CN117297927B - Wearable thumb rehabilitation training manipulator and rehabilitation training device with same - Google Patents
Wearable thumb rehabilitation training manipulator and rehabilitation training device with same Download PDFInfo
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- CN117297927B CN117297927B CN202311385527.6A CN202311385527A CN117297927B CN 117297927 B CN117297927 B CN 117297927B CN 202311385527 A CN202311385527 A CN 202311385527A CN 117297927 B CN117297927 B CN 117297927B
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- 210000003813 thumb Anatomy 0.000 title claims abstract description 107
- 210000003811 finger Anatomy 0.000 claims description 63
- 239000012530 fluid Substances 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 6
- 239000004033 plastic Substances 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 239000007788 liquid Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000005060 rubber Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
Classifications
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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
- 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
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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)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of medical equipment, in particular to a wearable thumb rehabilitation training manipulator and a rehabilitation training device with the same, wherein the wearable thumb rehabilitation training manipulator comprises a metacarpal support seat, a first knuckle driving seat, a second knuckle driving seat, a third knuckle driving seat, a first driving unit and a second driving unit; the first knuckle driving seat is rotatably arranged at one end of the metacarpal support seat; the second knuckle driving seat is rotatably arranged at one end of the first knuckle driving seat far away from the metacarpal support seat; the third knuckle driving seat is rotatably arranged at one end of the second knuckle driving seat far away from the first knuckle driving seat; in the whole, the device can assist the thumb to complete thumb gripping action training, thumb finger separating action training, thumb pair action training, thumb extending action training and thumb extending action training, and compared with a traditional hand rehabilitation training device, the device meets the purpose that the thumb needs to perform multiple action rehabilitation training, and realizes multi-degree-of-freedom training.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a wearable thumb rehabilitation training manipulator and a rehabilitation training device with the same.
Background
After the hand is damaged and treated, the flexibility of the fingers needs to be exercised during the rehabilitation stage.
If the hands of the patient are assisted by bare hands of the medical staff for rehabilitation training, the patients are greatly constrained by the technical level of the medical staff, the rehabilitation training effect is difficult to guarantee, and the cost is high. The hand rehabilitation training device is used for assisting a patient in hand rehabilitation training, so that the rehabilitation training cost can be effectively reduced, the rehabilitation training effect is stable, and the hand rehabilitation training device can be used for training with enough intensity.
Then, when carrying out hand rehabilitation training with the help of traditional hand rehabilitation training device, can only realize the rehabilitation training of thumb gripping action, the function is comparatively single.
Disclosure of Invention
The invention provides a wearable thumb rehabilitation training manipulator and a rehabilitation training device with the same, aiming at solving the technical problems that only rehabilitation training of gripping actions can be realized and the function is single when the hand rehabilitation training is carried out by means of a traditional hand rehabilitation training device.
The invention provides a wearable thumb rehabilitation training manipulator for realizing the purpose of the invention, which comprises:
A metacarpal support base;
the first knuckle driving seat is rotatably arranged at one end of the metacarpal support seat;
the second knuckle driving seat is rotatably arranged at one end of the first knuckle driving seat far away from the metacarpal support seat;
the third knuckle driving seat is rotatably arranged at one end of the second knuckle driving seat far away from the first knuckle driving seat;
the first driving unit is arranged on the metacarpal support seat and is used for driving the first knuckle driving seat, the second knuckle driving seat and the third knuckle driving seat to rotate in the plane of the metacarpal support seat;
The second driving unit is arranged on the second knuckle driving seat and used for driving the second knuckle driving seat to rotate around the connecting end shaft of the first knuckle driving seat and the second knuckle driving seat and driving the third knuckle driving seat to rotate around the connecting end shaft of the second knuckle driving seat and the third knuckle driving seat.
In some embodiments thereof, the first driving unit includes:
The outer lead pipe is of an arc-shaped hollow structure and is arranged on the metacarpal support seat;
the inner lead pipe is of an arc structure, one end of the inner lead pipe is inserted into the outer lead pipe, the other end of the inner lead pipe is connected with one side of the first knuckle driving seat, and the inner lead pipe can extend out of the outer lead pipe by a preset length.
In some embodiments, a chute is provided on the top surface of the metacarpal support base;
The first driving unit further includes:
The ball is arranged at the bottom of the inner lead pipe and can slide along the chute.
