CN113440379B

CN113440379B - Hand rehabilitation training system and training method

Info

Publication number: CN113440379B
Application number: CN202110842020.3A
Authority: CN
Inventors: 谢菲; 叶斌; 陈瑶; 刘莹; 卓文君
Original assignee: Shanghai Third Rehabilitation Hospital
Current assignee: Shanghai Third Rehabilitation Hospital
Priority date: 2021-07-25
Filing date: 2021-07-25
Publication date: 2023-12-15
Anticipated expiration: 2041-07-25
Also published as: CN113440379A

Abstract

The invention discloses a hand rehabilitation training system and a training method, wherein the hand rehabilitation training system comprises a finger movement mechanism for driving fingers to do bending and stretching movements, and further comprises a base, a supporting plate is fixed on the upper end face of the base along the vertical direction, a transverse mounting plate is connected to the top of the supporting plate along the horizontal direction, a vertical mounting plate is fixed on the lower end face of the transverse mounting plate along the vertical direction, a wrist movement mechanism for driving wrists to do back stretching, palm bending and internal and external rotation is arranged at the center of the vertical mounting plate, and the finger movement mechanism and the wrist movement mechanism are connected to form an integrated component. The hand rehabilitation training system can realize the common active and passive training of fingers and wrists in hand function recovery, is beneficial to quickly recovering the whole muscle strength and flexion and extension of the hands of a patient, and in addition, the adopted finger glove type air pressure device can be used for carrying out hot compress massage on the tail ends of the fingers of the patient, so that the blood circulation is promoted, and the condition of swelling of the tail ends of the fingers of the patient is avoided.

Description

Hand rehabilitation training system and training method

Technical Field

The invention relates to the field of medical equipment, in particular to a hand rehabilitation training system and a training method.

Background

Cerebral apoplexy is also called apoplexy and cerebrovascular accident, and is an acute cerebrovascular disease. The current cerebral apoplexy patients in China are about 900 ten thousand people, the new occurrence of the cerebral apoplexy is more than 150 ten thousand people each year, and about 75% of cerebral apoplexy patients can leave sequelae with different degrees after the cerebral apoplexy occurs. Among the many sequelae, hemiplegia occurs most frequently. In the rehabilitation of hemiplegia, the rehabilitation of hand functions is the most difficult. At present, the interactive biofeedback training of surface electromyographic signal triggering and dynamic intelligent control is mostly utilized in the industry to realize the independent movement of the four fingers, the thumbs and the wrists of a patient, however, the joint action of the four fingers, the thumbs and the wrists directly influences the muscle strength and the flexion and extension of the hands in the hand function recovery, so that the traditional training device is necessary to be improved to realize the simultaneous training of the four fingers, the thumbs and the wrists of the patient; in addition, the hemiplegia patient has poor blood circulation and easily swelling at the tail end of the limb due to dyskinesia, and the air pressure circulation treatment has been reported to have a certain curative effect on swelling of fingers and backs of hands of the cerebral apoplexy patient at present, but the existing air pressure circulation treatment device is designed for the whole upper limb or lower limb, and lacks an air pressure circulation treatment device specially aiming at hands and fingers, and the invention is proposed in view of the above conditions.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, one purpose of the invention is to provide a hand rehabilitation training system, which can realize the rotation and bending exercise of the wrist of a patient through a wrist movement mechanism, and the wrist of the patient is mutually telescopic matched in a wrist supporting ring through four cylinders and slides in a sliding groove, so that the bending of the wrist of the patient at any angle in a plane perpendicular to the arm is realized, and the flexibility of the wrist exercise is greatly improved.

The invention provides a hand rehabilitation training system, which comprises a finger movement mechanism for driving fingers to do bending and stretching movements, and further comprises a base, wherein a supporting plate is fixed on the upper end surface of the base along the vertical direction, the top of the supporting plate is connected with a transverse mounting plate along the horizontal direction, a vertical mounting plate is fixed on the lower end surface of the transverse mounting plate along the vertical direction, a wrist movement mechanism for driving wrists to do back stretching, palm bending and internal and external rotation for active and passive training is arranged at the center of the vertical mounting plate, the finger movement mechanism is connected with the wrist movement mechanism to form an integrated component, and an arm support cavity concentric with the vertical mounting plate is arranged on the supporting plate in a penetrating way.

