CN111374862A - Hybrid-driven bionic upper limb rehabilitation training device - Google Patents
Hybrid-driven bionic upper limb rehabilitation training device Download PDFInfo
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- CN111374862A CN111374862A CN201811627703.1A CN201811627703A CN111374862A CN 111374862 A CN111374862 A CN 111374862A CN 201811627703 A CN201811627703 A CN 201811627703A CN 111374862 A CN111374862 A CN 111374862A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 28
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 16
- 210000003811 finger Anatomy 0.000 claims abstract description 162
- 210000003813 thumb Anatomy 0.000 claims abstract description 128
- 210000000245 forearm Anatomy 0.000 claims abstract description 84
- 210000000707 wrist Anatomy 0.000 claims abstract description 81
- 210000002435 tendon Anatomy 0.000 claims description 156
- 230000033001 locomotion Effects 0.000 claims description 23
- 210000002310 elbow joint Anatomy 0.000 claims description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 210000000282 nail Anatomy 0.000 claims description 3
- 210000004905 finger nail Anatomy 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 210000001145 finger joint Anatomy 0.000 description 8
- 230000008602 contraction Effects 0.000 description 7
- 208000024172 Cardiovascular disease Diseases 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 4
- 208000026106 cerebrovascular disease Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000002526 effect on cardiovascular system Effects 0.000 description 3
- 210000000323 shoulder joint Anatomy 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005802 health problem Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000020030 perry Nutrition 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention relates to a hybrid drive bionic upper limb rehabilitation training device which comprises an arm fixing mechanism, and an upper arm mechanism, a forearm mechanism, a wrist mechanism and a hand mechanism which are sequentially connected, wherein a motor for driving an upper limb fixing unit to integrally rotate is arranged on the arm fixing mechanism, rotating shafts matched with each other are arranged between the upper arm mechanism and the forearm mechanism, an upper arm driving unit for driving the forearm mechanism to rotate around the rotating shaft is arranged on the upper arm mechanism, a wrist driving unit for driving a wrist of a patient to rotate is arranged on the wrist mechanism, the hand mechanism comprises a palm panel, a thumb component and four finger components, the thumb component is fixedly arranged on the palm panel and used for fixing and rehabilitation training of a thumb, and the four finger components are respectively used for fixing and rehabilitation training of the rest four fingers. Compared with the prior art, the invention has the advantages of simple structure, light weight, improved safety, greatly reduced weight of the device and good rehabilitation effect.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a hybrid drive bionic upper limb rehabilitation training device.
Background
In the last decade, the population of the elderly in China has increased year by year, and the health problems of the elderly are aggravated. The cardiovascular and cerebrovascular diseases are diseases threatening the health of human beings, especially the middle-aged and old people over fifty years old are threatened more greatly, the old people suffering from the cardiovascular and cerebrovascular diseases mostly have the cardiovascular and cerebrovascular diseases, the stroke caused by the cardiovascular diseases has irrecoverable influence on patients, the common sequela of the stroke is hemiplegia, the life disorder of the patients is caused, and great inconvenience is brought to the patients.
For limb rehabilitation of hemiplegic patients, professional rehabilitation doctors are required traditionally, but the method is high in cost and few in personnel. Nowadays, with the continuous development of rehabilitation medical instruments, the rehabilitation training robot assists or replaces doctors to perform rehabilitation training on patients, so that the treatment efficiency is greatly improved, and the treatment cost is reduced. Medical instruments for upper limb rehabilitation training are also continuously developed, and at present, the medical instruments mainly comprise: the hand rehabilitation instrument developed by Ability One, the motor-driven manipulator with seven degrees of freedom designed by Perry of Washington university and the like, the soft rehabilitation glove developed by Davis of Manchester university and the like based on pneumatic muscles, the motor-driven steel wire rope transmission rehabilitation robot system designed by King of Beijing aerospace university and the like, the shape memory alloy-driven hand exoskeleton rehabilitation system designed by Zhang Gunghuan of Shanghai university and the like, and the like.
Most of the rehabilitation devices are driven by a pure electric motor or controlled by pure air, and have complex structures, heavier devices and large occupied space; the pneumatic tendon driven rehabilitation device is few, although a soft rehabilitation glove developed by Davis of Manchester university and the like based on pneumatic muscles can complete most rehabilitation actions, each finger can move singly, the finger only has one pneumatic tendon, the requirement on the flexion and extension capability of the finger joint is too high, the glove has no rigid structure, so that limbs have no supporting points, and the control on shoulder joints needing high power is very inconvenient. Therefore, the upper limb rehabilitation device which is light and convenient and meets the requirements of more patients has great significance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a hybrid drive bionic upper limb rehabilitation training device which meets the requirements of more patients.