In some embodiments, the upper surface of the metacarpal support base is provided with a limiting portion.
In some of these embodiments, the first drive unit further comprises:
the medium flow nozzle is arranged at one end of the outer lead pipe far away from the inner lead pipe;
A first media flow tube in communication with the media flow nozzle.
In some embodiments thereof, the second driving unit includes:
One end of the first flexible deformation part is fixedly connected with the first knuckle driving seat;
the fixed seat is arranged in the middle of the top of the second knuckle driving seat, is connected with one end of the first flexible deformation part far away from the first knuckle driving seat and is communicated with the first knuckle driving seat;
one end of the second flexible deformation part is connected with the fixed seat and communicated with the fixed seat, and the other end of the second flexible deformation part is connected with the third knuckle driving seat;
The first flexible deformation portion and the second flexible deformation portion are capable of being deformed to a preset degree respectively.
In some embodiments, the second driving unit further comprises:
and the second medium flow tube is communicated with one end of the first flexible deformation part, which is far away from the fixed seat.
In some embodiments, the method further comprises:
The thumb sleeve is arranged at the bottoms of the metacarpal support seat, the first knuckle driving seat, the second knuckle driving seat and the third knuckle driving seat.
A rehabilitation training device with wearable thumb rehabilitation training manipulator based on the same concept, comprising:
A glove; the glove is provided with a tail finger rehabilitation training device, a ring finger rehabilitation training device, a middle finger rehabilitation training device, an index finger rehabilitation training device and the wearable thumb rehabilitation training manipulator provided by any specific embodiment.
In some embodiments, the method further comprises:
the wire binding box is arranged on the glove;
Four third medium flow pipes respectively penetrate through the beam line box; one of the third medium flow pipes is communicated with the tail finger rehabilitation trainer, the other third medium flow pipe is communicated with the ring finger rehabilitation trainer, the other third medium flow pipe is communicated with the middle finger rehabilitation trainer, and the other third medium flow pipe is communicated with the index finger rehabilitation trainer.
The invention has the beneficial effects that: according to the wearable thumb rehabilitation training manipulator, the metacarpal support seat, the first knuckle driving seat, the second knuckle driving seat, the third knuckle driving seat, the first driving unit and the second driving unit are arranged, and the metacarpal support seat can be attached to the back of a palm. The first knuckle driving seat is rotatably arranged at one end of the metacarpal support seat and is used for driving the first knuckle of the thumb to act. The second knuckle driving seat is rotatably arranged at one end of the first knuckle driving seat far away from the metacarpal support seat and is used for driving the second knuckle of the thumb to act. The third knuckle driving seat is rotatably arranged at one end of the second knuckle driving seat far away from the first knuckle driving seat and is used for driving the third knuckle of the thumb to act. The first driving unit is arranged on the metacarpal support seat and is used for driving the first knuckle driving seat, the second knuckle driving seat and the third knuckle driving seat to rotate in the plane of the metacarpal support seat so as to drive the thumb to perform overhanging action training and inward stretching action training. The second driving unit is arranged on the second knuckle driving seat and used for driving the second knuckle driving seat to rotate around the connecting end shaft of the first knuckle driving seat and the second knuckle driving seat and driving the third knuckle driving seat to rotate around the connecting end shaft of the second knuckle driving seat and the third knuckle driving seat so as to drive the knuckle of the thumb to bend and train. In the whole, the device can assist the thumb to complete thumb gripping action training, thumb finger separating action training, thumb pair action training, thumb extending action training and thumb extending action training, and compared with a traditional hand rehabilitation training device, the device meets the purpose that the thumb needs to perform multiple action rehabilitation training, and realizes multi-degree-of-freedom training.
