便的康复机器人及工作方法，使患者可以随时地进行康复训练以刺激患者大脑运动神经，达到最终恢复其手指运动机能的目的。The purpose of the present invention is to provide a novel exoskeleton finger rehabilitation robot and its working method, which can overcome the deficiencies in the prior art, and is a rehabilitation robot and its working method with simple structure, no harm to the patient, and easy operation, so that the patient Rehabilitation training can be carried out at any time to stimulate the motor nerves of the patient's brain and finally restore the motor function of their fingers.
本发明的技术方案：一种新型外骨骼手指康复机器人，其特征在于它包括控制单元、电机驱动单元、传动单元和执行单元；其中，所述控制单元的输入端接收附在患者健侧手指上的弯曲传感器产生的弯曲信号，其输出端与电机驱动单元的输入端连接；所述传动单元的输入端与电机驱动单元的输出端连接，其输出端与执行单元的输入端连接；所述执行单元的输出端与患者患侧手指接触，通过传递力使患者患侧手指进行动作。The technical solution of the present invention: a new type of exoskeleton finger rehabilitation robot, characterized in that it includes a control unit, a motor drive unit, a transmission unit and an execution unit; wherein, the input end of the control unit is attached to the finger of the healthy side of the patient The bending signal generated by the bending sensor, its output end is connected with the input end of the motor drive unit; the input end of the transmission unit is connected with the output end of the motor drive unit, and its output end is connected with the input end of the execution unit; The output end of the unit is in contact with the finger of the affected side of the patient, and the finger of the affected side of the patient is moved by transmitting force.
所述控制单元包括弯曲传感器、AD(Analog to Digital——模拟数字)转换模块、单片机、LCD(Liquid Crystal Display——液晶显示)数显模块、电机驱动模块；其中，所述弯曲传感器的输入端接收患者健侧手指的弯曲角度信息，其输出端与AD转换模块连接；所述单片机的输入端接收AD转换模块的输出信号，其输出端与电机驱动模块及LCD数显模块的输入端连接。The control unit includes a bending sensor, an AD (Analog to Digital) conversion module, a single-chip microcomputer, an LCD (Liquid Crystal Display) digital display module, and a motor drive module; wherein, the input end of the bending sensor Receive the bending angle information of the patient's finger on the healthy side, and its output end is connected to the AD conversion module; the input end of the single-chip microcomputer receives the output signal of the AD conversion module, and its output end is connected to the input end of the motor drive module and the LCD digital display module.
所述电机驱动单元由电机座、驱动电机和电机驱动轴构成；所述驱动电机的输入端与电机座连接，输出端与电机驱动轴连接；所述驱动电机安装在电机座上；所述驱动电机驱动轴安装在驱动电机上；所述电机座位于手掌背面部位；所述电机驱动轴与驱动电机之间呈过盈配合连接。The motor drive unit is composed of a motor base, a drive motor and a motor drive shaft; the input end of the drive motor is connected to the motor base, and the output end is connected to the motor drive shaft; the drive motor is installed on the motor base; the drive The motor drive shaft is installed on the drive motor; the motor base is located at the back of the palm; the motor drive shaft and the drive motor are connected in an interference fit.
所述驱动电机是步进驱动电机，且安装在手掌背部，减小了整体机器人的尺寸。The driving motor is a stepping driving motor, and is installed on the back of the palm, which reduces the size of the whole robot.
所述驱动电机采用欠驱动方式，以实现对手指MCP(Metacarpophalangeal——掌指)关节、手指PIP(Proximal interphalangeal——近端指间)关节和DIP(DistalInterphalangeal——远端指间)关节的弯曲和伸展运动。The driving motor adopts an under-driven mode to realize the bending of the MCP (Metacarpophalangeal—metacarpophalangeal) joints of the fingers, the PIP (Proximal interphalangeal—proximal interphalangeal) joints of the fingers and the DIP (Distal Interphalangeal—distal interphalangeal) joints of the fingers and stretching exercises.