The purpose of the invention can be realized by the following technical scheme: a hybrid driving bionic upper limb rehabilitation training device comprises an arm fixing mechanism and an upper limb fixing unit connected with the arm fixing unit, the upper limb fixing unit comprises an upper arm mechanism, a forearm mechanism, a wrist mechanism and a hand mechanism which are connected in sequence, the arm fixing mechanism is provided with a motor for driving the upper limb fixing unit to integrally rotate, a rotating shaft matched with each other is arranged between the upper arm mechanism and the forearm mechanism, and the upper arm mechanism is provided with an upper arm driving unit for driving the forearm mechanism to rotate around the rotating shaft, the wrist mechanism is provided with a wrist driving unit for driving the wrist of the patient to rotate, the hand mechanism comprises a palm panel, a thumb component and four finger components, the thumb component and the four finger components are fixedly arranged on the palm panel, the thumb component is used for fixing and rehabilitation training of the thumb, and the four finger components are respectively used for fixing and rehabilitation training of the rest four fingers. The upper arm mechanism, the forearm mechanism, the wrist mechanism and the hand mechanism are respectively fixed with the upper arm, the forearm, the wrist and the fingers of a patient, then the upper limb fixing unit is driven to rotate by the motor, so that the rehabilitation training of the shoulder joint is realized, the forearm mechanism is driven to rotate by the upper arm driving unit, the rehabilitation training of the elbow joint is realized, the rehabilitation training of the wrist is realized by the wrist driving unit, the rehabilitation training of the finger joint is realized by the thumb component and the four finger components, the rehabilitation effect is diversified, and the application range is wider.
The arm fixing mechanism comprises a base, a base supporting rod and an upper arm connecting rod, wherein the base supporting rod is fixedly arranged on the base and vertically arranged, the upper arm connecting rod is rotatably connected with the top of the base supporting rod, and a motor used for driving the upper arm connecting rod to rotate is arranged at the top of the base supporting rod. The base can be connected to the wheelchair or the seat and the like, and can be selected by the patient according to the requirement.
The upper arm mechanism comprises an upper arm exoskeleton, at least two upper arm binding bands arranged on the upper arm exoskeleton, two pairs of upper arm driving units respectively arranged on two sides of the upper arm exoskeleton and an elbow joint rotating shaft arranged at one end of the upper arm exoskeleton and connected with the forearm mechanism, wherein the elbow joint rotating shaft is connected with the upper arm driving units;
the upper arm exoskeleton comprises two parallel upper arm supporting plates and a circular arc-shaped upper arm supporting plate fixed at the bottoms of the two upper arm supporting plates and used for supporting the upper arm of a patient, two ends of an upper arm binding band are fixed with the two upper arm supporting plates respectively, the upper arm exoskeleton and the upper arm of the patient can be fixed by adjusting the length of the upper arm binding band, a pair of upper arm driving units are fixed on the outer side of each upper arm supporting plate, elbow joint rotating shafts are arranged at the lower ends of the two upper arm supporting plates, and the inner wall of one upper arm supporting plate is fixedly connected with an upper arm connecting rod.
The pneumatic tendon mounting bracket in the outside of upper arm backup pad is fixed including two pneumatic tendons of upper arm and two to the upper arm drive unit, two the upper end of the pneumatic tendon of upper arm is fixed with a pneumatic tendon mounting bracket, is equipped with two pneumatic tendon guide rails on another pneumatic tendon mounting bracket, every the lower extreme of the pneumatic tendon of upper arm is equipped with pneumatic tendon motion slider, two pneumatic tendon motion slider slides and sets up on two pneumatic tendon guide rails, and even has wire rope between two pneumatic tendon motion sliders, wire rope winds in the elbow joint pivot. Two upper arm pneumatic tendons in each pair of upper arm driving units are in a contraction state, one upper arm pneumatic tendon is in a natural state, when an elbow joint needs to be trained, the upper arm pneumatic tendon in the contraction state extends, and the upper arm pneumatic tendon in the natural state contracts, so that the two pneumatic tendon movement sliding blocks are subjected to diastrophism, namely, the steel wire rope and the elbow joint rotating shaft are subjected to displacement, the elbow joint rotating shaft is enabled to rotate, the forearm mechanism and the wrist mechanism are driven to integrally rotate, and the forearm mechanism and the wrist mechanism are respectively fixed with a forearm and a wrist of a patient, so that the forearm and the wrist of the patient rotate, namely, the elbow joint is trained.
