CN109953868B - Wrist torsional pendulum power-assisted rehabilitation device - Google Patents

Abstract

The invention relates to a medical rehabilitation instrument, in particular to a wrist torsional pendulum power-assisted rehabilitation device which comprises a wrist palmar flexion/dorsiflexion movement assembly, a forearm internal rotation/external rotation movement assembly, a forearm fixing assembly, a base and a lasso driving unit assembly, wherein the wrist palmar flexion/dorsiflexion movement assembly is connected with the forearm internal rotation/external rotation movement assembly, the forearm internal rotation/external rotation movement assembly is connected with the forearm fixing assembly, the base is connected with the forearm internal rotation/external rotation movement assembly, and the lasso driving unit assembly provides driving force for a wearable wrist torsional pendulum power-assisted rehabilitation device. The invention can realize the wrist and forearm composite action power-assisted and rehabilitation exercise under multiple modes, is mainly used for daily composite action power-assisted and rehabilitation training of the wrist and the forearm of stroke and hemiplegic patients, is beneficial to remodelling brain functions and achieves the best power-assisted/rehabilitation effect.

Description

A wrist twisting assist rehabilitation device

technical field

The invention relates to a medical rehabilitation device, in particular to a wrist twisting assist rehabilitation device.

Background technique

With the accelerated pace of life and population aging, and the increased pressure of life, stroke and hemiplegia patients caused by cardiovascular, cerebrovascular and nervous system diseases are increasing year by year, and about 3/4 of the patients have different degrees of nerve damage and functional movement disorders; especially due to Unable to balance the muscle tension of the wrist, resulting in long-term wrist flexion and internal rotation of the affected limb, unable to complete daily movements, seriously affecting the quality of life. Studies have shown that in addition to early surgical treatment and necessary drug treatment for such patients, scientific rehabilitation training plays a very important role in the improvement and recovery of the motor function of the affected limb.

Traditional rehabilitation training involves physical therapists coordinating patients to complete a series of rehabilitation training exercises such as wrist dorsiflexion and external rotation. There are many limitations, such as low rehabilitation efficiency and high labor intensity; the treatment effect is greatly affected by the doctor's experience and level , unable to precisely control training parameters, unable to objectively evaluate rehabilitation training, etc. Therefore, it is particularly important to introduce robots and related technologies into the field of clinical rehabilitation medicine to replace doctors in completing patient rehabilitation training. It can not only perform accurate, continuous and effective rehabilitation training on the wrist, delay muscle atrophy and joint contracture, and improve the patient's wrist movement ability , improve the quality of life of patients, and at the same time, through the sensory system, the human-computer interaction force information, human kinematics and physiological data can be recorded in real time, and the effect of rehabilitation training can be quantitatively evaluated in real time, so as to provide an objective basis for improving and optimizing the rehabilitation plan. However, the currently developed wrist rehabilitation equipment can only complete the passive training of wrist palmar flexion/dorsiflexion, the training method is single and boring, and cannot provide corresponding assistance according to the actual muscle strength level of the patient; Palmar flexion/dorsiflexion, internal rotation/external rotation compound rehabilitation exercises cannot assist patients to achieve complete training movements. During the training process, the patient's cognitive ability is poorly participated, which is not conducive to the remodeling of brain function.

Contents of the invention

The purpose of the present invention is to provide a wrist twisting assist rehabilitation device suitable for assisting wrist daily movements and rehabilitation training of patients with motor dysfunction such as stroke and hemiplegia.

The purpose of the present invention is achieved through the following technical solutions:

The present invention includes wrist flexion/dorsiflexion movement assembly, forearm internal rotation/external rotation movement assembly, forearm fixation assembly, base and lasso drive unit, wherein the forearm fixation assembly is connected to the base in a relatively movable manner, and the The forearm internal rotation/external rotation movement assembly is installed on the base, and has a forearm noose drive wheel responsible for power output. connected to drive the wrist palm flexion/dorsiflex movement assembly to perform internal and external rotation of the forearm; the wrist palm flexion/dorsiflex movement assembly has a wrist lasso drive wheel responsible for power output and the wrist lasso drive wheel The back of the hand is driven by the back of the hand, and the palm of the patient is driven by the back of the hand to flex or dorsiflex; the wrist noose drive wheel and the forearm noose drive wheel are respectively controlled by a noose drive unit, and the wrist twist assists The rehabilitation device has two degrees of freedom of internal rotation/external rotation of the forearm and volar flexion/dorsiflexion of the wrist through the drive control of each lasso drive unit.

Wherein: the wrist volar flexion/dorsiflexion movement assembly includes a soft restraint belt B, a soft restraint band C, a backrest of the hand, a wrist swing plate, a wrist swing support frame, a multidimensional force sensor, and a wrist volar flexion/dorsiflexion Mounting seat, wrist angle encoder, wrist angle encoder support plate, lasso installation positioning block A, lasso installation positioning plate, wrist palm flexion/dorsiflexion limit plate, timing belt, pull wire, wrist lasso Drive wheel and wrist drive wheel shaft, one side of the back of the hand is connected to the soft restraint belt B and the soft restraint belt C respectively, and the other side is connected to the wrist swing plate through a multi-dimensional force sensor; the wrist swing One end of the support frame is rotatably connected to one end of the wrist swing plate, and the other end of the wrist swing plate is linked with the wrist lasso drive wheel and is fixedly connected to the wrist drive wheel shaft. The other end of the swing support frame is rotationally connected with the wrist drive wheel shaft; a lasso installation positioning plate is installed on the wrist swing support frame, and the wrist angle encoder is installed on the noose through the wrist angle encoder support plate. Installed on the positioning plate, the wrist angle encoder is connected to the rotating shaft of the wrist driving wheel through a synchronous belt, and the wrist lasso driving wheel is connected to the lasso driving unit through a pull wire, and the pull wires are respectively installed and positioned by the lasso plate and the lasso installation positioning block A installed on the lasso installation positioning plate pass through; the wrist lasso drive wheel is driven to rotate by the lasso drive unit, and then the wrist swing plate drives the back of the hand against the board to perform palm movement. flexion/dorsiflexion; the wrist swing support frame is connected to the forearm internal rotation/external rotation motion assembly.

