CN103417360A - Exoskeleton type biofeedback hand function training device - Google Patents

Abstract

The invention discloses an exoskeleton type biofeedback hand function training device. The exoskeleton type biofeedback hand function training device comprises a hand back adhering face plate, driving mechanisms for five fingers and a motor transmission mechanism; the hand back adhering face plate is worn on a hand of a patient; the driving mechanisms for the five fingers are connected with the hand back adhering face plate; the motor transmission mechanism is connected with the hand back adhering face plate; the motor transmission mechanism comprises a linear motor transmission mechanism which drives the driving mechanism for the thumb and a mini-sized continuous current motor transmission mechanism which drives the driving mechanisms for the other four fingers. The exoskeleton type biofeedback hand function training device aims at the unsolved efficient hand dysfunction rehabilitation training machinery in the domestic clinical rehabilitation treatment.

Description

Exoskeleton Biofeedback Hand Function Trainer

technical field

The invention relates to an exoskeleton biofeedback hand function trainer for recovering part or all hand functions of patients with hand dysfunction. the

Background technique

There are currently about 9 million stroke patients in my country, and more than 1.5 million new cases occur each year. About 75% of stroke patients will leave sequelae of varying degrees after onset. Among the many sequelae, the incidence of hemiplegia is the highest. In the rehabilitation of hemiplegia, the recovery of hand function is the most difficult. In the later stage, the patient's hand often forms a flexed half-fist posture due to muscle spasm. Therefore, the rehabilitation of hand function has always been the most important problem for patients, and it is also the most difficult problem for stroke patients. The main skill of hand function rehabilitation is to master the strength of the activity. The early passive movement requires gentleness and slowness, so as not to cause intolerable pain, so as to prevent tendon adhesion and joint stiffness, promote blood circulation, increase joint The stretching effect of the muscles. the

Medical theory and practice have proved that in order to prevent muscle "disuse" atrophy, patients with limb injuries must carry out effective limb training to restore their functions. Due to the dysfunction of the patient's finger itself, the training cannot be completed independently; it needs to be implemented by a nurse or other people with certain nursing knowledge and physical strength, which increases the difficulty of rehabilitation and the cost of nursing. In order to allow patients to carry out rehabilitation training autonomously, it is necessary to make a medical and health care device that helps them recover their motor functions. It is understood that most of the rehabilitation departments of domestic hospitals use medical staff to accompany rehabilitation treatment. Under the premise of wasting a lot of resources, the rehabilitation of patients has not had a significant effect. the

Contents of the invention

Aiming at many defects in the prior art, the present invention provides an exoskeleton type biofeedback hand function trainer. the

An exoskeleton type biofeedback hand function training device provided by the present invention is characterized in that it comprises: a hand back fitting panel worn on the patient's hand; a five-finger driving mechanism connected with the back of the hand fitting panel; The motor transmission mechanism connected to the panel, the motor transmission mechanism includes a linear motor transmission mechanism that drives the thumb mechanism and a micro DC motor transmission mechanism that drives the other four fingers;

The above-mentioned dorsal-fitting panel is a panel that is anatomically fitted to the back of the patient's hand. the

The above-mentioned five finger driving mechanisms are all link mechanisms, wherein the mechanism for driving the thumb is formed by connecting the components fitted with the proximal phalanx of the thumb and the link mechanism; The knuckle phalanx fit components and connecting rods are connected; the five-finger drive mechanism simulates the instantaneous rotation center of the joints of the fingers when grasping, and the rotation center at the joints of the mechanism is the instantaneous rotation center of the simulated real finger joints. the

The above-mentioned linear motor transmission mechanism is composed of a miniature linear motor and its fixing assembly, and a connecting rod between the linear motor and the thumb drive mechanism. the

The above-mentioned four-finger micro-DC motor transmission mechanism is composed of a micro-DC motor and its fixed assembly, a bevel gear transmission mechanism, a three-stage reduction mechanism and a push rod connected with the four-finger drive mechanism. the

Invention function and effect

The present invention realizes synchronous movement of four fingers by using a link mechanism, and realizes synchronous or asynchronous movement of four fingers and thumb by controlling the operation of two motors. On the basis of it, a micro-DC motor drive module is designed, and the weak myoelectric signal proportional control and voice control of the patient's affected limb are mixed to control the micro-DC motor, and the dysfunctional fingers are trained in the way of biofeedback. What the present invention realizes is the realization of the myoelectric/voice hybrid control of the wearable manipulator for hand dysfunction. The multi-joint linkage finger mechanism realizes interphalangeal joint movement under a lightweight structure; surface electromyography signal triggering and dynamic intelligent control realize interactive biofeedback training; voice control provides passive training and realizes interactive motor imagery therapy; healthy side manual touch Synchronous training of bilateral hands in active paralysis and spasm phases. the