The forearm mechanism comprises a forearm exoskeleton and at least two forearm straps arranged on the forearm exoskeleton, a forearm rotating shaft is arranged at the rear end of the forearm exoskeleton, and the forearm rotating shaft is matched with the elbow joint rotating shaft and rotates together with the elbow joint rotating shaft;
the forearm exoskeleton comprises two forearm supporting plates and a circular arc-shaped forearm supporting plate fixed at the bottoms of the two forearm supporting plates and used for supporting the forearm of a patient, wherein two ends of a forearm bandage are fixed with the two forearm supporting plates respectively, the length of the forearm bandage can be adjusted to fix the forearm exoskeleton and the forearm of the patient, and a groove used for fixing a wrist mechanism is formed in the forearm supporting plate positioned at the front end of the forearm supporting plate.
The wrist mechanism comprises a rear wrist fixing piece, a front wrist fixing piece, a wrist driving unit and an inverted U-shaped wrist buckle, wherein the rear wrist fixing piece and the front wrist fixing piece are arranged in parallel and are annular; the wrist is buckled between wrist mounting and preceding wrist mounting after and for fixed patient's wrist, just the trailing flank that the wrist was buckled is equipped with recess assorted arch, be fixed with on the preceding wrist mounting and be connected the wrist connecting piece that is used for fixed hand mechanism with the palm panel.
The thumb member comprises a thumb fixing unit for fixing the thumb, a thumb pneumatic tendon for driving the thumb to bend towards the palm of the hand and a thumb mounting unit for mounting the thumb fixing unit and the thumb pneumatic tendon;
the thumb mounting unit comprises a thumb clamping plate, a thumb back plate and a thumb upper insert in sequence from the tail end to the front end of a thumb, the thumb clamping plate is rotatably connected with the thumb back plate through a pin shaft, the thumb back plate is rotatably connected with the thumb upper insert through a pin shaft, one end of a thumb pneumatic tendon is fixed with the thumb clamping plate through a thumb connecting piece, the other end of the thumb pneumatic tendon is fixed with the thumb upper insert through the thumb pneumatic tendon upper insert, the thumb back plate comprises two straight plates which are parallel to the axial direction of the thumb pneumatic tendon, the thumb pneumatic tendon is located between the two straight plates, and the thumb clamping plate is fixed with a palm panel;
the fixed unit of thumb include that the fixed thumb that sets up at the thumb backplate detain and the fixed thumb sleeve that sets up on the inserts on the thumb, be equipped with a circular through-hole that is used for the cover to establish the thumb on the thumb finger detains, the thumb sleeve is the U type, and when using, the centre gripping of thumb sleeve is at thumb nail upper surface and rather than relative thumb lower surface. When the pneumatic tendons contract, the thumb only has one finger joint, when the pneumatic tendons fixed at two ends contract, the pneumatic tendons can drive the joint of the thumb mechanism to rotate, and the pneumatic tendons are arranged below the thumb back plate, so the pneumatic tendons can drive the mechanism to rotate inwards, and the thumb can move towards the palm.
The finger component comprises a finger fixing unit for fixing fingers, a finger pneumatic tendon for driving the fingers to bend towards the palm of the hand or bend the fingers, and a finger mounting unit for mounting the finger fixing unit and the finger pneumatic tendon;
the finger component comprises two pneumatic finger tendons, namely a rear pneumatic tendon for driving the hand to bend towards the palm of the hand and a front pneumatic tendon for driving the finger to bend, and the rear pneumatic tendon and the front pneumatic tendon are connected through a tendon connector;
each finger installation unit sequentially comprises a shell, a finger back plate, a finger connecting part and an upper finger insert from the tail end to the front end of a finger, adjacent two of the shell, the finger back plate, the finger connecting part and the upper finger insert are rotationally connected through a pin shaft, the shell is fixed with a palm panel, a rear pneumatic tendon is arranged in the shell, a tendon connecting part is arranged in the finger back plate, the main body of the front pneumatic tendon is arranged in the finger connecting part, and the front end of the front pneumatic tendon is fixedly connected with the upper finger insert through the upper finger pneumatic tendon insert;
the finger fixed unit including fixed finger that sets up on finger connecting portion buckle, fixed finger couple and the fixed finger sleeve that sets up on the inserts on the finger backplate of setting, finger couple is used for holding the finger and palm connection position, finger is buckled and is equipped with a circular through-hole that is used for the cover to establish the finger, finger sleeve is the U type, and when using, finger sleeve centre gripping is at finger nail upper surface and rather than relative finger lower surface.