Drawings
FIG. 1 is a schematic view of some embodiments of a wearable thumb rehabilitation training device according to the present invention;
FIG. 2 is a schematic view of the wearable thumb rehabilitation training device shown in FIG. 1 in an operating state;
FIG. 3 is a schematic view of the wearable thumb rehabilitation training device shown in FIG. 1 in another working state;
FIG. 4 is a schematic view of the wearable thumb rehabilitation training device of FIG. 1 in yet another operating state;
FIG. 5 is a schematic diagram of some embodiments of a rehabilitation exercise device with a wearable thumb rehabilitation exercise manipulator of the present invention;
FIG. 6 is a schematic view of the rehabilitation exercise device with the wearable thumb rehabilitation exercise robot shown in FIG. 5 assisting the human hand in grip exercises;
FIG. 7 is a schematic view of the rehabilitation exercise device with the wearable thumb rehabilitation exercise robot shown in FIG. 5 assisting the human hand in grip exercises;
FIG. 8 is a schematic diagram of the rehabilitation exercise device with the wearable thumb rehabilitation exercise manipulator of FIG. 5 in assisting the human hand in finger separation exercise;
FIG. 9 is a schematic diagram of the rehabilitation training device with the wearable thumb rehabilitation training manipulator shown in FIG. 5 assisting the human hand in performing finger training;
FIG. 10 is a schematic view of the rehabilitation exercise device with the wearable thumb rehabilitation exercise manipulator of FIG. 5 in assisting the thumb in performing an overhanging exercise;
Fig. 11 is a schematic view of the rehabilitation training device with the wearable thumb rehabilitation training manipulator shown in fig. 5 when the rehabilitation training device assists the thumb in performing the abduction training.
In the drawing, a 100-degree wearable thumb rehabilitation training manipulator; 110. a metacarpal support base; 120. a first knuckle drive mount; 130. a second knuckle drive mount; 140. a third knuckle drive mount; 150. a first driving unit; 151. an outer lead tube; 152. an inner lead tube; 153. a media flow nozzle; 160. a second driving unit; 161. a first flexible deformation portion; 162. a fixing seat; 163. a second flexible deformation; 200. a glove; 300. tail finger rehabilitation training device; 400. a ring finger rehabilitation training device; 500. middle finger rehabilitation training device; 600. an index finger rehabilitation training device; 700. a wire harness box; 800. a third medium flow tube; A. a second medium flow tube; B. a first media flow tube.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar symbols indicate like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "top," "bottom," "inner," "outer," "axis," "circumferential," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience in describing the present invention or simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," "engaged," "hinged," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that the human hand has tail finger, ring finger, middle finger, index finger and thumb. The thumb is sequentially provided with a first knuckle, a second knuckle and a third knuckle from the root of the finger to the fingertip. The first knuckle and the second knuckle are connected by a first knuckle. The second knuckle and the third knuckle are connected by a second knuckle.
Gripping action: as shown in fig. 6 and 7, the tail finger, ring finger, middle finger, index finger and thumb are respectively bent, and the fingertips face the palm.
Finger dividing action: as shown in fig. 8, in the separated state of five fingers from each other, the thumb, index finger, middle finger, ring finger and tail finger are sequentially or unordered bent by a single finger.
Finger-aligning action: as shown in fig. 9, the tip of the thumb is attached to the tip of the index finger/middle finger/ring finger/tail finger.
Thumb overhanging action: as shown in fig. 10, in the state that the five fingers are not bent, the straight line where the thumb is located and the straight line where the index finger is located form a certain angle, and the angle is between 0 and 90 degrees.
Thumb abduction action: as shown in fig. 11, in a state where the five fingers are not bent, the thumb and the index finger perform finger-to-finger combination.
If the background technology, when the hand rehabilitation training is carried out by means of the traditional hand rehabilitation training device, the rehabilitation training of the thumb gripping action can only be realized, and the function is single.