A wrist volar flexion/dorsiflexion limiting plate is installed on the wrist swing support frame, one end of the wrist volar flexion/dorsiflexion limit plate is fixed on the wrist swing support frame, and the other end is located at the wrist Below the lasso driving wheel; the wrist lasso driving wheel is provided with wrist palm flexion/dorsiflexion limiting threaded holes and a cable installation hole for fixing the cable, the wrist palmar flexion/dorsiflexion limiting A bolt that rotates with the wrist lasso drive wheel is installed on the threaded hole, and the bolt is limited by the other end of the wrist flexion/dorsiflexion limiting plate during rotation.

A soft former is installed on the side where the back of the hand is in contact with the palm, and the two ends of the soft restraint belt B and the soft restraint C are respectively fixed on the upper and lower edges of the soft former; There is an auxiliary end handle and a soft restraint belt A, the auxiliary end handle is installed at the end of the back of the hand, the two ends of the soft restraint A are fixed on the back of the back of the hand, and the soft restraint is fixed on the back of the hand. B. The end auxiliary handle and the five fingers of the patient perform envelope.

The position of the multi-dimensional force sensor can be adjusted by opening a groove-shaped hole on the back of the hand, and then realize the adjustment of the relative distance between the back of the hand and the swinging plate of the wrist, and lock it on the back of the hand after adjustment Backing plate; the wrist angle encoder support plate realizes the adjustable installation position on the lasso installation positioning plate through the grooved hole opened on it, and then realizes the connection between the wrist angle encoder and the wrist drive wheel shaft. Adjust the distance between centers, and after the adjustment, lock it on the lasso to install the positioning plate; The motion component is connected with the forearm internal rotation/external rotation motion component through the wrist flexion/dorsiflexion mount.

The forearm internal rotation/external rotation movement assembly includes a forearm adapter, an adjustment bolt, a forearm T-shaped piece A, a forearm T-shaped piece B, a forearm swing link A, a forearm fixed link, a forearm swing link B, an inner forearm Rotation/externation support frame, forearm angle encoder mounting frame, forearm angle encoder, forearm drive wheel shaft and forearm lasso drive wheel, one end position of the forearm internal rotation/externation support frame is adjustable on the base On the seat, the other end is fixedly connected with the forearm fixed link and the forearm angle encoder mounting bracket respectively. The forearm adapter is "T" type, and one side of the "T" type is connected with the palm flexion/dorsal of the wrist through the adjustment bolt. The relative distance of the flexion movement components can be adjusted and connected, and after the adjustment, it is locked and positioned. The other side of the "T" shape is rotationally connected with one side of the forearm T-shaped piece B, and the other side of the forearm T-shaped piece B The two ends of the side are rotatably connected with one end of the forearm swing link A and one end of the forearm swing link B respectively, and the other end of the forearm swing link A is rotatably connected with one end of the forearm fixed link, and the forearm swing The other end of the connecting rod B and the forearm lasso drive wheel are respectively fixedly installed on the forearm drive wheel shaft, and the other end of the forearm fixed link is rotatably connected with the forearm drive wheel shaft, and the forearm T-shaped piece A is one The two ends of the side are respectively rotatably connected with the forearm swing link A and the forearm swing link B, and the other side of the forearm T-shaped piece A is rotatably connected with the "T"-shaped forearm adapter, thereby forming multiple sets of parallelograms Mechanism; the forearm noose drive wheel is connected to the noose drive unit through a pull wire, the forearm noose drive wheel is driven to rotate by the noose drive unit, and then drives the forearm adapter through the multiple sets of parallelogram mechanisms formed to carry out internal Rotate/externally rotate, and then drive the wrist flexion/dorsiflexion motion assembly to realize the degree of freedom of internal rotation/external rotation; the forearm angle encoder is installed on the forearm angle encoder mounting frame, and is connected with the forearm driving wheel Shaft connection.

The center line of the rotation connecting shaft of the forearm swing connecting rod A and the forearm T-shaped piece B is A, the center line of the rotating connecting shaft of the forearm swing connecting rod A and the forearm T-shaped piece A is B, and the forearm swing connecting rod A is fixed to the forearm The centerline of the rotating connecting shaft of the connecting rod is C, the centerline of the rotating connecting shaft between the forearm swing connecting rod B and the forearm T-shaped piece B is D, and the rotating connecting axis centerline of the forearm T-shaped piece A and the forearm swinging connecting rod B is E , the centerline of the rotation connecting shaft of the forearm fixed link and the forearm swing link B is F, and the centerline ACFD, BCFE, ABHG or ACFD, BCFE, DEHG are combined to form a multi-parallelogram mechanism; the forearm adapter rotates inwardly around the forearm The center line of the internal/external rotation axis rotates synchronously, and the center line of the internal rotation/external rotation axis of the forearm coincides with the center line of the internal rotation/external rotation axis of the human forearm within the range of motion, and the center line of the internal rotation/external rotation axis of the forearm coincides with the center line of the wrist The centerlines of the volarflexion/dorsiflexion axes rotate perpendicularly to each other.