The shell comprises a finger pneumatic tendon inner shell and a finger pneumatic tendon outer shell, the finger pneumatic tendon outer shell is sleeved on the outer side of the finger pneumatic tendon inner shell, the finger pneumatic tendon outer shell is fixed with a palm panel, and the rear pneumatic tendon is arranged inside the finger pneumatic tendon inner shell;
the finger connecting part comprises two finger clamping plates arranged in parallel and a finger top plate connected with the top ends of the two finger clamping plates, the two finger clamping plates and the finger top plate are in an inverted U shape, and the main body of the front pneumatic tendon is arranged in the inverted U shape;
the finger buckle is fixedly arranged on the finger clamping plate. When the pneumatic tendons contract, because the finger (except the thumb) has two finger joints, two pneumatic tendons are installed to the finger mechanism, the tie point of two pneumatic tendons is in the middle of two finger joints, when current pneumatic tendon contracts, it will drive the rotation of the finger joint that is close to the fingertip, because pneumatic tendon installs in the roof below, so make the fingertip to the crooked motion of palm, and in a similar way, when back pneumatic tendon contracts, will drive the finger joint that is close to the metacarpophalangeal joint and rotate to the palm for the finger is to the crooked motion of palm.
The training device is provided with a PLC controller used for controlling the movement of the arm fixing mechanism, the upper arm mechanism, the forearm mechanism, the wrist mechanism and the hand mechanism. Specifically, the PLC can control the rotation of a motor in the arm fixing unit, the expansion and contraction of four upper arm pneumatic tendons positioned on the outer side of an upper arm supporting plate in an upper arm mechanism, the expansion and contraction of four wrist pneumatic tendons in a wrist mechanism, and the expansion and contraction of a thumb pneumatic tendon and all finger pneumatic tendons in a hand mechanism, so that the rotation of each joint of an upper limb is driven, and the diversification of motion is increased; more meets the rehabilitation requirement and the human factor engineering design concept
Compared with the prior art, the beneficial effects of the invention are embodied in the following aspects:
(1) the shoulder joints are driven by motors, the wrist joints are driven by pneumatic tendons, and the movement of each joint is driven by the independent pneumatic tendons, so that the control is accurate, and the rehabilitation requirement and the human factor engineering design concept are better met;
(2) the controller is used for controlling the movement of each pneumatic tendon, so that the daily movement of the hand is simulated, the finger joints are subjected to efficient exercise rehabilitation, and the rehabilitation effect is better;
(3) meanwhile, the rigid structure and the flexible structure are combined, and the advantages of the rigid structure and the flexible structure are integrated; the pneumatic tendon structure improves the safety, lightens the weight of the mechanism and also reduces the production cost.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic structural view of an arm fixing mechanism according to the present invention;
FIG. 3 is a schematic structural view of an upper arm mechanism of the present invention;
FIG. 4 is a schematic structural diagram of a forearm mechanism of the invention;
FIG. 5 is a schematic diagram of a wrist mechanism according to the present invention;
fig. 6 is a schematic structural view of the hand mechanism of the present invention.
Wherein, 1 is an arm fixing mechanism, 101 is a base, 102 is a base support rod, 103 is a motor, 104 is an upper arm connecting rod, 2 is an upper arm mechanism, 201 is an elbow joint rotating shaft, 202 is an upper arm bandage, 203 is a pneumatic tendon guide rail, 204 is a pneumatic tendon mounting rack, 205 is an upper arm pneumatic tendon, 206 is a pneumatic tendon moving slider, 207 is an upper arm exoskeleton, 208 is an upper arm support plate, 209 is an upper arm support plate, 3 is a forearm mechanism, 301 is a forearm bandage, 302 is a forearm exoskeleton, 303 is a forearm rotating shaft, 304 is a forearm support plate, 305 is a forearm support plate, 306 is a groove, 4 is a wrist mechanism, 401 is a front wrist fixing member, 402 is a wrist pneumatic tendon, 404 is a rear wrist fixing member, 404 is a connecting rod, 405 is a wrist buckle, 406 is a bulge, 407 is a wrist connecting member, 5 is a hand mechanism, 501 is a thumb splint, 502 is a thumb connecting member, 503 is a thumb backboard, 504 is the thumb buckle, 505 is the pneumatic tendon of thumb, 506 is the last inserts of thumb, 507 is the last inserts of the pneumatic tendon of thumb, 508 is the thumb sleeve, 509 is the finger couple, 510 is the finger sleeve, 511 is the last inserts of the pneumatic tendon of finger, 512 is the last inserts of finger, 513 is the pneumatic tendon of finger, 514 is the roof, 515 is the finger buckle, 516 is the finger splint, 517 is the finger backplate, 518 is the pneumatic tendon shell of finger, 519 is the pneumatic tendon inner shell of finger, 520 is the palm panel, 521 is the tendon connecting piece.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Example 1
A hybrid driving type upper limb shoulder-elbow-wrist joint movement rehabilitation training device comprises an arm fixing mechanism 1, an upper arm mechanism 2, a forearm mechanism 3, a wrist mechanism 4 and a hand mechanism 5, and can be installed on a wheelchair or a seat and the like, so that the device is very convenient for a patient to carry out rehabilitation training in space.