Preferably, the wrist movement mechanism comprises a rotating ring and a wrist supporting ring which are concentrically arranged, the wrist supporting ring is positioned on the inner side of the rotating ring, the rotating ring is rotatably arranged on the vertical mounting plate, the wrist supporting ring is connected with the rotating ring through four cylinders which are uniformly distributed in a ring shape, a circle of sliding groove is formed on the circumferential surface of the inner side of the rotating ring, a sliding block is slidably connected in the sliding groove, the cylinder seat end of the cylinder is fixedly connected with the sliding block, the piston end of the cylinder is hinged with the circumferential surface of the wrist supporting ring, and a spring is sleeved on a piston rod of the cylinder.

Preferably, a buffer air bag for contacting with the hand of the person is formed on the inner side of the wrist supporting ring.

Preferably, a circle of meshing teeth are formed on the circumferential surface of the outer side of the rotating ring, tooth grooves corresponding to the meshing teeth are formed in the vertical mounting plate, the rotating ring is nested on the vertical mounting plate and is rotationally connected with the vertical mounting plate, a mounting groove for mounting the gear is further formed in the vertical mounting plate, an arc-shaped notch communicated with the tooth grooves is formed in the mounting groove, the gear is meshed with the meshing teeth after passing through the arc-shaped notch, a central shaft of the gear outwards extends through the air inlet and is connected with a motor drive fixed at the bottom of the transverse mounting plate, limit baffles are fixedly sleeved on two sides of the gear on the central shaft of the gear, and the limit baffles are located on the outer side of the air inlet and have diameters larger than the air inlet.

Preferably, the finger movement mechanism comprises a finger sleeve with an air bag structure, an opening part of the finger sleeve is fixedly connected with the wrist supporting ring, an air charging port of the finger sleeve is connected with an external air supply system, and a pressure sensor, a flexible bending sensor and an electromyographic signal sensor which are connected with a controller in a signal manner are further arranged on the finger sleeve.

Preferably, the device further comprises a finger glove type air pressure device, the finger glove type air pressure device is detachably sleeved at the finger end of the finger glove, a massage air bag is formed in the finger glove type air pressure device, the massage air bag in each finger glove type air pressure device is connected to an air supply pipe, an air supply box and an air pump are sequentially installed on the upper end face of each transverse installation plate, the output end of the air supply box is connected with the input end of the air pump, the output end of the air pump is communicated with the air supply pipe, and the air pump pumps air in the air supply box to the massage air bag through the air supply pipe so as to realize inflation and deflation from the distal end to the proximal end.

Preferably, the massage air bag is sequentially provided with an elastic inner liner layer, an elastic air bag layer and an outer sleeve layer from inside to outside.

Preferably, the upper end face of the transverse mounting plate is also provided with a water bath heating box, a first hot gas channel is formed in the water bath heating box along the vertical direction, the water bath heating box is separated by the first hot gas channel to form two cavities, two conical box bodies are symmetrically arranged in each cavity along the vertical direction, and the two conical box bodies positioned in the same cavity are communicated through a plurality of vertical communicating pipes distributed in a rectangular mode; the narrow portion of the conical box body positioned below in the cavity on the right side of the water bath heating box is communicated with a hot water inlet, the narrow portion of the conical box body positioned above is horizontally connected with a transverse communicating pipe, the narrow portion of the conical box body positioned below in the cavity on the left side of the water bath heating box is communicated with a hot water outlet, the transverse communicating pipe extends in the horizontal direction to penetrate through a first hot gas channel and then is connected with the narrow portion of the conical box body positioned above in the cavity on the left side, an air inlet is formed in the bottom of the cavity on the left side, air guide holes are formed in the edge of a bottom plate of the box body of each conical box body, the two cavities are communicated through a second hot gas channel at the top, a channel inlet communicated with the cavity on the right side is formed in the bottom of the first hot gas channel, the top of the first hot gas channel is communicated with an air outlet, an output end of an air pump is connected with the air inlet, and an air supply pipe is connected with the air outlet on the water bath heating box.

Preferably, the inside two cavities of the water bath heating box are symmetrically provided with air guide plates between the bottom plates of the upper box body and the lower box body, and the air guide plates are fixed on the inner wall of the water bath heating box along the horizontal direction.