A forearm internal rotation/external rotation limiting plate is installed on the forearm internal rotation/external rotation support frame, one end of the forearm internal rotation/external rotation limiting plate is fixed on the forearm internal rotation/external rotation support frame, and the other end is located on the forearm internal rotation/external rotation support frame. Below the forearm noose drive wheel; the forearm noose drive wheel is respectively provided with a forearm internal rotation / external rotation limit threaded hole and a cable installation hole for fixing the pull wire, the forearm internal rotation / external rotation limit A bolt that rotates with the forearm lasso drive wheel is installed on the threaded hole, and the bolt is limited by the other end of the forearm internal rotation/external rotation limiting plate during rotation.

The forearm fixing assembly includes a forearm soft restraint, a forearm holder and a forearm support frame, one end of the forearm support is installed on the base, the other end is connected with the forearm holder, and the forearm soft restraint is attached On the inside of the upper arm cage.

The lasso driving unit includes a power source, a driving mounting frame, a lasso driving wheel, a brake bean, a tensioning adjustment frame, a support plate, a guide plate, an adjusting bolt and a lasso installation positioning block B, and the power source is installed on the drive installation On the frame, the output end is connected with a lasso driving wheel, and two brake beans are installed on the lasso driving wheel; one end of the tensioning adjustment frame is opened with a tensioning guide hole, and the other end is installed with a support plate. Adjusting bolts are arranged on the plate, and a guide plate is extended on the driving installation frame, and the guide plate is passed through the tensioning guide hole, and the adjusting bolts are in contact with the guide plate; the tensioning adjustment frame is installed with Two lasso installation positioning blocks B, two stay wires are wound on the lasso driving wheel, one end of each stay wire is fixed on one of the brake beans, and the other end is passed through by one lasso installation positioning block B Afterwards, they are respectively connected with the wrist lasso driving wheel or the lasso driving wheel B; a torque sensor is installed at the output end of the power source.

The tension adjusting frame is in the shape of an "L", and the tension guide hole is opened on one side of the "L" shape, and a limit slot for fixing the lasso to install the positioning block B is opened on this side; The support plate is fixed on the end of the other side of the "L" shape, and there is a slot hole on this side. By turning the adjusting bolt, the guide plate and the tension adjustment frame are relatively moved, and then the tension adjustment frame is adjusted. The distance between the drive wheel and the lasso; the adjusted guide plate is locked and fixed by inserting the bolt into the slot.

Advantage of the present invention and positive effect are:

1. The present invention uses multiple sets of parallelogram mechanisms to realize the internal rotation/external rotation of the forearm, which can avoid the discontinuous phenomenon of two-way motion existing in the parallelogram and synchronous belt transmission modes. The joint structure reduces the volume and weight of the joint, which is conducive to the realization of lightweight design.

2. The wrist palm flexion/dorsiflexion movement component designed by the present invention uses a soft restraint belt and a soft model to fix the patient's hand, which improves the wearing applicability, comfort and stability of patients with different muscle strength levels; at the same time, it facilitates rehabilitation exercises The central line of the palmar flexion/dorsiflexion axis of the middle wrist coincides with the palmar flexion/dorsiflexion axis of the human body, avoiding the singularity of the wrist and causing secondary injuries.

3. Compared with the traditional wrist passive and single rehabilitation training device, the present invention can realize wrist flexion/dorsiflexion, forearm internal rotation/external rotation compound movement, and provide corresponding training modes according to the actual muscle strength level of the patient, such as passive, Assistance, initiative, resistance, etc., improve the participation of the patient's cognitive ability during the training process, which is conducive to the remodeling of brain function.

4. The present invention can record the human-computer interaction force information, human kinematics and physiological data in the rehabilitation training process in real time through the angle encoder, torque sensor and multi-dimensional force sensor and other sensing systems, quantitatively evaluate the patient's condition, and formulate a variety of rehabilitation training modes , effectively improve the effect of rehabilitation training and reduce complications.

5. The invention adopts the lasso drive unit to provide torque drive for the exoskeleton joints, realizes the separation of the drive and the actuator, effectively reduces the mass and inertia of the actuator, realizes the lightweight design of the exoskeleton, and improves the stability, safety and performance of the system motion. Wearing comfort.

6. The present invention is widely applicable to the daily movement assisting and rehabilitation training of the wrist and forearm of patients with apoplexy and hemiplegia.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the three-dimensional structure schematic diagram of wrist palm flexion/dorsiflexion movement assembly of the present invention;

Fig. 3 is one of partial enlarged views of the lower part of the wrist swing support frame in Fig. 2;

Fig. 4 is the second partial enlarged view of the lower part of the wrist swing support frame in Fig. 2;

Fig. 5 is one of the three-dimensional structural schematic diagrams of the forearm internal rotation/external rotation movement assembly of the present invention;

Fig. 6 is a structural schematic diagram of the connection between the T-shaped piece, the swing link and the fixed link in the forearm internal rotation/external rotation movement assembly of the present invention;

Fig. 7 is the second three-dimensional structural schematic diagram of the forearm internal rotation/external rotation movement assembly of the present invention;

Figure 8 is a partial enlarged view of the lasso drive wheel in Figure 5;

Fig. 9 is a three-dimensional schematic diagram of the forearm fixing assembly of the present invention;

Fig. 10 is a schematic diagram of the three-dimensional structure of the base of the present invention;

Fig. 11 is one of the three-dimensional structural schematic diagrams of the lasso driving unit of the present invention;

Fig. 12 is the second schematic diagram of the three-dimensional structure of the lasso drive unit of the present invention;

Fig. 13 is a schematic structural view of the tensioning adjustment frame in Fig. 11 and Fig. 12;

Among them: 100 is the wrist volar flexion/dorsiflexion movement component, 200 is the forearm internal rotation/external rotation movement component, 300 is the forearm fixed component, 400 is the base, J ₁ is the center line of the wrist volar flexion/dorsiflexion axis, J ₂ is the centerline of the internal/external rotation axis of the forearm;