Structure of arm fixing mechanism referring to fig. 2, a base 101 is at the lowest part of the arm fixing mechanism for supporting and fixing the whole trainer; the base supporting rod 102 is arranged above the base 101, the motor 103 and the upper arm connecting rod 104 are connected with the upper end of the base supporting rod 102, and the base supporting rod 102 is arranged between the motor 103 and the upper arm connecting rod 104; because the upper arm connecting rod 104 is fixed with the upper arm mechanism, the rotation of the motor 103 can drive the upper arm connecting rod 104 to rotate up and down, and further control the motion of the whole upper arm mechanism.
The structure of the upper arm mechanism is shown in fig. 3, and comprises two upper arm straps 202, wherein the upper arm straps 202 are arranged at the upper part of an upper arm exoskeleton 207, the upper arm exoskeleton 207 comprises two upper arm supporting plates 208 and two upper arm supporting plates 209, and the upper arm of a patient is fixed through the upper arm supporting plates 208, the upper arm supporting plates 209 and the upper arm straps 202; two upper arm supporting plates 208 of the upper arm exoskeleton 207 are fixedly provided with two upper arm driving units with the same structure, which are as follows: two pneumatic tendon mounting frames 204 are mounted on an upper arm supporting plate 208, an upper arm pneumatic tendon 205 is mounted between the two pneumatic tendon mounting frames 204, two pneumatic tendon motion sliders 206 are respectively movably connected with two pneumatic tendon guide rails 203 arranged on the pneumatic tendon mounting frames 204, in an initial state, one upper arm pneumatic tendon 205 is in a contraction state, the other upper arm pneumatic tendon 205 is in a natural state (non-contraction), and a steel wire rope is connected with the two pneumatic tendon sliders 206 and wound on the elbow joint rotating shaft 201; because the upper arm driving units arranged on the two upper arm supporting plates 208 move synchronously, the upper arm pneumatic tendons 205 work simultaneously, and the design can reduce the load of the upper arm pneumatic tendons 205; when the pneumatic tendon 205 of the upper arm works, the steel wire rope drives the elbow joint rotating shaft 201 to move, and the elbow joint rotating shaft 201 is connected with the forearm mechanism, so that the forearm mechanism is driven to move.
The structure of the forearm mechanism is shown in fig. 4, and comprises two forearm straps 301 and a forearm exoskeleton 302, wherein the forearm straps 301 are arranged above two forearm supporting plates 304 of the forearm exoskeleton 302, a forearm supporting plate 305 is arranged below the forearm supporting plates 304, and the forearm of a patient is fixed through the forearm supporting plates 304, the forearm supporting plate 305 and the forearm straps 301; the forearm pivot 303 is connected to the elbow joint pivot and will drive the entire forearm to move when the pneumatic tendons are activated. In addition, a recess 306 is provided on the forearm support plate 305 located forward (i.e., at the left end in fig. 4) of the forearm support plate 304.
The structure of wrist mechanism refers to fig. 5, including two parallel arrangement and be annular back wrist mounting 403 and preceding wrist mounting 401, connect wrist drive unit between back wrist mounting 403 and preceding wrist mounting 401 and buckle 405 through the fixed wrist of the type of falling U of connecting rod 404 and back wrist connecting piece 403, wrist drive unit includes 4 evenly distributed's the pneumatic tendon 402 of wrist, four pneumatic tendons are in space evenly distributed, the independent shrink of different pneumatic tendons can make whole hand to shrink direction skew motion, can realize the diversified rehabilitation training of hand. The wrist buckle 405 is arranged between the fixing piece 403 for fixing the wrist of the patient and the fixing piece for fixing the wrist of the patient, the back side of the wrist buckle 405 is provided with a protrusion 406 matched with the groove, and the fixing piece 401 for fixing the wrist connecting piece 407 of the hand mechanism is provided with the wrist connecting piece.