The invention also provides a training method of the hand rehabilitation training system, which comprises the following steps: the hand part of the patient sequentially passes through the arm support cavity and the wrist support ring and wears the finger sleeve, the arm support cavity supports the arm of the patient, the air supply system supplies air into the buffer air bag to bulge so as to relatively fix the wrist of the patient and the rotating ring, the controller respectively controls the finger movement mechanism and the wrist movement mechanism to move so as to train the finger and the wrist of the patient, the air supply system supplies air into the finger sleeve, the finger sleeve expands and deforms due to the air supply, the required force is provided for bending of the finger, the motor is controlled by the controller to drive the gear to rotate so as to drive the rotating ring to rotate, and under the friction force of the sliding block and the sliding groove, the wrist of the patient keeps synchronous rotation with the swivel ring, and then realizes the exercise of rotating the wrist of the patient, and four cylinders are controlled by the controller to mutually support and stretch, so that the wrist support ring can eccentrically move in any direction in a vertical plane, further, the exercise of bending the wrist of the patient is realized, in the training process, the air inside the air supply box is pumped into the water bath heating box through the air pump to complete heat exchange, and the heated air enters into the massage air bag of the finger glove type air pressure device through the air supply pipe to realize the inflation and deflation from the distal end to the proximal end, thereby realizing the hot compress massage on the tail ends of fingers of the patient.

The beneficial effects of the invention are as follows: the rehabilitation training system can realize rotation and bending training of the wrist of a patient through the wrist movement mechanism, and the wrist of the patient is mutually telescopic and matched in the wrist supporting ring through the four cylinders and slides in the sliding groove, so that the bending of the wrist of the patient at any angle in a plane perpendicular to the arm is realized, and the flexibility of the wrist training is greatly improved. The finger sleeve for training the fingers of the patient is connected with the wrist movement mechanism, and the controller can control the two mechanisms to act and simultaneously exercise the wrists and the fingers of the patient, so that the finger sleeve is beneficial to quickly and comprehensively recovering the muscle strength and the flexion and extension of the hands of the patient. In addition, the finger glove type air pressure device is connected with the water bath heating box, air in the air supply box is pumped into the water bath heating box through the air pump to complete heat exchange, and the heated air enters the massage air bag of the finger glove type air pressure device through the air supply pipe to realize inflation and deflation from the distal end to the proximal end, so that hot compress massage on the tail end of a finger of a patient is realized, blood circulation is promoted, and the condition of swelling of the tail end of the finger of the patient is avoided.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:

FIG. 1 is a schematic diagram of the overall structure of the hand rehabilitation training system of the present invention;

FIG. 2 is a schematic diagram of a side view of a hand rehabilitation training system according to the present invention;

FIG. 3 is a schematic view of the assembly of a finger glove with a vertical mounting plate of the present invention;

FIG. 4 is a schematic view of the assembly of a rotating ring and gears in the present invention;

FIG. 5 is a schematic view of the structure of the vertical mounting plate of the present invention;

FIG. 6 is a schematic diagram of a finger glove type pneumatic device according to the present invention;

FIG. 7 is a schematic diagram of a water bath heating tank in a semi-sectional view according to the present invention;

fig. 8 is a schematic view of the structure of fig. 7 taken along the center of the first hot gas path.

In the figure: 1. a base; 2. a support plate; 3. a transverse mounting plate; 4. arm support cavity; 5. a gas supply tank; 6. an air pump; 7. a water bath heating box; 8. an air supply pipe; 9. finger glove type air pressure device; 10. a finger glove; 11. a vertical mounting plate; 12. a motor; 13. a rotating ring; 14. a chute; 15. wrist support ring; 16. a buffer air bag; 17. a slide block; 18. a cylinder; 19. a spring; 20. meshing teeth; 21. a gear; 22. a limit baffle; 23. tooth slots; 24. an arc-shaped notch; 25. an air inlet; 26. an exhaust port; 27. a hot water inlet; 28. a hot water outlet; 29. a conical box body; 30. a bottom plate of the box body; 31. an air guide plate; 32. an air guide hole; 33. a transverse communicating pipe; 34. a first hot gas path; 35. a channel inlet; 36. a vertical communicating pipe; 37. a second hot gas path.

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 embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality. 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 "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore 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," 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.