101 is a soft restraint belt A, 102 is a soft restraint belt B, 103 is a soft restraint belt C, 104 is an auxiliary handle at the end, 105 is a soft model, 106 is a hand back board, 107 is a wrist swing plate, and 108 is a lubricating bearing , 109 is the wrist swing support frame, 110 is the multi-dimensional force sensor, 111 is the palm flexion/dorsiflexion mounting seat of the wrist, 112 is the wrist angle encoder, 113 is the wrist angle encoder support plate, 114 is the lasso installation Positioning block A, 115 is the lasso installation positioning plate, 116 is the wrist palm flexion/dorsiflexion limiting plate, 117 is the timing belt, 118 is the pull wire, 119 is the wrist lasso drive wheel, 120 is the wrist drive wheel shaft , 121 is the cable mounting hole, 122 is the wrist palm flexion/dorsiflexion limiting threaded hole;

201 is the forearm adapter, 202 is the adjustment bolt, 203 is the forearm lubricating bearing, 204 is the forearm T-shaped piece A, 205 is the forearm T-shaped piece B, 206 is the forearm swing link A, 207 is the forearm fixed link, 208 For the forearm swing link B, 209 is the forearm connection pin, 210 is the forearm internal rotation/external rotation support frame, 211 is the forearm angle encoder mounting frame, 212 is the forearm angle encoder, 213 is the forearm internal rotation/external rotation limit Bit plate, 214 is the rotating shaft of the forearm drive wheel, and 215 is the forearm lasso drive wheel;

301 is the forearm software restraint belt, 302 is the forearm cage, and 303 is the forearm support frame;

401 is a thread positioning mounting hole, 402 is a strap binding mounting hole, and 403 is a negative pressure suction cup;

501 is a drive motor, 502 is a reducer, 503 is a drive installation frame, 504 is a lasso driving wheel, 505 is a torque sensor, 506 is a brake bean, 507 is a tension adjustment frame, 508 is a support plate, 509 is a guide plate, 510 is an adjusting bolt, 511 is a slotted hole, 512 is a lasso installation positioning block B, 513 is a tension guide hole, and 514 is a limit groove.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Fig. 1, the present invention includes wrist palm flexion/dorsiflexion motion assembly 100, forearm internal rotation/external rotation motion assembly 200, forearm fixation assembly 300, base 400 and lasso drive unit, wrist palm flexion/dorsor The flexion motion assembly 100 is connected with the forearm internal rotation/external rotation motion assembly 200, the forearm internal rotation/external rotation motion assembly 200 is connected with the forearm fixation assembly 300, the base 400 is connected with the forearm internal rotation/external rotation motion assembly 200, and the lasso drives The unit provides driving force for a wearable wrist twist assist rehabilitation device.

As shown in Figures 2 to 4, the wrist palm flexion/dorsiflexion movement assembly 100 includes a soft restraint belt A101, a soft restraint belt B102, a soft restraint belt C103, an auxiliary end handle 104, a soft model 105, a backrest of the hand 106, a wrist Department swing plate 107, lubricating bearing 108, wrist swing support frame 109, multi-dimensional force sensor 110, wrist palm flexion/dorsiflexion mount 111, wrist angle encoder 112, wrist angle encoder support plate 113, lasso Install positioning block A114, lasso installation positioning plate 115, wrist palm flexion/dorsiflexion limiting plate 116, timing belt 117, pull wire 118, wrist lasso driving wheel 119 and wrist driving wheel shaft 120, software master model 105 It is fixedly connected with the back of the hand 106 to improve wearing comfort; the soft restraint band B102 and the soft restraint band C103 are fixed on the upper and lower edges of the soft model 105, and the soft restraint band B102 and the soft restraint band C103 are separated from the front and rear sides of the thumb when wearing. Make the back of the patient's hand cling to the soft body model 105 . The terminal auxiliary handle 104 is installed at the end of the back of the hand 106 to assist the patient's fingers to grasp. The soft restraint belt A101 envelops the terminal auxiliary handle 104, the soft restraint belt B102 and five fingers of the patient, and is fixed on the back of the hand. 106 dorsal side, enhance the stability of the hand of the affected limb; the back of the hand plate 106 is connected to the wrist swing plate 107 through the multi-dimensional force sensor 110, and the relative distance between the back of the hand plate 106 and the wrist swing plate 107 can be adjusted and locked so as to adapt to Different patient's hand size; groove-shaped holes are set on the back of the hand 106, and the distance between the multi-dimensional force sensor 110 and the back of the hand 106 is adjusted and then locked by bolts, thereby realizing the relative distance between the back of the hand 106 and the swinging plate 107 of the wrist Can be adjusted. The multi-dimensional force sensor 110 can detect and record human-computer interaction force information and human kinematics and physiological data. _The wrist swing plate 107 is connected to the wrist swing support frame 109 through a lubricating bearing 108, and can rotate along the centerline _J of the palmar flexion/dorsiflexion axis of the wrist. The volar flexion/dorsiflexion axes coincide throughout the range of motion. The wrist swing support frame 109 is fixedly connected with the wrist palm flexion/dorsiflex mounting seat 111, the lasso installation positioning plate 115, the wrist palm flexion/dorsiflex limit plate 116, and the wrist angle encoder 112 is encoded by the wrist angle. The device support plate 113 is fixed on the lasso installation positioning plate 115, the wrist angle encoder 112 is connected to the wrist driving wheel rotating shaft 120 by a synchronous belt 117, and the center distance can be fine-tuned by the wrist angle encoder support plate 113, with To detect the posture of the wrist of the affected limb; a grooved hole is provided on the wrist angle encoder support plate 113. After the center distance between the wrist angle encoder 112 and the wrist drive wheel shaft 120 is adjusted, the wrist is bolted. The angle encoder support plate 113 is locked on the lasso installation positioning plate 115 . The wrist lasso drive wheel 119 and the wrist swing plate 107 are fixedly installed on the wrist drive wheel rotating shaft 120 through a flat key connection, and are connected to the wrist swing support frame 109 through a lubricating bearing 108 . Wrist swing support frame 109 is equipped with wrist palm flexion/dorsiflexion limiting plate 116, one end of this wrist palm flexion/dorsiflex limit plate 116 is fixed on the wrist swing support frame 109, and the other end is positioned at the wrist The bottom of the lasso driving wheel 119, and both sides of the other end are arc-shaped; the wrist lasso driving wheel 119 is respectively provided with wrist palm flexion/dorsiflexion limit threaded holes 122 and a pull wire for fixing the pull wire 118 Mounting hole 121, the bolt that rotates with wrist lasso drive wheel 119 is installed on this wrist volar flexion/dorsiflexion limiting threaded hole 122, and the bolt passes through wrist volar flexion/dorsiflexion limiting plate 116 during rotation. Limit the other end. The wrist palm flexion/dorsiflexion mount 111 is used to connect the forearm internal rotation/external rotation movement assembly 200 . There are two backguy wires 118, one end of each backguy wire 118 is wound on the wrist lasso drive wheel, and the other end is respectively installed by the lasso installation positioning plate 115 and the lasso installation positioning block A114 on the lasso installation positioning plate 115. Pass through to connect to one of the lasso drive units.