To improve the above-mentioned problems, referring to fig. 1, 2, 3, 4 and5, a wearable thumb rehabilitation training manipulator 100 is provided. When the wearable thumb rehabilitation training manipulator 100 is used for rehabilitation training on the hand of a human body, the thumb is positioned below the wearable thumb rehabilitation training manipulator 100. The wearable thumb rehabilitation training manipulator 100 includes a metacarpal support base 110, a first knuckle drive base 120, a second knuckle drive base 130, a third knuckle drive base 140, a first drive unit 150, and a second drive unit 160. The metacarpal support 110 can be attached to the back of the palm. The first knuckle driving seat 120 is rotatably disposed at one end of the metacarpal support seat 110, and is configured to actuate the first knuckle of the thumb. The second knuckle driving seat 130 is rotatably disposed at an end of the first knuckle driving seat 120 away from the metacarpal support seat 110, for driving the second knuckle of the thumb to act. The third knuckle driving seat 140 is rotatably disposed at an end of the second knuckle driving seat 130 away from the first knuckle driving seat 120, for driving the third knuckle of the thumb to act. The first driving unit 150 is disposed on the metacarpal support base 110, and is configured to drive the first knuckle driving base 120, the second knuckle driving base 130, and the third knuckle driving base 140 to rotate within the plane of the metacarpal support base 110, so as to drive the thumb to perform the extension exercise and the inward extension exercise. The second driving unit 160 is disposed on the second knuckle driving seat 130, and is configured to drive the second knuckle driving seat 130 to rotate around the connecting end shaft of the first knuckle driving seat 120 and the second knuckle driving seat 130, and drive the third knuckle driving seat 140 to rotate around the connecting end shaft of the second knuckle driving seat 130 and the third knuckle driving seat 140, so as to drive the thumb knuckle to perform bending training. In the whole, the device can assist the thumb to complete thumb gripping action training, thumb finger separating action training, thumb pair action training, thumb extending action training and thumb extending action training, and compared with a traditional hand rehabilitation training device, the device meets the purpose that the thumb needs to perform multiple action rehabilitation training, and realizes multi-degree-of-freedom training.
Preferably, the metacarpal support base 110 and the first knuckle drive base 120 are rotatably connected by a first rotation shaft, and an axis of the first rotation shaft is perpendicular to a plane of the metacarpal support base 110. The first knuckle drive seat 120 and the second knuckle drive seat 130 are rotatably connected by a second rotation shaft. The axis of the second rotation shaft is parallel to the surface of the metacarpal support seat 110. The second knuckle drive seat 130 and the third knuckle drive seat 140 are rotatably connected by a third rotation shaft. The axis of the third rotation shaft is parallel to the surface of the metacarpal support seat 110.
Preferably, the bottom of the second knuckle drive seat 130 is formed with a thumb second knuckle receiving cavity. A thumb third knuckle receiving cavity is formed in the bottom of the third knuckle drive seat 140.
Specifically, in the exemplary embodiment, first drive unit 150 includes an outer lead tube 151 and an inner lead tube 152. The outer lead tube 151 is of an arc-shaped hollow structure and is mounted on the metacarpal support 110. The inner lead tube 152 has an arc structure, one end of the inner lead tube is inserted into the outer lead tube 151, and the other end of the inner lead tube is connected with one side of the first knuckle driving seat 120, and can extend a preset length outside the outer lead tube 151, wherein the preset length is 0-5cm. The inner lead tube 152 pulls or pushes the first knuckle driving seat 120 to act, so as to drive the second knuckle driving seat 130 and the third knuckle driving seat 140 to act.
Preferably, the outer lead tube 151 and the inner lead tube 152 are made of a hard plastic material.
Preferably, a chute is provided on the top surface of the metacarpal support 110. The first driving unit 150 further includes balls mounted to the bottom of the inner lead pipe 152 to slide along the sliding grooves. The sliding groove can guide the movement of the ball, and further, the smoothness of the movement of the inner lead pipe 152 is effectively improved.
Preferably, a limit portion is provided on the top surface of the metacarpal support base 110. Specifically, the limit part is a stop block and is arranged in the chute, so that the movement range of the ball can be limited, and the safety of rehabilitation training is further ensured.
Preferably, the first driving unit 150 further includes a medium flow nozzle 153 and a first medium flow tube B. The medium flow nozzle 153 is provided at an end of the outer lead pipe 151 remote from the inner lead pipe 152, and is capable of allowing a fluid medium such as gas or liquid to flow out of or into the outer lead pipe 151. The first medium flow pipe B communicates with the medium flow nozzle 153, and is capable of feeding or discharging a medium to or from the medium flow nozzle 153. As the fluid medium flows into the outer lead tube 151, the inner lead tube 152 is forced to gradually protrude from the outer lead tube 151. As the fluid medium is withdrawn from the outer lead tube 151, the inner lead tube 152 is forced to gradually retract into the outer lead tube 151.
