CN202235783U - Myoelectric prosthetic hand for rehabilitation training of patient suffering from hand dysfunction - Google Patents

Abstract

A myoelectric prosthetic hand used for rehabilitation training for patients with hand dysfunction. The mechanical prosthetic hand is driven by a micro DC motor through a gear transmission mechanism to assist the fingers of the patient's hand movement. It is characterized in that two myoelectric signal acquisition electrodes are set to be attached to the active area of the patient's arm to collect the myoelectric signals representing the opening and closing of the fingers respectively, and the two myoelectric signals are input to a device including The control module including the single-chip microcomputer and the motor drive circuit, the single-chip microcomputer outputs the opening and closing signal of the prosthetic hand, drives the micro DC motor to rotate forward or reverse through the motor drive circuit, and closes or opens the prosthetic hand through the gear transmission mechanism, thereby driving the patient's hand Do opening and closing movements.

Description

Myoelectric prosthetic hand for rehabilitation training of patients with hand dysfunction

technical field

The utility model relates to a prosthetic manipulator designed based on the principle of myoelectric signals, in particular to a myoelectric prosthetic hand used for rehabilitation training of patients with hand dysfunction caused by stroke and other diseases, which belongs to signal acquisition and processing related to manipulators, computers, Motor control and other technical fields.

Background technique

Although myoelectrically controlled prosthetic hands have appeared for many years, basically all myoelectric prosthetic hands are used as a substitute for the missing arm of the disabled to compensate for the missing hand function of the disabled. No myoelectric prosthetic hand is used for diseases such as stroke Hand rehabilitation training for patients with hand dysfunction. In the early stage of rehabilitation training for patients with hand dysfunction, the patient is still unable to control the hand movement autonomously, and needs external force to assist the hand movement. At present, there is no such device to help the patient carry out independent special rehabilitation training. Regarding the hand dysfunction patient How to use myoelectric signals to control myoelectric prosthetic hands and carry out autonomous rehabilitation training on oneself is still a blank.

Contents of the invention

The utility model proposes a myoelectric prosthetic hand for autonomous rehabilitation training of patients with hand dysfunction caused by stroke and other diseases, so that after the patient wears the prosthetic hand, the opening and closing of the prosthetic hand can be controlled by self-consciousness, and the opening and closing of the prosthetic hand can drive The movement of the hand, so as to assist the movement of the hand with the help of the external force of the artificial hand, and can carry out independent rehabilitation training for the hand of the hand.

In order to achieve the above object, the utility model adopts the following technical solutions:

A myoelectric prosthetic hand for rehabilitation training of patients with hand dysfunction, comprising a mechanical prosthetic hand, a control module and a myoelectric signal acquisition electrode, the signal of the myoelectric signal acquisition electrode is transmitted to the control module, and the control module outputs control signals to the mechanical prosthesis;

The control module includes a single-chip microcomputer and a motor drive circuit, the signal input end of the single-chip microcomputer is connected to the electromyographic signal acquisition electrode, and the control signal output end of the single-chip microcomputer is connected to the signal input end of the motor drive circuit;

The mechanical prosthetic hand includes a housing, a motor, short fingers and long fingers; the motor is arranged in the housing; the roots of the short fingers and the long fingers are all arranged in the housing and are rotatably connected with the housing;

The short finger is provided with a thumb connection device connected with the user's thumb, and the long finger is provided with a long finger connection device connected with the user's other fingers;

The root of the short finger is provided with a short finger root gear, the root of the long finger is provided with a long finger root gear, and the short finger root gear and the long finger root gear mesh with each other;

The rotor of the motor is provided with a motor gear, and the motor gear is connected to drive any one of the root gear of the short finger or the root gear of the long finger;

The drive output end of the motor drive circuit is connected to the motor.

As a further improvement, it also includes a transmission gear; the transmission gear includes a first gear and a second gear that are coaxially connected and rotated at the same time, the first gear meshes with the motor gear, and the second gear and any of the short finger root gear or the long finger root gear One-to-one meshing; the number of teeth of the first gear is greater than the number of teeth of the second gear.