As shown in Figures 5-8, the forearm internal rotation/external rotation movement assembly 200 includes a forearm adapter 201, an adjustment bolt 202, a forearm lubricating bearing 203, a forearm T-shaped piece A204, a forearm T-shaped piece B205, and a forearm swing link A206 , forearm fixed link 207, forearm swing link B208, forearm connecting pin 209, forearm internal rotation/external rotation support frame 210, forearm angle encoder mounting frame 211, forearm angle encoder 212, forearm internal rotation/external rotation limit Bit plate 213, forearm drive wheel shaft 214 and forearm lasso drive wheel 215, forearm lubricating bearing 203 and forearm connecting pin 209 are common parts of forearm internal rotation/external rotation movement assembly 200, forearm adapter 201 is "T" type , the upper and lower ends of one side of the "T" are respectively connected to the palmar flexion/dorsiflexion mounting seat 111 of the wrist palmar flexion/dorsiflexion movement assembly 100 through adjusting bolts 202, and the relative distance can be adjusted, and After adjustment, the locking position is locked; the other side of the "T" is rotationally connected to one side of the forearm T-shaped part B205 through the forearm connecting pin shaft 209, and the upper and lower ends of the other side of the forearm T-shaped part B205 pass through the forearm respectively. The connecting pin 209 is rotationally connected with one end of the forearm swing link A206 and one end of the forearm swing link B208, and the other end of the forearm swing link A206 is rotationally connected with one end of the forearm fixed link 207 through the forearm connecting pin 209. The other end of the forearm swing link B208 and the forearm lasso drive wheel 215 are respectively fixedly installed on the forearm drive wheel shaft 214 through a flat key, and the other end of the forearm fixed link 207 is rotationally connected with the forearm drive wheel shaft 214 through the forearm lubricating bearing 203 , the upper and lower ends of one side of the forearm T-shaped piece A204 are rotationally connected to the forearm swing link A206 and the forearm swing link B208 through the forearm connecting pin shaft 209, and the other side of the forearm T-shaped piece A204 is connected to the " One side of the T"-shaped forearm adapter 201 is rotatably connected to form multiple sets of parallelogram mechanisms. Wherein, the centerline of the rotation connecting shaft of the forearm swing link A206 and the forearm T-shaped piece B205 is A, the centerline of the rotation connection axis of the forearm swing link A206 and the forearm T-shaped piece A204 is B, and the forearm swing link A206 is fixed to the forearm The centerline of the rotating connecting shaft of the connecting rod 207 is C, the centerline of the rotating connecting shaft of the forearm swing connecting rod B208 and the forearm T-shaped piece B205 is D, and the centerline of the rotating connecting axis of the forearm T-shaped piece A204 and the forearm swinging connecting rod B208 is E, the centerline of the rotation connecting shaft of the forearm fixed link 207 and the forearm swing link B208 is F, and the centerlines ACFD, BCFE, ABHG or ACFD, BCFE, DEHG are combined to form a multi-parallelogram mechanism, which can realize the forearm adapter 201 winding The center line J ₂ of the internal/external rotation axis of the forearm rotates synchronously, and the center line J ₂ of the internal rotation/external rotation axis of the forearm coincides with the center line of the internal rotation/external rotation axis of the human forearm within the range of motion, and the internal rotation/external rotation axis of the forearm The center line J ₂ is vertically intersected with the center line J ₁ of the volar flexion/dorsiflexion axis of the wrist, which conforms to the structure of human bionics. One end of the forearm internal rotation/external rotation support frame 210 is installed on the base 400 in an adjustable position, and the other end is fixedly connected with the forearm fixed link 207 and the forearm angle encoder mounting frame 211 respectively, and the forearm internal rotation/external rotation The support frame 210 is provided with lasso installation positioning holes and multiple groups of forearm support positioning installation holes. The forearm angle encoder 212 is connected with the forearm driving wheel shaft 214 through the forearm angle encoder mounting bracket 211 to detect the forearm pose of the affected limb. The forearm lasso drive wheel 215 is connected to the lasso drive unit through the pull wire 118, driven to rotate by the lasso drive unit, and then drives the forearm adapter 201 to rotate internally/externally through the multiple sets of parallelogram mechanisms formed, thereby driving the wrist The palmar flexion/dorsiflexion motion assembly 100 achieves pronation/external rotation degrees of freedom. A forearm internal rotation/external rotation limiting plate 213 is installed on the forearm internal rotation/external rotation support frame 210, and one end of the forearm internal rotation/external rotation limiting plate 213 is fixed on the forearm internal rotation/external rotation support frame 210. One end is located below the forearm noose drive wheel 215, and the other end is arc-shaped on both sides; Bolts that rotate with the forearm lasso drive wheel 215 are installed on the forearm internal rotation/external rotation limiting threaded holes, and the bolts are limited by the other end of the forearm internal rotation/external rotation limiting plate 213 during rotation.