The hand mechanism is shown in fig. 6 and includes a thumb member and a finger member. The thumb component comprises a thumb clamping plate 501, a thumb joint 502, a thumb back plate 503, a thumb buckle 504, a thumb pneumatic tendon 505, a thumb upper insert 506, a thumb pneumatic tendon upper insert 507 and a thumb sleeve 508, wherein a thumb passes through the thumb buckle 504 and is sleeved in the thumb sleeve 508 so as to be fixed, the thumb clamping plate 501, the thumb joint 502, the thumb back plate 503, the thumb upper insert 506 and the thumb pneumatic tendon upper insert 507 are used for installing and fixing the thumb pneumatic tendon 505, and when the thumb pneumatic tendon 505 contracts, the thumb is moved towards the palm of the hand; the finger member comprises a finger hook 509, a finger sleeve 510, a finger pneumatic tendon upper insert 511, a finger upper insert 512, a finger pneumatic tendon 513, a top plate 514, a finger buckle 515, a finger clamping plate 516, a finger back plate 517, a finger pneumatic tendon outer shell 518 and a finger pneumatic tendon inner shell 519, when the finger pneumatic tendon inner shell is used, a finger is hung on the finger hook 509, then penetrates through the finger buckle 515 and finally is sleeved in the finger sleeve 510, so that four fingers except a thumb are fixed, the finger pneumatic tendon upper insert 511, the finger upper insert 512, the top plate 514, the finger clamping plate 516, the finger back plate 517, the finger pneumatic tendon outer shell 518 and the finger pneumatic tendon inner shell 519 are used for installing and fixing the finger pneumatic tendon 513, and the finger pneumatic tendon 513 comprises a front pneumatic tendon and a rear pneumatic tendon which are connected through a tendon connector 521. A five finger mechanism is mounted on palm panel 520. For the movement of the hand mechanism, when the pneumatic tendons 505 and 13 of the thumb and the fingers contract, the independent closing movement of the thumb and the other fingers can be completed; when the pneumatic tendon 505 of the thumb and any two pneumatic tendons in other four fingers contract 513, the three fingers can be moved close together; by analogy, when the pneumatic motors with five fingers contract, the gripping motion of the whole hand can be realized; each finger is controlled by a separate pneumatic tendon, so that the diversification of movement is increased; the rehabilitation requirement and the human factor engineering design concept are better met.
Claims (10)
1. The utility model provides a bionic upper limbs rehabilitation training device of hybrid drive, its characterized in that, this trainer include arm fixed establishment (1) and the upper limbs fixed unit of being connected with arm fixed unit, upper limbs fixed unit is including the upper arm mechanism (2), forearm mechanism (3), wrist mechanism (4) and hand mechanism (5) that connect gradually, be equipped with on arm fixed establishment (1) and be used for driving the whole pivoted motor (103) of upper limbs fixed unit, be equipped with the pivot of mutual matching between upper arm mechanism (2) and forearm mechanism (3), just be equipped with on upper arm mechanism (2) and be used for driving forearm mechanism (3) round this pivot pivoted upper arm drive unit, wrist mechanism (4) are equipped with and are used for driving patient's wrist pivoted wrist drive unit, hand mechanism (5) include palm panel (520) and the thumb component and four finger components of fixed mounting on palm panel (520), the thumb component is used for fixing and rehabilitation training of the thumb, and the four finger components are respectively used for fixing and rehabilitation training of the rest four fingers.
2. The hybrid driving bionic upper limb rehabilitation training device as claimed in claim 1, wherein the arm fixing mechanism (1) comprises a base (101), a base supporting rod (102) which is fixedly arranged on the base (101) and vertically arranged, and an upper arm connecting rod (104) which is rotatably connected with the top of the base supporting rod (102), and a motor (103) for driving the upper arm connecting rod (104) to rotate is arranged at the top of the base supporting rod (102).
3. The hybrid driving bionic upper limb rehabilitation training device as claimed in claim 2, wherein the upper arm mechanism (2) comprises an upper arm exoskeleton (207), at least two upper arm straps (202) arranged on the upper arm exoskeleton (207), two pairs of upper arm driving units respectively arranged on two sides of the upper arm exoskeleton (207), and an elbow joint rotating shaft (201) arranged at one end of the upper arm exoskeleton (207) and connected with the forearm mechanism (3), wherein the elbow joint rotating shaft (201) is connected with the upper arm driving unit;
the upper arm exoskeleton (207) comprises two parallel upper arm supporting plates (208) and an arc-shaped upper arm supporting plate (209) which is fixed at the bottoms of the two upper arm supporting plates (208) and used for supporting the upper arm of a patient, two ends of an upper arm binding band (202) are respectively fixed with the two upper arm supporting plates (208), the upper arm exoskeleton (207) and the upper arm of the patient can be fixed by adjusting the length of the upper arm binding band (202), a pair of upper arm driving units are fixed on the outer side of each upper arm supporting plate (208), elbow joint rotating shafts (201) are arranged at the lower ends of the two upper arm supporting plates (208), and the inner wall of one upper arm supporting plate (208) is fixedly connected with an upper arm connecting rod (104).