Description of drawings

Fig. 1 is the general assembly diagram of the exoskeleton type biofeedback hand function trainer;

Figure 2 is a supplementary drawing of the general assembly drawing of the exoskeleton biofeedback hand function trainer;

Fig. 3 is the structural representation of exoskeleton type biofeedback hand function trainer index finger driving mechanism;

Fig. 4 is the structural schematic diagram of the external drive bevel gear assembly of the DC motor of the exoskeleton type biofeedback hand function trainer;

Fig. 5 is a structural schematic diagram of the external three-stage deceleration mechanism of the DC motor of the exoskeleton type biofeedback hand function trainer;

Fig. 6 is the external schematic diagram of the external three-stage deceleration mechanism of the DC motor of the exoskeleton type biofeedback hand function trainer;

Fig. 7 is a structural schematic diagram of the linear motor and the thumb drive mechanism of the exoskeleton type biofeedback hand function trainer. the

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention. the

As shown in Figures 1 to 7, the exoskeleton-type biofeedback hand function trainer controls the operation of the micro linear motor and the micro DC motor to drive the thumb and quadrupeds through myoelectric signals\voice signals\touching\touching of the patient's healthy hand, etc. The finger mechanism drives the dysfunctional hand movement. Driven by two motors, the exoskeleton biofeedback hand function trainer can drive the patient's dysfunctional hand to realize the grasping function, and can gradually restore some or all of the hand function of the patient. , can effectively reduce the hand symptoms of patients with stroke; the back of the hand panel 01 of the exoskeleton biofeedback hand function training device is designed with reference to the hand size and small sample sampling statistics of GB Chinese adults, which is in line with normal adults The general posture of the human hand, this design can keep the palm of the patient in a normal state and prevent deformity; when wearing the exoskeleton type biofeedback hand function trainer, each finger has a certain distance, and has a certain degree of separation. Refers to the function. the

There are pressure sensors on each finger mechanism and finger bonding surface, and data collection is carried out during the whole process of hand function training for patients, and the transformation of each finger muscle strength of the patient is recorded to form an intuitive curve, which can be used as a reference for doctors to treat The data can be adjusted in real time to get a better training plan. the

Among them, the index finger drive mechanism, middle finger drive mechanism, ring finger drive mechanism and little finger drive mechanism of the four-finger drive mechanism connected to the back of the hand panel 01 are based on the same structural principle; The placement method is shown in Figure 3), and the two finger holders 09 are each attached to the panel 01 by two screws; the finger link assembly 10 is welded to the index finger link assembly 12; the finger link assembly 10 and the finger holder 09 are rotated Connection; index finger proximal phalanx 17 is rotationally connected with finger fixture 09; index finger link assembly 12 is rotationally connected with index finger middle phalanx 21; index finger proximal phalanx 17 is rotationally connected with index finger middle phalanx 21;

Among them, the specific connection method of the DC motor transmission mechanism connected to the back of the hand panel 01 is as follows:

The following is the assembly steps of the mechanism to illustrate its connection method. The gear box assembly 03 (30) is interference fit with the bearing ring 01 (50) and bearing ring 02 (51) at the corresponding positions (as shown in Figure 5). 01 (28) and the bearing ring 01 (50) are also interference fit at the corresponding position; the gearbox assembly 01 (28) is aligned with the edge of the gearbox assembly 02 (29) and then fixed and connected by 3 screws; the transmission bevel gear member 35 Insert the gear shaft end of the bevel gear transmission fixture 26 and make the lower end surface of the bevel gear fit with it; the selected DC motor is put into the DC motor shell 0201 and fixed by the DC motor shell end cover 0202, and the DC motor The shell 0201 and the bevel gear transmission fixture 26 are fixedly connected by three screws; the internal teeth of the bevel gear 34 at the output end are tightly meshed with the output teeth of the DC motor 02, and then the bevel gear at the output end is axially fixed by a screw and a washer; then The bevel gear transmission fixing part closure cover 27 is fixed with the bevel gear transmission fixing part 26 with two screws, and the optical axis end of the transmission bevel gear member 35 inserted into the bevel gear transmission fixing part 26 just abuts on the bevel gear transmission fixing part to close A counterbore on the cover 27 restricts the axial movement of the transmission bevel gear member 35 under the premise of free rotation; align the bevel gear transmission fixture 26 with the two assembly screw holes of the gearbox assembly 03 (30) It is fixedly connected by two screws; put the first-stage transmission gear set 36, the second-stage transmission gear set 37 and the third-stage transmission gear set 38 into the corresponding bearing rings according to the method shown in Figure 5, and then put the first-stage transmission gear set 36 , the other shaft end of the second-stage transmission gear set 37 and the third-stage transmission gear set 38 is inserted into the corresponding bearing ring in the gearbox assembly 01 (28), and then the gearbox assembly 02 (29) and the gearbox assembly are connected by 3 screws. Component 03 (30) is fixedly connected; insert the gear inward push rod 33 into the hole of the three-stage transmission gear set 38, then put the two long and short pipe fittings 39, 40 on both sides of the gear inward push rod 33, and put the two Two four-finger push rods 31 are sleeved on both sides of the gear inward push rod 33 and are axially fixed by two nuts; thus the assembly of the DC motor 02 transmission mechanism is completed;