所述传动单元是由传动丝绳、转动轴I、连杆I、中关节座、齿轮I、齿轮II、转动轴II、连杆II和端点支撑座构成；所述执行单元是由手指MCP关节、手指PIP关节、手指MCP关节连接开槽及手指PIP关节连接开槽构成；其中，所述转动轴I与电机驱动轴通过传动丝绳形成微型钢丝绳传动结构；所述转动轴I、连杆I、中关节座与手指MCP关节形成四连杆机构；所述转动轴II、连杆II、端点支撑座与手指PIP关节形成第二个四连杆机构；所述齿轮I和齿轮II形成齿轮传动机构；所述手指MCP关节连接开槽与中关节座固定连接；所述手指PIP关节连接开槽与端点支撑座固定连接。The transmission unit is composed of a transmission wire rope, a rotating shaft I, a connecting rod I, a middle joint seat, a gear I, a gear II, a rotating shaft II, a connecting rod II and an end support seat; the execution unit is composed of a finger MCP joint , finger PIP joint, finger MCP joint connection slot and finger PIP joint connection slot; wherein, the rotating shaft I and the motor drive shaft form a miniature wire rope transmission structure through a transmission wire rope; the rotating shaft I and the connecting rod I 1. The middle joint seat and the finger MCP joint form a four-bar linkage; the rotating shaft II, the connecting rod II, the end support seat and the finger PIP joint form a second four-bar linkage; the gear I and the gear II form a gear transmission Mechanism; the finger MCP joint connection slot is fixedly connected with the middle joint seat; the finger PIP joint connection slot is fixedly connected with the end support seat.
所述外骨骼手指康复机器人采用光敏树脂和硅胶材料。The exoskeleton finger rehabilitation robot adopts photosensitive resin and silica gel materials.
所述外骨骼手指康复机器人采用钢丝绳传动方式，可适用于远距离传动。The exoskeleton finger rehabilitation robot adopts a wire rope transmission mode, which is suitable for long-distance transmission.
所述外骨骼手指康复机器人与患者接触的地方采用弧形设计要求。The place where the exoskeleton finger rehabilitation robot is in contact with the patient adopts arc design requirements.
所述外骨骼手指康复机器人与患者手指接触的地方均有硅胶垫，减小对手指的损伤。Where the exoskeleton finger rehabilitation robot is in contact with the patient's finger, there are silicone pads to reduce damage to the finger.
一种新型外骨骼手指康复机器人的工作方法，其特征在于它包括以下步骤：A working method of a novel exoskeleton finger rehabilitation robot is characterized in that it comprises the following steps:
①电机驱动输入：①Motor drive input:
外骨骼手指康复机器人通过手指MCP关节连接开槽和手指PIP关节连接开槽穿戴在患者的患侧手指上；附在患者健侧手指上的弯曲传感器随着手指弯曲时发出的弯曲角度信号经过AD转换模块传递给单片机，单片机接收到经过AD转换的弯曲角度信号后，输出控制信号给电机驱动模块，电机驱动模块根据单片机输出的控制信号带动驱动电机执行相应的动作；The exoskeleton finger rehabilitation robot is worn on the affected finger of the patient through the joint connection slot of the finger MCP and the joint connection slot of the finger; the bending sensor attached to the finger of the healthy side of the patient passes through the AD along with the bending angle signal sent out when the finger bends. The conversion module is passed to the single-chip microcomputer, and the single-chip microcomputer outputs the control signal to the motor drive module after receiving the AD-converted bending angle signal, and the motor drive module drives the drive motor to perform corresponding actions according to the control signal output by the single-chip microcomputer;
②手指MCP关节运动：②Finger MCP joint movement:
驱动电机转动后，与驱动电机紧密配合连接的电机驱动轴会进行相应的转动，同时，与电机驱动轴连接的两根传动丝绳会带动转动轴I进行相应的转动运动；由于转动轴I、连杆I、中关节座与手指MCP关节形成四连杆机构，当转动轴I转动时，手指MCP关节也就进行相应的转动，从而使得手指MCP关节进行康复训练动作；After the drive motor rotates, the motor drive shaft closely matched with the drive motor will rotate accordingly, and at the same time, the two transmission wire ropes connected with the motor drive shaft will drive the rotation shaft I to perform corresponding rotation movements; The connecting rod 1, the middle joint seat and the finger MCP joint form a four-bar linkage mechanism. When the rotation axis 1 rotates, the finger MCP joint also rotates accordingly, so that the finger MCP joint performs rehabilitation training actions;
③手指PIP关节运动：③Finger PIP joint movement:
当连杆I运动时，会带动齿轮I进行转动，从而带动与齿轮I齿轮啮合的齿轮II转动，齿轮II带动与其固接的转动轴II转动；由于转动轴II、连杆II、端点支撑座与手指PIP关节形成四连杆机构，当转动轴II转动时，手指PIP关节也就进行相应的转动，从而使得手指PIP关节进行康复训练动作；When the connecting rod I moves, it will drive the gear I to rotate, thereby driving the gear II meshed with the gear I to rotate, and the gear II drives the rotating shaft II fixed to it to rotate; because the rotating shaft II, the connecting rod II, and the end support seat It forms a four-bar linkage mechanism with the finger PIP joint. When the rotation axis II rotates, the finger PIP joint also rotates accordingly, so that the finger PIP joint performs rehabilitation training actions;
④运动参数的调节：④Adjustment of motion parameters:
在外骨骼手指康复机器人对患者进行康复训练的过程中，附在患者健侧手指上的弯曲传感器会对患者的运动信息进行实时采集，并经过AD转换模块转换为数字信号传输到单片机，根据患者的运动情况实时调节外骨骼手指康复机器人的运动参数，以针对不同程度的患者制定不同的康复训练方案。In the process of exoskeleton finger rehabilitation robot performing rehabilitation training on patients, the bending sensor attached to the patient's finger on the healthy side will collect the patient's motion information in real time, and convert it into a digital signal through the AD conversion module and transmit it to the microcontroller. According to the patient's The motion conditions adjust the motion parameters of the exoskeleton finger rehabilitation robot in real time to formulate different rehabilitation training programs for patients of different degrees.
本发明的优越性在于：1、采用钢丝绳传动方式，改变以往的外骨骼手指康复机器人的传动方式，实现了远程传动，大大减小了外骨骼手指康复机器人的自身的重量；2、该外骨骼手指康复机器人可实现五个患侧手指的单独动作，大大提高了康复效率；3、外骨骼手指康复机器人主要采用光敏树脂和硅胶材料，在减轻机器人自重的同时，又保证了机器人自身的刚度要求；4、在外骨骼手指康复机器人与患者手指接触的地方应用了硅胶软垫，保护了患者手指，防止患者手指的二次伤害。The advantages of the present invention are as follows: 1. The transmission mode of the exoskeleton finger rehabilitation robot is changed by adopting the wire rope transmission mode, and the remote transmission is realized, which greatly reduces the weight of the exoskeleton finger rehabilitation robot itself; 2. The exoskeleton finger rehabilitation robot The finger rehabilitation robot can realize the individual movements of the five affected fingers, which greatly improves the rehabilitation efficiency; 3. The exoskeleton finger rehabilitation robot mainly uses photosensitive resin and silicone materials, which not only reduces the weight of the robot, but also ensures the rigidity requirements of the robot itself ; 4. Silicone pads are applied where the exoskeleton finger rehabilitation robot contacts the patient's fingers, which protects the patient's fingers and prevents secondary injuries to the patient's fingers.
(四)附图说明：(4) Description of drawings:
图1为本发明所涉一种外骨骼式手指康复机器人的整体结构框图。FIG. 1 is a block diagram of the overall structure of an exoskeleton finger rehabilitation robot according to the present invention.
图2为本发明所涉一种外骨骼式手指康复机器人控制单元部分的连接示意图。Fig. 2 is a schematic connection diagram of the control unit of an exoskeleton finger rehabilitation robot according to the present invention.