As shown in Figure 9, the forearm fixation assembly 300 includes a forearm software restraint belt 301, a forearm holder 302 and a forearm support frame 303. The forearm software restraint belt 301 is attached to the inner side of the upper arm holder 302 to improve wearing comfort and can be used according to the human arm The dimension automatically adjusts the restraint radius, and the centerline J ₂ of the forearm internal/external rotation axis coincides with the centerline of the human forearm internal/external rotation axis within the range of motion. The forearm holder 302 is fixedly connected with the forearm support frame 303. The forearm support frame 303 is provided with guide grooves and lifting slots. The forearm holder 302 can be adjusted left and right along the guide grooves and positioned and locked. The forearm support frame 303 is fixedly connected with the forearm internal/external rotation support frame 210. The forearm support frame 303 can be adjusted up and down along the lifting slot and positioned and locked. The position is adjusted and positioned and locked to realize the three-dimensional space adjustment of the forearm holder 302 and adapt to the forearm size of different patients.

As shown in Figure 10, the base 400 is fixedly connected to the forearm internal/external rotation support frame 210, the base 400 is provided with a negative pressure suction cup 403, a thread positioning mounting hole 401 and a strap binding mounting hole 402, and negative pressure adsorption can be selected Different installation methods such as connection, screw connection and strapping connection, etc., to meet the requirements of different use environments.

As shown in Figures 11 to 13, the two noose drive units of the present invention have the same structure, and are respectively connected with the wrist noose drive wheel 119 and the forearm noose drive wheel 215 through a stay wire 118; the noose drive unit includes a power source, a drive Mounting frame 503, lasso driving wheel 504, torque sensor 505, brake bean 506, tension adjustment frame 507, support plate 508, guide plate 509, adjustment bolt 510 and lasso installation positioning block B512, this power source includes drive motor 501 And the reducer 502, the drive motor 501 and the reducer 502 are preferably lightweight high-torque servo motors to reduce the energy density of the system and improve portability. Drive mounting frame 503 can be fixed on the base assembly, drive motor 501 is fixed on one side of driving mounting frame 503 after being connected with reducer 502, lasso driving wheel 504 is positioned at the other side of driving mounting frame 503, and with reducer The output end of 502 is connected, and is driven to rotate by drive motor 501 and reducer 502 . Two brake beans 506 are installed on the lasso driving wheel 504 for the fixed connection between the lasso driving wheel 504 and the stay wire 118 . The tension adjusting frame 507 is in the shape of an "L". One side of the "L" shape has a tension guide hole 513, and the end of the other side is fixedly equipped with a support plate 508, and the support plate 508 is provided with an adjusting bolt 510. A guide plate 509 is extended on the driving installation frame 503 , and the guide plate 509 passes through the tightening guide hole 513 , and the adjusting bolt 510 abuts against the guide plate 509 . On one side of the "L"-shaped tensioning adjustment frame 507, there are also two limiting grooves 514, each of which is equipped with a lasso positioning block B512; the lasso driving wheel 504 is wound with two Backguy 118, one end of every backguy 118 is all fixed on a brake bean 506, and the other end is respectively connected with wrist lasso driving wheel 119 and forearm lasso driving wheel 215 after passing through by a lasso installation positioning block B512. On the other side of the "L" shaped tensioning adjustment frame 507, there is a slotted hole 511, the slotted hole 511 is in the shape of a long strip; a bolt hole is opened on the guide plate 509, and the bolt is tightened in the bolt hole after passing through the slotted hole 511 Inside. Screw the adjusting bolt 510 to make the guide plate 509 and the tension adjusting frame 507 move relatively, and then adjust the distance between the tension adjusting frame 507 and the lasso driving wheel 504 . During the adjustment process, the bolts on the guide plate 509 always move in the slotted hole 511 to play a guiding role to ensure that the tension adjustment frame 507 is adjusted along a straight line; after the adjustment, tighten the bolts to fix the guide plate 509. A torque sensor 505 is mounted on the output shaft of the speed reducer 502 . The wrist lasso driving wheel 119 , the forearm lasso driving wheel 215 and the lasso driving wheel 504 each have two grooves along the circumferential direction for accommodating the two stay wires 118 wound around.

The present invention is widely applicable to the daily movement assisting and rehabilitation training of the wrist and forearm of patients with apoplexy and hemiplegia.

Claims (7)