As preferably, the transmission ratio of the motor gear and the first gear meshing transmission is 4:1; the transmission ratio of the second gear and any one of the short finger root gear or the long finger root gear is 10:1; The transmission ratio of the gear and the root gear of the long finger meshing with each other is 1:1.

Both the thumb link and the long finger link are rings.

The principle description of this technical solution is as follows:

The mechanical prosthetic hand is driven by a micro DC motor through a gear transmission mechanism to assist the fingers of the patient's hand movement. It is characterized in that two electromyographic signal acquisition electrodes are set to be attached to the active area of the patient's arm to collect electromyographic signals representing finger opening and closing respectively, and the two electromyographic signals are input to a device including The control module including the single-chip microcomputer and the motor drive circuit, the single-chip microcomputer outputs the opening and closing signal of the artificial hand, drives the micro DC motor to rotate forward or reverse through the motor drive circuit, and closes or opens the artificial hand through the gear transmission mechanism, thereby driving the patient's hand Do opening and closing movements.

The utility model has the following advantages:

The utility model adopts the myoelectric prosthetic hand for the autonomous rehabilitation training of patients with hand dysfunction, and realizes the innovation of the traditional rehabilitation training method. The patient only needs to wear the myoelectric prosthetic hand, and attach the myoelectric signal acquisition motor to the corresponding position of the arm, and follow the normal habit to send out the hand movement awareness, and the myoelectric signal acquisition electrode will send the muscle that reflects the hand movement awareness The electrical signal is collected and submitted to the single-chip microcomputer for processing, and the single-chip microcomputer sends a corresponding motor drive signal to drive the artificial hand to open and close, thereby driving the patient's hand to move. Patients can carry out hand rehabilitation training with the assistance of external force without the help of others, which brings great convenience to medical staff and family members. The training is more effective, can better play the role of rehabilitation training, and can help patients recover their hand autonomous movement ability as soon as possible and return to normal life.

Description of drawings

Fig. 1 is a schematic diagram of the planar transmission structure of the mechanical prosthetic hand;

Fig. 2 is the three-dimensional structure schematic diagram of this technical solution;

Fig. 3 is a functional block diagram of the technical solution.

In the figure, electromyographic signal acquisition electrode 1, control module 2, motor 3, motor gear 4, first gear 5, second gear 6, short finger root gear 7, long finger root gear 8, short finger 9, long finger 10 , mechanical prosthetic hand 11, finger ring 12.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is further described:

A myoelectric prosthetic hand for rehabilitation training of patients with hand dysfunction, comprising a mechanical prosthetic hand, a control module and a myoelectric signal acquisition electrode, the signal of the myoelectric signal acquisition electrode is transmitted to the control module, and the control module outputs control signals to the mechanical prosthesis; The control module includes a single-chip microcomputer and a motor drive circuit, the signal input end of the single-chip microcomputer is connected to the electromyographic signal acquisition electrode, and the control signal output end of the single-chip microcomputer is connected to the signal input end of the motor drive circuit; the mechanical prosthetic hand includes a shell, a motor, a short finger and the long finger; the motor is located in the housing; the roots of the short finger and the long finger are located in the housing and are connected to the housing in rotation; the short finger is provided with a thumb connection device connected with the thumb of the user, and the long finger The finger is provided with a long finger connection device connected with other fingers of the user; the root of the short finger is provided with a short finger root gear, and the root of the long finger is provided with a long finger root gear, and the short finger root gear and the long finger root gear are mutually connected. meshing; the rotor of the motor is provided with a motor gear, and the motor gear is connected to drive any one of the root gear of the short finger or the root gear of the long finger; the drive output end of the motor drive circuit is connected to the motor. As a further improvement, it also includes a transmission gear; the transmission gear includes a first gear and a second gear that are coaxially connected and rotated at the same time, the first gear meshes with the motor gear, and the second gear and any of the short finger root gear or the long finger root gear One-to-one meshing; the number of teeth of the first gear is greater than the number of teeth of the second gear. As preferably, the transmission ratio of the motor gear and the first gear meshing transmission is 4:1; the transmission ratio of the second gear and any one of the short finger root gear or the long finger root gear is 10:1; The transmission ratio of the gear and the root gear of the long finger meshing with each other is 1:1. Both the thumb link and the long finger link are rings.