图3为本发明所涉一种外骨骼式左手手指康复机器人的左侧结构示意图。Fig. 3 is a schematic diagram of the structure of the left side of an exoskeleton-type left-hand finger rehabilitation robot according to the present invention.
图4为本发明所涉一种外骨骼式左手手指康复机器人的右侧结构示意图。Fig. 4 is a schematic diagram of the structure of the right side of an exoskeleton-type left-hand finger rehabilitation robot according to the present invention.
图5为本发明所涉一种外骨骼式手指康复机器人中传动单元和执行单元的结构示意图。Fig. 5 is a schematic structural diagram of a transmission unit and an execution unit in an exoskeleton finger rehabilitation robot according to the present invention.
其中，1为电机座；2为驱动电机；3为电机驱动轴；4为传动丝绳；5为转动轴I；6为连杆I；7为中关节座；8为手指MCP关节；9为齿轮I；10为齿轮II；11为转动轴II、12为连杆II；13为端点支撑座；14为手指MCP关节连接开槽；15为手指PIP关节；16为手指PIP关节连接开槽。Among them, 1 is the motor base; 2 is the driving motor; 3 is the motor drive shaft; 4 is the transmission wire rope; 5 is the rotating shaft I; 6 is the connecting rod I; 7 is the middle joint seat; Gear I; 10 is gear II; 11 is rotating shaft II, 12 is connecting rod II; 13 is an end support seat; 14 is slotted for finger MCP joint connection; 15 is finger PIP joint; 16 is slotted for finger PIP joint connection.
(五)具体实施方式：(5) Specific implementation methods:
实施例：一种新型外骨骼手指康复机器人(见图1)，其特征在于它包括控制单元、电机驱动单元、传动单元和执行单元；其中，所述控制单元的输入端接收附在患者健侧手指上的弯曲传感器产生的弯曲信号，其输出端与电机驱动单元的输入端连接；所述传动单元的输入端与电机驱动单元的输出端连接，其输出端与执行单元的输入端连接；所述执行单元的输出端与患者患侧手指接触，通过传递力使患者患侧手指进行动作。Embodiment: a novel exoskeleton finger rehabilitation robot (see Fig. 1), is characterized in that it comprises a control unit, a motor drive unit, a transmission unit and an execution unit; The output end of the bending signal generated by the bending sensor on the finger is connected to the input end of the motor drive unit; the input end of the transmission unit is connected to the output end of the motor drive unit, and its output end is connected to the input end of the execution unit; The output end of the execution unit is in contact with the finger of the affected side of the patient, and the finger of the affected side of the patient is moved by transmitting force.
所述控制单元(见图2)包括弯曲传感器、AD转换模块、单片机、LCD数显模块、电机驱动模块；其中，所述弯曲传感器的输入端接收健侧手指的弯曲角度信号，其输出端与AD转换模块连接；所述单片机的输入端接收AD转换模块的输出信号，其输出端与电机驱动模块及LCD数显模块的输入端连接。Described control unit (see Fig. 2) comprises bending sensor, AD conversion module, single-chip microcomputer, LCD digital display module, motor drive module; Wherein, the input terminal of described bending sensor receives the bending angle signal of healthy side finger, and its output terminal The AD conversion module is connected; the input end of the single-chip microcomputer receives the output signal of the AD conversion module, and its output end is connected with the input end of the motor drive module and the LCD digital display module.
所述电机驱动单元(见图3、图4)由电机座1、驱动电机2和电机驱动轴3构成；所述驱动电机的输入端与电机座连接，输出端与电机驱动轴连接；所述驱动电机安装在电机座上；所述驱动电机驱动轴安装在驱动电机上；所述电机座位于手掌背面部位；所述电机驱动轴与驱动电机之间呈过盈配合连接。Described motor drive unit (seeing Fig. 3, Fig. 4) is made of motor base 1, drive motor 2 and motor drive shaft 3; The input end of described drive motor is connected with motor base, and output end is connected with motor drive shaft; The drive motor is installed on the motor base; the drive shaft of the drive motor is installed on the drive motor; the motor base is located at the back of the palm; the drive shaft of the motor is connected with the drive motor by an interference fit.