4. The bionic upper limb rehabilitation training device with hybrid driving function according to claim 3, wherein the upper arm driving unit comprises two upper arm pneumatic tendons (205) and two pneumatic tendon mounting frames (204) fixed on the outer side of an upper arm supporting plate (208), two upper ends of the upper arm pneumatic tendons (205) are fixed to one pneumatic tendon mounting frame (204), two pneumatic tendon guide rails (203) are arranged on the other pneumatic tendon mounting frame (204), each pneumatic tendon guide rail is provided with a pneumatic tendon movement slider (206) at the lower end of the upper arm pneumatic tendons (205), two pneumatic tendon movement sliders (206) are arranged on the two pneumatic tendon guide rails (203) in a sliding mode, a steel wire rope is connected between the two pneumatic tendon movement sliders (206), and the steel wire rope is wound on an elbow joint rotating shaft (201).
5. A hybrid-driven bionic upper limb rehabilitation training device according to claim 3, characterized in that the forearm mechanism (3) comprises a forearm exoskeleton (302) and at least two forearm straps (301) arranged on the forearm exoskeleton (302), a forearm rotating shaft (303) is arranged at the rear end of the forearm exoskeleton (302), and the forearm rotating shaft (303) is matched with the elbow joint rotating shaft (201) and rotates together with the elbow joint rotating shaft (201);
the forearm exoskeleton (302) comprises two forearm supporting plates (304) and a circular arc-shaped forearm supporting plate (305) fixed at the bottoms of the two forearm supporting plates (304) and used for supporting the forearm of a patient, two ends of a forearm strap (301) are respectively fixed with the two forearm supporting plates (304), the forearm exoskeleton (302) and the forearm of the patient can be fixed by adjusting the length of the forearm strap (301), and a groove (306) used for fixing a wrist mechanism (4) is arranged in the forearm supporting plate (305) positioned at the front end of the forearm supporting plate (304).
6. The hybrid driving bionic upper limb rehabilitation training device according to claim 5, the wrist mechanism (4) comprises a rear wrist fixing piece (403) and a front wrist fixing piece (401) which are arranged in parallel and are annular, a wrist driving unit connected between the rear wrist fixing piece (403) and the front wrist fixing piece (401), and an inverted U-shaped wrist buckle (404) fixed with the rear wrist connecting piece (403) through a connecting rod (404), the wrist driving unit comprises four pneumatic wrist tendons (402), the wrist button (404) is arranged between the rear wrist fixing piece (403) and the front wrist fixing piece (401), used for fixing the wrist of a patient, the back side surface of the wrist buckle (404) is provided with a bulge (406) matched with the groove (306), and a wrist connecting piece (407) which is connected with the palm panel (520) and used for fixing a hand mechanism is fixed on the front wrist fixing piece (401).
7. The hybrid drive bionic upper limb rehabilitation training device as claimed in claim 1, wherein the thumb member comprises a thumb fixing unit for fixing a thumb, a thumb pneumatic tendon (505) for driving the thumb to bend towards the palm of the hand, and a thumb mounting unit for mounting the thumb fixing unit and the thumb pneumatic tendon (505);
the thumb installation unit comprises a thumb clamping plate (501), a thumb back plate (503) and an upper thumb insert (506) in sequence from the tail end to the front end of a thumb, the thumb clamping plate (501) is rotatably connected with the thumb back plate (503) through a pin shaft, the thumb back plate (3) is rotatably connected with the upper thumb insert (6) through a pin shaft, one end of a pneumatic thumb tendon (505) is fixed with the thumb clamping plate (501) through a thumb connecting piece (502), the other end of the pneumatic thumb tendon (505) is fixed with the upper thumb insert (506) through a pneumatic thumb tendon upper insert (507), the thumb back plate (503) comprises two straight plates which are parallel to the axial direction of the pneumatic thumb tendon (505), the pneumatic thumb tendon (505) is located between the two straight plates, and the thumb clamping plate (501) is fixed with a palm panel (520);
the thumb fixing unit comprises a thumb buckle (504) fixedly arranged on a thumb back plate (503) and a thumb sleeve (508) fixedly arranged on an insert (507) on the thumb, wherein a circular through hole for sleeving the thumb is formed in the thumb buckle (504), the thumb sleeve (508) is U-shaped, and when the thumb fixing unit is used, the thumb sleeve (508) is clamped on the upper surface of a thumb nail and the lower surface of the thumb opposite to the upper surface of the thumb nail.