Specifically, in the illustrated example, the second driving unit 160 includes a first flexible deformation portion 161, a fixing seat 162, a second flexible deformation portion 163, and a second medium flow tube a. One end of the first flexible deformation portion 161 is fixedly connected with the middle portion of the top of the first knuckle drive seat 120 through a mounting plate. The fixing seat 162 is a hollow structure, is installed in the middle of the top of the second knuckle driving seat 130, and is connected and communicated with one end of the first flexible deformation portion 161, which is far away from the first knuckle driving seat 120. One end of the second flexible deformation part 163 is connected with the fixed seat 162 and communicated, and the other end is connected with the top of one end of the third knuckle drive seat 140 far away from the second knuckle drive seat 130 through the mounting plate. The first and second flexible deformation parts 161 and 163 are respectively capable of being deformed to a preset degree. The second medium flow tube a communicates with an end of the first flexible deformation portion 161 remote from the fixing seat 162. The second medium flow tube a can convey a fluid medium such as gas or liquid into the first flexible deformation portion 161 and the second flexible deformation portion 163, and the second medium flow tube a can be used for outputting the fluid medium from the first flexible deformation portion 161 and the second flexible deformation portion 163. When the amount of fluid medium in the first and second flexible deformation portions 161 and 163 increases or decreases, the first and second flexible deformation portions 161 and 163 are deformed, respectively. The deformed first flexible deformation portion 161 can drive the second knuckle driving seat 130 to rotate around the connecting end shaft of the first knuckle driving seat 120 and the second knuckle driving seat 130. The deformed second flexible deformation portion 163 can drive the third knuckle driving seat 140 to rotate around the connecting end shaft of the second knuckle driving seat 130 and the third knuckle driving seat 140.
Preferably, the first flexible deformation portion 161 and the second flexible deformation portion 163 are bellows, and are made of silica gel, rubber or latex, etc. The fixing base 162 is made of hard plastic.
Preferably, the fixing base 162 is composed of a first housing and a second housing. The bottoms of the first shell and the second shell are respectively provided with a clamping block, and correspondingly, the middle part of the top of the second knuckle driving seat 130 is provided with a clamping groove matched with the clamping blocks. One side of the first shell, which is close to the second shell, is provided with a clamping block, and correspondingly, one side of the second shell, which is close to the first shell, is provided with a clamping groove matched with the clamping block.
Specifically, in the exemplary embodiment, the wearable thumb rehabilitation training device 100 further includes a thumb sleeve mounted on the bottoms of the metacarpal support base 110, the first knuckle drive base 120, the second knuckle drive base 130, and the third knuckle drive base 140 for wearing by the thumb.
Preferably, the thumb stall is made of flexible materials such as leather, cloth or fiber, and is adhered to the bottoms of the metacarpal support base 110, the first knuckle drive base 120, the second knuckle drive base 130 and the third knuckle drive base 140.
The working process and principle of the wearable thumb rehabilitation training manipulator 100 are as follows:
When the thumb and the four fingers are in cooperation linkage during the rehabilitation training of the grasping actions, the finger separating actions and the rehabilitation training of the finger actions, the fluid medium such as gas or liquid flows into the first flexible deformation part 161 and the second flexible deformation part 163 or flows out of the first flexible deformation part 161 and the second flexible deformation part 163 through the second medium flow pipe A, so that the thumb joints are bent.
When the thumb overhanging action rehabilitation training and the thumb inward extending action rehabilitation training are performed, a fluid medium such as gas or liquid flows into the outer lead tube 151 or flows out of the outer lead tube 151 through the first medium flow tube B, so that the inner lead tube 152 extends out of the outer lead tube 151 or retracts into the outer lead tube 151, and the thumb is enabled to finish overhanging and inward extending actions. The ball moves along a predetermined slide groove during the extension of the inner lead tube 152 out of the outer lead tube 151 or the retraction of the inner lead tube 151 into the outer lead tube 151.
It should be noted that the limitation is larger if the motor is used to drive the first knuckle drive seat 120, the second knuckle drive seat 130, and the third knuckle drive seat 140 to move. If the stability of the control program cannot be ensured, the rotation angle of the motor may exceed a preset value, and further the safety cannot be ensured. The motor with relatively stable control program has larger size specification and is not suitable for medical appliances. If the first knuckle driving seat 120, the second knuckle driving seat 130 and the third knuckle driving seat 140 are hydraulically driven to move, the weight is large, the volume is large, and the miniaturization design is not easy to realize.