所述驱动电机是步进驱动电机，且安装在手掌背部，减小了整体机器人的尺寸。The driving motor is a stepping driving motor, and is installed on the back of the palm, which reduces the size of the whole robot.
所述驱动电机采用欠驱动方式，以实现对手指MCP关节、手指PIP关节和DIP关节的弯曲和伸展运动。The driving motor adopts an under-driven mode to realize bending and extending motions of the MCP joints of the fingers, the PIP joints of the fingers and the DIP joints of the fingers.
所述传动单元(见图4、图5)是由传动丝绳4、转动轴I5、连杆I6、中关节座7、齿轮I9、齿轮II10、转动轴II11、连杆II12和端点支撑座13构成；所述执行单元是由手指MCP关节8、手指PIP关节15、手指MCP关节连接开槽14及手指PIP关节连接开槽16构成；其中，所述转动轴I5与电机驱动轴3通过传动丝绳4形成微型钢丝绳传动结构；所述转动轴I5、连杆I6、中关节座7与手指MCP关节8形成四连杆机构；所述转动轴II11、连杆II12、端点支撑座13与手指PIP关节15形成第二个四连杆机构；所述齿轮I9和齿轮II10形成齿轮传动机构；所述手指MCP关节连接开槽14与中关节座7固定连接；所述手指PIP关节连接开槽16与端点支撑座13固定连接。The transmission unit (see Fig. 4 and Fig. 5) is composed of a transmission wire rope 4, a rotating shaft I5, a connecting rod I6, a middle joint seat 7, a gear I9, a gear II10, a rotating shaft II11, a connecting rod II12 and an end support seat 13 Composition; the execution unit is composed of finger MCP joint 8, finger PIP joint 15, finger MCP joint connection slot 14 and finger PIP joint connection slot 16; wherein, the rotating shaft I5 and the motor drive shaft 3 pass through the transmission wire The rope 4 forms a miniature wire rope transmission structure; the rotating shaft I5, the connecting rod I6, the middle joint seat 7 and the finger MCP joint 8 form a four-bar linkage mechanism; the rotating shaft II11, the connecting rod II12, the end support seat 13 and the finger PIP The joint 15 forms a second four-bar linkage mechanism; the gear I9 and the gear II10 form a gear transmission mechanism; the finger MCP joint slot 14 is fixedly connected to the middle joint seat 7; the finger PIP joint slot 16 is connected to The end support seat 13 is fixedly connected.
所述外骨骼手指康复机器人采用光敏树脂和硅胶材料。The exoskeleton finger rehabilitation robot adopts photosensitive resin and silica gel materials.
所述外骨骼手指康复机器人采用钢丝绳传动方式，可适用于远距离传动。The exoskeleton finger rehabilitation robot adopts a wire rope transmission mode, which is suitable for long-distance transmission.
所述外骨骼手指康复机器人与患者接触的地方采用弧形设计要求。The place where the exoskeleton finger rehabilitation robot is in contact with the patient adopts arc design requirements.
所述外骨骼手指康复机器人与患者手指接触的地方均有硅胶垫，减小对手指的损伤。Where the exoskeleton finger rehabilitation robot is in contact with the patient's finger, there are silicone pads to reduce damage to the finger.