The transmission of the DC motor 02 is that the output bevel gear 34 fixed to the output gear shaft rotates synchronously with the DC motor 02, the rotation of the output bevel gear 34 drives the transmission bevel gear member 35 meshed with it to rotate, and the transmission bevel gear member 35 rotates through the The gear engagement drives the primary transmission gear set 36 to rotate, and the primary transmission gear set 36 rotates to drive the secondary transmission gear set 37 to rotate through the gear engagement, and the secondary transmission gear set 37 rotates to drive the tertiary transmission gear set 38 to rotate through the gear meshing; The stage transmission gear set 38 rotates and drives the four-finger push rod 31 to rotate around it when the push rod 33 in the gear box moves in an arc through the push rod 33 in the gear box; Rotate connection, the four-finger connecting rod 32 is fixedly connected with the finger connecting rod assembly 10 of the four fingers, so that under the push of the four-finger push rod 31, the finger connecting rod assembly 10 of the four fingers can rotate around its connection with the finger holder 09 shaft rotation;

Since the structure of the four fingers is based on the same principle, the following uses the movement of the index finger as an example to illustrate its movement mechanism. It can be seen from the above-mentioned connection method of the index finger that when the finger link assembly 10 rotates around its axis of rotation with the finger holder 09, the finger holder 09, the weldment of the finger link assembly 10 and the index finger link assembly 12, the middle phalanx of the index finger 21 and the proximal phalanx 17 of the index finger form a four-link structure, and the index finger drive mechanism can perform a movement of simulating the bending of the index finger. the

The connection and motion mechanism of the linear motor 03 are as follows (as shown in Figure 6): the linear motor 03 is inserted into the linear motor fixed shell 04 and is screwed and fixed by the linear motor fixed shell closing cover 05, and the output rod of the linear motor 03 is connected to the linear motor connector 06 threaded connection; the linear motor connector 06 and the thumb push rod 07 are connected in rotation by a bolt, the other end of the thumb push rod 07 is connected in rotation with the thumb connecting rod 08, and the thumb connecting rod 08 and the finger link assembly 10 of the thumb driving mechanism are Fixed connection; finger link assembly 10 and thumb link assembly 11 are welded connections; finger link assembly 10 and finger fixture 09 are rotationally connected, thumb proximal phalanx 16 and thumb proximal phalanx link 25 are rotationally connected, thumb The proximal phalanx link 25 and the thumb link assembly 11 are rotationally connected, and the thumb proximal phalanx 16 is rotationally connected with the finger fixture 09. the

When the output rod of the linear motor 03 is stretched out, the thumb push rod 07 is pushed forward and pushed out, and drives the weldment made of the finger holder 09, the finger link assembly 10 and the thumb link assembly 11, the proximal phalanx 16 of the thumb and the thumb The four-bar linkage movement that proximal phalange link 25 constitutes. the

Claims (3)

1. an exoskeleton-type biofeedback hand faculty training device is characterized in that having:

Be worn on patient's the back of the hand laminating panel on hand,

Five finger actuation mechanisms that are connected with described the back of the hand laminating panel,

The motor transmission mechanism be connected with described the back of the hand laminating panel,

Wherein, described motor transmission mechanism comprises, drives the linear electric motors driver of thumb mechanism

The DC micromotor drive mechanism of structure and all the other four fingers of driving;

Described five finger actuation mechanisms are all linkages, and the mechanism that drives thumb is formed by connecting by assembly and linkage with the laminating of thumb proximal phalanx; All the other four fingers are to be formed by connecting by assembly and connecting rod with four finger proximal phalanxs and middle phalanx laminating; Described five finger actuation mechanism analogs the instantaneous center of rotation in finger joint when grasping, in the center of rotation of the joint of mechanism, be the instantaneous center of rotation of Reality simulation finger-joint.

2. a kind of exoskeleton-type biofeedback hand faculty training device according to claim 1 is characterized in that:

Wherein, described linear electric motors drive mechanism is comprised of the connecting rod of miniature linear and fixation kit and linear electric motors and thumb drives mechanism.

3. a kind of exoskeleton-type biofeedback hand faculty training device according to claim 1 is characterized in that:

Wherein, described DC micromotor drive mechanism is formed with the push rod be connected with four finger driving mechanisms and is formed by DC micromotor and fixation kit thereof, bevel gear transmission, three grades of reducing gears.

Images