1. A wrist torsion assist rehabilitation device, characterized in that it includes a wrist flexion/dorsiflexion movement component (100), a forearm internal rotation/external rotation movement component (200), a forearm fixation component (300), a base (400) and a lasso drive unit, wherein the forearm fixing component (300) is relatively movable connected to the base (400), and the forearm internal rotation/external rotation movement component (200) is installed on the base (400) On the top, there is a forearm lasso driving wheel (215) responsible for power output. The forearm lasso driving wheel (215) is connected with the wrist palm flexion/dorsiflexion movement assembly (100) through multiple sets of parallelogram mechanisms to drive the The wrist palm flexion/dorsiflex movement assembly (100) performs internal and external rotation of the forearm; the wrist palm flexion/dorsiflex movement assembly (100) has a wrist lasso drive wheel (119) responsible for power output and is driven by the wrist The back of the hand (106) driven by the noose driving wheel (119) on the back of the hand (106) drives the palm of the patient to perform volar flexion or dorsiflexion; the noose driving wheel on the wrist (119) and the forearm cuff The rope drive wheels (215) are respectively controlled by a lasso drive unit, and the wrist torsion power-assisted rehabilitation device has two degrees of freedom of forearm internal rotation/external rotation and wrist volar flexion/dorsiflexion through the drive control of each lasso drive unit. ; The wrist palm flexion/dorsiflexion movement assembly (100) includes a soft restraint belt B (102), a soft restraint belt C (103), a hand back rest board (106), a wrist swing plate (107), a wrist swing support Frame (109), multi-dimensional force sensor (110), wrist volar flexion/dorsiflexion mount (111), wrist angle encoder (112), wrist angle encoder support plate (113), lasso installation positioning block A (114), lasso installation positioning plate (115), wrist volar flexion/dorsiflexion limiting plate (116), timing belt (117), pull wire (118), wrist lasso drive wheel (119) and wrist The drive wheel shaft (120) at the bottom of the hand, one side of the back of the hand (106) is connected to the soft restraint belt B (102) and the soft restraint belt C (103), and the other side is connected to the The wrist swing plate (107) is connected; one end of the wrist swing support frame (109) is rotationally connected with one end of the wrist swing plate (107), and the other end of the wrist swing plate (107) is connected with the wrist The lasso drive wheel (119) is linked and fixedly connected to the wrist drive wheel shaft (120), and the other end of the wrist swing support frame (109) is rotationally connected to the wrist drive wheel shaft (120) A lasso installation positioning plate (115) is installed on the wrist swing support frame (109), and the wrist angle encoder (112) is installed on the lasso installation positioning plate through the wrist angle encoder support plate (113) (115), the wrist angle encoder (112) is connected to the wrist drive wheel shaft (120) through a timing belt (117), and the wrist lasso drive wheel (119) is connected to the wrist drive wheel (119) through a pull wire (118) The lasso drive unit is connected, and the pull wire (118) is respectively passed through the lasso installation positioning plate (115) and the lasso installation positioning block A (114) installed on the lasso installation positioning plate (115); The inner lasso drive wheel (119) is driven to rotate by the lasso drive unit, and then drives the back of the hand (106) to perform palmar flexion/dorsiflexion through the wrist swing plate (107); the wrist swing support frame (109 ) is connected to the forearm internal rotation/external rotation movement assembly (200); The forearm internal rotation/external rotation movement assembly (200) includes a forearm adapter (201), an adjustment bolt (202), a forearm T-shaped piece A (204), a forearm T-shaped piece B (205), a forearm swing link A (206), forearm fixed link (207), forearm swing link B (208), forearm internal/external rotation support frame (210), forearm angle encoder mounting bracket (211), forearm angle encoder (212 ), the forearm drive wheel shaft (214) and the forearm lasso drive wheel (215), one end of the forearm internal rotation/external rotation support frame (210) is adjustable on the base (400), and the other end The forearm fixing link (207) and the forearm angle encoder mounting bracket (211) are fixed respectively, and the forearm adapter (201) is "T" shape, and one side of the "T" shape is passed through the adjustment bolt (202) The relative distance to the wrist palm flexion/dorsiflexion movement assembly (100) can be adjusted, and after adjustment, it is locked and positioned. The other side of the "T" shape is connected to the forearm T-shaped piece B (205). One side is rotationally connected, and the two ends of the other side of the forearm T-shaped piece B (205) are respectively rotationally connected with one end of the forearm swing link A (206) and one end of the forearm swing link B (208). The other end of the swing link A (206) is rotationally connected to one end of the forearm fixed link (207), and the other end of the forearm swing link B (208) is respectively fixed to the forearm lasso drive wheel (215). Installed on the forearm drive wheel shaft (214), the other end of the forearm fixed link (207) is rotationally connected with the forearm drive wheel shaft (214), and the two ends of one side of the forearm T-shaped piece A (204) The forearm swing link A (206) and the forearm swing link B (208) are respectively rotatably connected, and the other side of the forearm T-shaped piece A (204) is rotated with the "T"-shaped forearm adapter (201) connected to form multiple sets of parallelogram mechanisms; the forearm noose drive wheel (215) is connected to the noose drive unit through a pull wire (118), and the forearm noose drive wheel (215) is driven to rotate by the noose drive unit , and then drive the forearm adapter (201) to perform internal rotation/external rotation through multiple sets of parallelogram mechanisms formed, and then drive the wrist volar flexion/dorsiflexion movement assembly (100) to achieve internal rotation/external rotation degrees of freedom; The forearm angle encoder (212) is installed on the forearm angle encoder mounting bracket (211), and connected to the forearm drive wheel shaft (214); The center line of the rotation connection axis between the forearm swing link A (206) and the forearm T-shaped piece B (205) is A, and the rotation connection axis center of the forearm swing link A (206) and the forearm T-shaped piece A (204) The line is B, the center line of the rotation connection shaft of the forearm swing link A (206) and the forearm fixed link (207) is C, the rotation connection shaft of the forearm swing link B (208) and the forearm T-shaped piece B (205) The center line is D, the center line of the rotation connection axis between the forearm T-shaped piece A (204) and the forearm swing link B (208) is E, and the rotation connection between the forearm fixed link (207) and the forearm swing link B (208) The axis centerline is