Therefore, the wearable thumb rehabilitation training manipulator 100 of the application adopts a form that fluid media such as gas or liquid drives the first knuckle driving seat 120, the second knuckle driving seat 130 and the third knuckle driving seat 140 to move, thus being easier to realize miniaturized design, lower in manufacturing cost and higher in safety and stability. In addition, the materials of the first knuckle driving seat 120, the second knuckle driving seat 130 and the third knuckle driving seat 140 are hard plastics, so that the thumb can reach the preset optimal position when the thumb is trained in the grasping direction. Compared with the mode of only adopting the flexible corrugated pipe, the degree of freedom is reduced, and the movement track of the flexible corrugated pipe is easier to set. The thumb can be ensured to perform advanced complex motion training such as overhanging motion, inward unfolding motion and the like, and the precision is higher and the safety is better.
Referring to fig. 5 and 6, the present invention also provides a hand rehabilitation training device having a wearable thumb rehabilitation training manipulator 100, including a glove 200. The glove 200 is provided with a tail finger rehabilitation trainer 300, a ring finger rehabilitation trainer 400, a middle finger rehabilitation trainer 500, an index finger rehabilitation trainer 600 and the wearable thumb rehabilitation training manipulator 100 provided by any of the specific embodiments. In the whole, the device can assist five fingers to complete grasping action training, finger separating action training, finger opposite action training, thumb stretching action training and thumb stretching action training, and compared with a traditional hand rehabilitation training device, the device meets the purpose that the thumb needs to perform multiple action rehabilitation training, and enables the thumb to realize multi-degree-of-freedom training.
Specifically, in the exemplary embodiment, hand rehabilitation training device with wearable thumb rehabilitation training device 100 also includes a harness box 700 and four third media flow tubes 800. The harness box 700 is mounted on the glove 200 by means of bonding or the like, and the rationality and regularity of the harness layout are ensured. Four third medium flow tubes 800 extend through the bundle box 700, respectively. One of the third medium flow tubes 800 is communicated with the tail finger rehabilitation trainer 300, the other third medium flow tube 800 is communicated with the ring finger rehabilitation trainer 400, the other third medium flow tube 800 is communicated with the middle finger rehabilitation trainer 500, and the other third medium flow tube 800 is communicated with the index finger rehabilitation trainer 600 and is respectively used for conveying fluid medium to the corresponding trainer or for flowing out fluid medium in the corresponding trainer.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "examples," "particular examples," "one particular embodiment," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, within the scope of the present invention, should be covered by the protection scope of the present invention by equally replacing or changing the technical scheme and the inventive concept thereof.
Claims (6)
1. A wearable thumb rehabilitation training manipulator, comprising:
A metacarpal support base;
the first knuckle driving seat is rotatably arranged at one end of the metacarpal support seat;
The second knuckle driving seat is rotatably arranged at one end of the first knuckle driving seat far away from the metacarpal support seat;
The third knuckle driving seat is rotatably arranged at one end of the second knuckle driving seat far away from the first knuckle driving seat;
The first driving unit is arranged on the metacarpal support seat and is used for driving the first knuckle driving seat, the second knuckle driving seat and the third knuckle driving seat to rotate in the plane where the metacarpal support seat is positioned;
The second driving unit is arranged on the second knuckle driving seat and used for driving the second knuckle driving seat to rotate around the connecting end shaft of the first knuckle driving seat and the second knuckle driving seat and driving the third knuckle driving seat to rotate around the connecting end shaft of the second knuckle driving seat and the third knuckle driving seat;
the first driving unit includes:
The outer lead pipe is of an arc-shaped hollow structure and is arranged on the metacarpal support seat;
The inner lead pipe is of an arc structure, one end of the inner lead pipe is inserted into the outer lead pipe, and the other end of the inner lead pipe is connected with one side of the first knuckle driving seat and can extend out of the outer lead pipe by a preset length;
The outer lead pipe and the inner lead pipe are made of hard plastic materials;
the first driving unit further includes:
the medium flow nozzle is arranged at one end of the outer lead pipe far away from the inner lead pipe;
A first media flow tube in communication with the media flow nozzle;
the second driving unit includes:
one end of the first flexible deformation part is fixedly connected with the first knuckle driving seat;
The fixed seat is arranged in the middle of the top of the second knuckle driving seat, is connected with one end of the first flexible deformation part far away from the first knuckle driving seat and is communicated with the first knuckle driving seat;
One end of the second flexible deformation part is connected with the fixed seat and communicated with the fixed seat, and the other end of the second flexible deformation part is connected with the third knuckle driving seat;
The first flexible deformation part and the second flexible deformation part can deform to a preset degree respectively;
The second driving unit further includes:
The second medium flow tube is communicated with one end of the first flexible deformation part, which is far away from the fixed seat;
When the grasping action rehabilitation training, the finger separating action rehabilitation training and the finger opposite action rehabilitation training are performed, the fluid medium flows into the first flexible deformation part and the second flexible deformation part through the second medium flow pipe or flows out of the first flexible deformation part and the second flexible deformation part, so that the thumb joints are bent; when the thumb overhanging action rehabilitation training and the thumb inward-extending action rehabilitation training are carried out, the fluid medium flows into the outer lead pipe through the first medium flow pipe or flows out of the outer lead pipe, so that the inner lead pipe extends out of the outer lead pipe or retracts into the outer lead pipe, and the thumb is enabled to finish overhanging and inward-extending actions.