The description of this embodiment is as follows:

As shown in Figure 1 (in the figure, the mechanical prosthetic hand only draws two fingers for driving the patient's fingers), the two myoelectric signal acquisition electrodes are connected to the myoelectric prosthetic hand control module at the root of the prosthetic hand, and the motor of the myoelectric prosthetic hand control module The drive signal line is connected to the micro-DC motor on the mechanical prosthetic hand, the motor gear installed on the output shaft (rotor) of the micro-DC motor meshes with the first gear for transmission, and the transmission ratio is 4:1, which plays the role of deceleration and force increase; The second gear coaxial with the gear meshes with the root gear of the short finger, and the transmission ratio is 10:1, which also plays the role of deceleration and increasing force. The gears rotate synchronously. Similarly, the shaft of the root gear of the long finger and the long finger are also fixedly connected by keys, the gears at the root of the long finger and the long finger rotate synchronously, the gear at the root of the short finger meshes with the gear at the root of the long finger, and the transmission ratio is 1:1. When the fingers are turned, they are turned in the opposite direction at the same time, so as to achieve the effect of finger opening and closing.

As shown in Figure 2 (the mechanical prosthetic hand in the figure is suitable for the left hand to wear), insert the five fingers into the ring 12 respectively according to the direction of the arrow in the figure, and fix the root of the manipulator with the wrist. (i.e. long fingers) movement will drive the patient's fingers to move.

As shown in Figure 3, after the myoelectric signal acquisition electrode collects the myoelectric signal, the signal is provided to the myoelectric prosthetic hand control module to judge the patient's movement intention, and send a corresponding motor drive signal to drive the opening of the mechanical prosthesis And closed, when the mechanical prosthetic hand is closed, it will drive the patient's hand worn on the prosthetic hand to move.

Claims (4)

1. a kind of myoelectric prosthetic hand that hand dysfunction patient rehabilitation training is used, it is characterized in that: comprise mechanical prosthetic hand, control module and myoelectric signal acquisition electrode, the signal incoming control module of myoelectric signal acquisition electrode, control module output control Signal to the mechanical prosthesis; The control module includes a single-chip microcomputer and a motor drive circuit, the signal input end of the single-chip microcomputer is connected to the electromyographic signal acquisition electrode, and the control signal output end of the single-chip microcomputer is connected to the signal input end of the motor drive circuit; The mechanical prosthetic hand includes a housing, a motor, short fingers and long fingers; the motor is arranged in the housing; the roots of the short fingers and the long fingers are all arranged in the housing and are rotatably connected with the housing; The short finger is provided with a thumb connection device connected with the user's thumb, and the long finger is provided with a long finger connection device connected with the user's other fingers; The root of the short finger is provided with a short finger root gear, the root of the long finger is provided with a long finger root gear, and the short finger root gear and the long finger root gear mesh with each other; The rotor of the motor is provided with a motor gear, and the motor gear is connected to drive any one of the root gear of the short finger or the root gear of the long finger; The drive output end of the motor drive circuit is connected to the motor. 2. The myoelectric prosthetic hand for hand dysfunction patient rehabilitation training according to claim 1 is characterized in that comprising a transmission gear; the transmission gear comprises a first gear and a second gear coaxially connected to rotate simultaneously, the first gear and the second gear The motor gear meshes, and the second gear meshes with any one of the root gear of the short finger or the root gear of the long finger; The number of teeth of the first gear is greater than the number of teeth of the second gear. 3. The myoelectric prosthetic hand for hand dysfunction patient rehabilitation training according to claim 2 is characterized in that the transmission ratio of the motor gear and the first gear meshing transmission is 4: 1; the second gear and the short finger root gear or The transmission ratio of any meshing transmission of the long-finger root gear is 10:1; the transmission ratio of the short-finger root gear and the long-finger root gear is 1:1. 4. The myoelectric prosthetic hand for rehabilitation training of patients with hand dysfunction according to claim 1, characterized in that both the thumb connecting device and the long finger connecting device are rings.

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