F, and the centerlines ACFD, BCFE, ABHG or ACFD, BCFE, DEHG are combined to form a multi-parallelogram mechanism; the forearm adapter (201) is synchronized around the centerline (J ₂ ) of the forearm internal rotation/external rotation axis rotation, and the centerline of the forearm internal/external rotation axis (J ₂ ) coincides with the centerline of the human forearm internal/external rotation axis within the range of motion, and the centerline of the forearm internal/external rotation axis (J ₂ ) coincides with the wrist The central line of the volar flexion/dorsiflex axis (J ₁ ) rotates and intersects vertically; The lasso driving unit includes a power source, a driving mounting frame (503), a lasso driving wheel (504), a brake bean (506), a tensioning adjustment frame (507), a support plate (508), and a guide plate (509) , the adjusting bolt (510) and the lasso installation positioning block B (512), the power source is installed on the drive mounting frame (503), the output end is connected with the lasso driving wheel (504), and the lasso driving wheel (504 ) are installed with two brake beans (506); one end of the tension adjustment frame (507) is provided with a tension guide hole (513), and the other end is equipped with a support plate (508), on which the support plate (508) Adjusting bolts (510) are provided, and a guide plate (509) is extended on the driving installation frame (503). The guide plate (509) passes through the tensioning guide hole (513), and the adjusting bolt (510 ) abuts against the guide plate (509); two lasso mounting positioning blocks B (512) are installed on the tensioning adjustment frame (507), and two pull wires ( 118), one end of each pull wire (118) is fixed on one of the brake beans (506), and the other end is driven by a lasso installation positioning block B (512) respectively with the wrist lasso wheel (119) or lasso drive wheel B (212); a torque sensor (505) is installed at the output end of the power source; The forearm lasso drive wheel (215) is connected to the lasso drive unit through the pull wire (118), driven to rotate by the lasso drive unit, and then drives the forearm adapter (201) to rotate internally through multiple sets of parallelogram mechanisms formed /external rotation, and then drive the wrist volar flexion/dorsiflexion motion component (100) to realize the degree of freedom of internal rotation/external rotation. 2. The wrist twisting assist rehabilitation device according to claim 1, characterized in that: the wrist swing support frame (109) is equipped with a wrist volar flexion/dorsiflexion limiting plate (116), and the wrist One end of the palm flexion/dorsiflexion limiting plate (116) is fixed on the wrist swing support frame (109), and the other end is located below the wrist lasso drive wheel (119); the wrist lasso drive wheel (119) is respectively provided with wrist flexion/dorsiflexion limiting threaded hole (122) and the backguy installation hole (121) for fixing backguy (118), this wrist palmarflexion/dorsiflexion limiting threaded hole ( 122) is equipped with a bolt that rotates with the wrist lasso drive wheel (119), and the bolt is limited by the other end of the wrist flexion/dorsiflexion limiting plate (116) during rotation. 3. The wrist twisting rehabilitation device according to claim 1, characterized in that: the side of the back of the hand (106) in contact with the palm is equipped with a soft model (105), and the soft restraint belt B ( 102) and the two ends of the soft restraint belt C (103) are respectively fixed on the upper and lower edges of the soft formwork (105); the end auxiliary handle (104) and the soft restraint belt A are respectively installed on the back of the hand board (106) (101), the terminal auxiliary handle (104) is installed at the end of the back of the hand (106), and both ends of the soft restraint belt A (101) are fixed on the back of the back of the hand (106), and The soft restraint belt B (102), the terminal auxiliary handle (104) and the five fingers of the patient are enveloped. 4. The wrist twisting rehabilitation device according to claim 1, characterized in that the position of the multi-dimensional force sensor (110) can be adjusted by opening a groove-shaped hole on the back of the hand (106), thereby realizing the multi-dimensional force sensor (110). Adjust the relative distance between the back of the hand (106) and the swinging plate of the wrist (107), and lock it to the back of the hand (106) after adjustment; the support plate of the wrist angle encoder (113) The installation position on the lasso installation positioning plate (115) can be adjusted through the grooved hole opened on it, and then the center distance between the wrist angle encoder (112) and the wrist driving wheel shaft (120) can be realized After the adjustment, it is locked to the lasso installation positioning plate (115); the wrist swing support frame (109) is equipped with a wrist palm flexion/dorsiflex mounting seat (111), and the wrist The palmar flexion/dorsiflexion movement assembly (100) is connected with the forearm internal rotation/external rotation movement assembly (200) through the wrist palmarflexion/dorsiflexion mounting seat (111). 5. The wrist torsion-assisted rehabilitation device according to claim 1, characterized in that: the forearm internal/external rotation support frame (210) is equipped with a forearm internal/external rotation limit plate (213), the One end of the forearm internal rotation/external rotation limiting plate (213) is fixed on the forearm internal rotation/external rotation support frame (210), and the other end is located below the forearm lasso drive wheel (215); the forearm lasso The drive wheel (215) is respectively provided with forearm internal rotation/external rotation limit threaded holes and a backguy installation hole for fixing the backguy (118). The driving wheel (215) rotates the bolt, and the bolt is limited by the other end of the forearm internal rotation/external rotation limiting plate (213) during the rotation process. 6. The wrist twisting rehabilitation device according to claim 1, characterized in that: the forearm fixation component (300) includes a forearm soft restraint belt (301), a forearm holder (302) and a forearm support frame (303) , one end of the forearm support (303) is installed on the base (400), the other end is connected with the forearm holder (302), and the forearm soft restraint belt (301) is attached to the upper arm holder (302 ) inside. 7. The device according to claim 1, characterized in that: the tension adjustment frame (507) is in the shape of an "L", and the tension guide hole (513) is set in the "L" One side of the "L" shape, and a limit slot (514) for fixing the lasso to install the positioning block B (512) is opened on this side; the support plate (508) is fixed at the end of the other side of the "L" shape, A slotted hole (511) is opened on this side, and the guide plate (509) and the tension adjustment frame (507) are relatively moved by screwing the adjustment bolt (510), thereby adjusting the tension adjustment frame (507) The distance between the lasso driving wheel (504); the adjusted guide plate (509) is inserted into the slot hole (511) by bolts and locked and fixed.