一种新型外骨骼手指康复机器人的工作方法，其特征在于它包括以下步骤：A working method of a novel exoskeleton finger rehabilitation robot is characterized in that it comprises the following steps:
①电机驱动输入：①Motor drive input:
外骨骼手指康复机器人通过手指MCP关节连接开槽14和手指PIP关节连接开槽16穿戴在患者的患侧手指上；附在患者健侧手指上的弯曲传感器随着手指弯曲时发出的弯曲角度信号经过AD转换模块传递给单片机，单片机接收到经过AD转换的弯曲角度信号后，输出控制信号给电机驱动模块，电机驱动模块根据单片机输出的控制信号带动驱动电机执行相应的动作；The exoskeleton finger rehabilitation robot is worn on the affected finger of the patient through the joint connection slot 14 of the finger MCP and the joint connection slot 16 of the finger; After the AD conversion module is passed to the single-chip microcomputer, the single-chip microcomputer outputs the control signal to the motor drive module after receiving the AD-converted bending angle signal, and the motor drive module drives the drive motor to perform corresponding actions according to the control signal output by the single-chip microcomputer;
②手指MCP关节运动(见图3、图4、图5)：②Finger MCP joint movement (see Figure 3, Figure 4, Figure 5):
驱动电机转动后，与驱动电机紧密配合连接的驱动电机轴会进行相应的转动，同时，与驱动电机轴连接的两根传动丝绳会带动转动轴Ⅰ5进行相应的转动运动；由于转动轴I5、连杆I6、中关节座7与手指MCP关节8形成四连杆机构，当转动轴I5转动时，手指MCP关节8也就进行相应的转动，从而使得手指MCP关节8进行康复训练动作；After the driving motor rotates, the driving motor shaft closely matched with the driving motor will rotate accordingly, and at the same time, the two transmission wire ropes connected with the driving motor shaft will drive the rotating shaft I5 to perform a corresponding rotating motion; because the rotating shaft I5, The connecting rod 16, the middle joint seat 7 and the finger MCP joint 8 form a four-bar linkage mechanism. When the rotating shaft 15 rotates, the finger MCP joint 8 also rotates accordingly, so that the finger MCP joint 8 performs rehabilitation training actions;
③手指PIP关节运动(见图3、图4、图5)：③Finger PIP joint movement (see Figure 3, Figure 4, Figure 5):
当连杆I6运动时，会带动齿轮I9进行转动，从而带动与齿轮I9齿轮啮合的齿轮II10转动，齿轮II10带动与其固接的转动轴II11转动；由于转动轴II11、连杆II12、端点支撑座13与手指PIP关节15形成四连杆机构，当转动轴II11转动时，手指PIP关节15也就进行相应的转动，从而使得手指PIP关节15进行康复训练动作；When the connecting rod I6 moves, it will drive the gear I9 to rotate, thereby driving the gear II10 meshed with the gear I9 to rotate, and the gear II10 drives the rotating shaft II11 fixedly connected to it to rotate; 13 and the finger PIP joint 15 form a four-bar linkage mechanism. When the rotating shaft II11 rotates, the finger PIP joint 15 also rotates accordingly, so that the finger PIP joint 15 performs rehabilitation training actions;
④运动参数的调节：④Adjustment of motion parameters:
在外骨骼手指康复机器人对患者进行康复训练的过程中，附在患者健侧手指上的弯曲传感器会对患者的运动信息进行实时采集，并经过AD转换模块转换为数字信号传输到单片机，根据患者的运动情况实时调节外骨骼手指康复机器人的运动参数，以针对不同程度的患者制定不同的康复训练方案。In the process of exoskeleton finger rehabilitation robot performing rehabilitation training on patients, the bending sensor attached to the patient's finger on the healthy side will collect the patient's motion information in real time, and convert it into a digital signal through the AD conversion module and transmit it to the microcontroller. According to the patient's The motion conditions adjust the motion parameters of the exoskeleton finger rehabilitation robot in real time to formulate different rehabilitation training programs for patients of different degrees.
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| CN112790947A (en) * | 2021-01-21 | 2021-05-14 | 青岛科技大学 | A wearable multi-degree-of-freedom finger and wrist rehabilitation device |
| CN112755443B (en) * | 2021-03-01 | 2021-09-21 | 河南省中医院（河南中医药大学第二附属医院） | Finger recovery training device for rheumatoid arthritis |
| CN112755443A (en) * | 2021-03-01 | 2021-05-07 | 河南省中医院（河南中医药大学第二附属医院） | Finger recovery training device for rheumatoid arthritis |
| WO2025035658A1 (en) * | 2023-08-14 | 2025-02-20 | 中国科学院深圳先进技术研究院 | Hand exoskeleton for rehabilitation |
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Application publication date: 20161109 |