8. The hybrid-driven bionic upper limb rehabilitation training device as claimed in claim 1, wherein the finger members comprise a finger fixing unit for fixing fingers, a finger pneumatic tendon (513) for driving a hand to bend towards the palm or fingers, and a finger mounting unit for mounting the finger fixing unit and the finger pneumatic tendon (513);
the finger component comprises two finger pneumatic tendons (513), namely a rear pneumatic tendon for driving the hand to bend towards the palm of the hand and a front pneumatic tendon for driving the finger to bend, wherein the rear pneumatic tendon and the front pneumatic tendon are connected through a tendon connector (521);
each finger installation unit sequentially comprises a shell, a finger back plate (517), a finger connecting part and an upper finger insert (512) from the tail end to the front end of a finger, adjacent two of the shell, the finger back plate (517), the finger connecting part and the upper finger insert (512) are rotationally connected through a pin shaft, the shell is fixed with a palm panel (520), a rear pneumatic tendon is arranged inside the shell, a tendon connecting part (521) is arranged in the finger back plate (517), the main body of the front pneumatic tendon is arranged in the finger connecting part, and the front end of the front pneumatic tendon is fixedly connected with the upper finger insert (512) through an upper finger pneumatic tendon insert (511);
the fixed unit of finger buckle (515), the fixed finger couple (509) that sets up on finger backplate (517) and the fixed finger sleeve (510) that sets up on inserts (512) on the finger including the fixed finger that sets up on finger connecting portion, finger couple (509) are used for holding the finger and palm connection position, it is equipped with a circular through-hole that is used for the cover to establish the finger to indicate to buckle (515), finger sleeve (510) are the U type, and when using, finger sleeve (510) centre gripping is at finger nail upper surface and rather than the relative finger lower surface.
9. The hybrid drive bionic upper limb rehabilitation training device as claimed in claim 8, wherein the shell comprises an inner finger pneumatic tendon shell (519) and an outer finger pneumatic tendon shell (518), the outer finger pneumatic tendon shell (518) is sleeved on the outer side of the inner finger pneumatic tendon shell (519), the outer finger pneumatic tendon shell (518) is fixed with a palm panel (520), and the rear pneumatic tendon is arranged inside the inner finger pneumatic tendon shell (519);
the finger connecting part comprises two finger clamping plates (516) arranged in parallel and a finger top plate (514) connected with the top ends of the two finger clamping plates (516), the two finger clamping plates (516) and the finger top plate (514) are in an inverted U shape, and the main body of the front pneumatic tendon is arranged in the inverted U shape;
the finger buttons (515) are fixedly arranged on the finger clamping plate (516).
10. The hybrid driving bionic upper limb rehabilitation training device according to any one of claims 1-9, characterized in that the training device is provided with a PLC controller for controlling the movement of the arm fixing mechanism (1), the upper arm mechanism (2), the forearm mechanism (3), the wrist mechanism (4) and the hand mechanism (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811627703.1A CN111374862A (en) | 2018-12-28 | 2018-12-28 | Hybrid-driven bionic upper limb rehabilitation training device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811627703.1A CN111374862A (en) | 2018-12-28 | 2018-12-28 | Hybrid-driven bionic upper limb rehabilitation training device |
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| CN111374862A true CN111374862A (en) | 2020-07-07 |
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| CN112057298A (en) * | 2020-09-22 | 2020-12-11 | 岳池县人民医院 | Arm fracture postoperative rehabilitation device |
| CN113768754A (en) * | 2021-10-09 | 2021-12-10 | 宁波大学 | Finger rehabilitation device |
| CN113952172A (en) * | 2021-11-18 | 2022-01-21 | 山东大学 | Multi-degree-of-freedom upper limb rehabilitation device |
| CN113975093A (en) * | 2021-11-02 | 2022-01-28 | 洛阳轴承研究所有限公司 | Wrist rotation rehabilitation device and upper limb rehabilitation exoskeleton |
| CN114557858A (en) * | 2022-02-23 | 2022-05-31 | 南京邮电大学 | Hemiplegia patient sitting position upper limbs trainer |
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