2. The wearable thumb rehabilitation training manipulator according to claim 1, wherein a chute is arranged on the top surface of the metacarpal support seat;
the first driving unit further includes:
and the ball is arranged at the bottom of the inner lead pipe and can slide along the sliding groove.
3. The wearable thumb rehabilitation training manipulator according to claim 1, wherein a limit portion is provided on a top surface of the metacarpal support base.
4. The wearable thumb rehabilitation training manipulator according to any one of claims 1 to 3, further comprising:
The thumb sleeve is arranged at the bottoms of the metacarpal support seat, the first knuckle driving seat, the second knuckle driving seat and the third knuckle driving seat.
5. A rehabilitation training device with a wearable thumb rehabilitation training manipulator, comprising:
A glove; the glove is provided with a tail finger rehabilitation trainer, a ring finger rehabilitation trainer, a middle finger rehabilitation trainer, an index finger rehabilitation trainer and the wearable thumb rehabilitation training manipulator of any one of claims 1 to 4.
6. The rehabilitation training device with a wearable thumb rehabilitation training manipulator according to claim 5, further comprising:
the wire harness box is arranged on the glove;
Four third medium flow pipes respectively penetrate through the wire harness box; one of the third medium flow pipes is communicated with the tail finger rehabilitation trainer, the other third medium flow pipe is communicated with the ring finger rehabilitation trainer, the other third medium flow pipe is communicated with the middle finger rehabilitation trainer, and the other third medium flow pipe is communicated with the index finger rehabilitation trainer.
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| CN202311385527.6A CN117297927B (en) | 2023-10-24 | 2023-10-24 | Wearable thumb rehabilitation training manipulator and rehabilitation training device with same |
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| CN118236247B (en) * | 2024-05-29 | 2024-09-10 | 北京软体机器人科技股份有限公司 | Finger rehabilitation training device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108464913A (en) * | 2018-05-11 | 2018-08-31 | 合肥工业大学 | A kind of pneumatic joint formula manipulators in rehabilitation |
| CN116650285A (en) * | 2023-06-20 | 2023-08-29 | 哈尔滨理工大学 | Flexible hand rehabilitation exoskeleton and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11129766B2 (en) * | 2017-04-14 | 2021-09-28 | The Chinese University Of Hong Kong | Flexibly driven robotic hands |
| IT201700079086A1 (en) * | 2017-07-13 | 2019-01-13 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | Kinematic chain for assisting the movement of a ball joint |
| CN111251600B (en) * | 2020-03-09 | 2021-11-19 | 西安交通大学 | Shape memory alloy driven soft rehabilitation glove and 3D printing preparation method thereof |
| CN215021628U (en) * | 2020-12-28 | 2021-12-07 | 深圳市迈步机器人科技有限公司 | Pneumatic rehabilitation glove |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108464913A (en) * | 2018-05-11 | 2018-08-31 | 合肥工业大学 | A kind of pneumatic joint formula manipulators in rehabilitation |
| CN116650285A (en) * | 2023-06-20 | 2023-08-29 | 哈尔滨理工大学 | Flexible hand rehabilitation exoskeleton and control method thereof |
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