The embodiment discloses a hand rehabilitation training system, which comprises a finger movement mechanism for driving fingers to do bending and stretching movements, wherein the finger movement mechanism adopts a finger sleeve 10 with an air bag structure in the prior art, an inflation port of the finger sleeve 10 is connected with an external air supply system, a pressure sensor, a flexible bending sensor and an electromyographic signal sensor which are connected with a controller through signals are further arranged on the finger sleeve 10, the pressure sensor is arranged at the front end of the finger sleeve 10 and used for collecting finger pressure signals, the flexible bending sensor is arranged on the inner surface of the finger sleeve 10 and used for collecting finger bending signals, and the electromyographic signal sensor is used for collecting surface electromyographic signals. Still including base 1, as shown in fig. 1, 2, the up end of base 1 is fixed with backup pad 2 along vertical direction, and the top of backup pad 2 is connected with horizontal mounting panel 3 along the horizontal direction, and the lower terminal surface of horizontal mounting panel 3 is fixed with vertical mounting panel 11 along vertical direction, and the center department of vertical mounting panel 11 is provided with the wrist motion that is used for driving the wrist to carry out the active and passive training of stretching, palming, internal and external rotation, and finger motion is connected with wrist motion and forms the integral type component, link up in the backup pad 2 and offered the arm holds in the palm chamber 4 that sets up with the heart with vertical mounting panel 11.

Specifically, as shown in fig. 3, the wrist movement mechanism in this embodiment includes a rotating ring 13 and a wrist supporting ring 15 that are concentrically arranged, the wrist supporting ring 15 is located at the inner side of the rotating ring 13, the rotating ring 13 is rotatably arranged on the vertical mounting plate 11, the opening of the finger sleeve 10 is fixedly connected with the wrist supporting ring 15, the wrist supporting ring 15 is connected with the rotating ring 13 through four air cylinders 18 that are uniformly distributed in a ring shape, a circle of sliding groove 14 is formed on the inner circumferential surface of the rotating ring 13, a sliding block 17 is slidably connected inside the sliding groove 14 (the sliding block 17 is embedded into the sliding groove 14 to ensure that the sliding block 17 slides out of the sliding groove 14), the cylinder seat end of the air cylinder 18 is fixedly connected with the sliding block 17, the piston end of the air cylinder 18 is hinged with the circumferential surface of the wrist supporting ring 15, a spring 19 is also sleeved on the piston rod of the air cylinder 18, the air cylinder 18 is controlled by a controller to stretch, and the four air cylinders 18 are mutually matched in a telescopic manner and slide in the sliding manner in the sliding groove 14 can realize eccentric movement of the wrist supporting ring 15 in any angle in the plane of the vertical mounting plate 11, so that bending exercise of a patient can be performed on the wrist at any angle.

The inner side of the wrist support ring 15 is provided with a buffer air bag 16 for contacting with the hand of a person, when the arm of a patient passes through the arm support cavity 4 and is inserted into the finger sleeve 10, the wrist is just positioned at the wrist support ring 15, so as to avoid the wrist of the patient from being injured, and simultaneously, the wrist of the patient is fixed relative to the wrist support ring 15, and before the exercise, the buffer air bag 16 is inflated by an air supply system to be contacted with the wrist of the patient, so that the wrist is fixed relative to the wrist support ring 15.

As shown in fig. 4, a circle of engaging teeth 20 is formed on the circumferential surface of the outer side of the rotating ring 13, tooth grooves 23 corresponding to the engaging teeth 20 are formed in the vertical mounting plate 11, the rotating ring 13 is nested on the vertical mounting plate 11 and is rotationally connected with the vertical mounting plate, a mounting groove for mounting a gear 21 is formed in the vertical mounting plate 11, an arc notch 24 communicated with the tooth grooves 23 is formed in the mounting groove, the gear 21 penetrates through the arc notch 24 and then is meshed with the engaging teeth 20, the central shaft of the gear 21 outwards extends through the air inlet 25 and then is in driving connection with a motor 12 fixed at the bottom of the transverse mounting plate 3, limit baffles 22 are fixedly sleeved on two sides of the gear 21 on the central shaft of the gear 21, the limit baffles 22 are located on the outer side of the air inlet 25, the diameter of the limit baffles 22 is larger than that of the air inlet 25, the motor 12 drives the gear 21 to rotate, and the rotating ring 13 is meshed with the gear 21 due to the outer side of the engaging teeth 20, and further drives the rotating ring 13 to rotate.

In addition, in order to improve the situation that the blood circulation of a cerebral apoplexy patient is poor and swelling easily occurs at the tail end of a limb due to movement dysfunction, the rehabilitation training system is provided with the finger glove type air pressure device 9, as shown in fig. 1 and 6, the finger glove type air pressure device 9 in the embodiment is detachably sleeved at the finger end of the finger glove 10, a massage air bag is formed in the finger glove type air pressure device 9, the massage air bag sequentially comprises an elastic lining layer, an elastic air bag layer and an outer sleeve layer from inside to outside, the massage air bag in each finger glove type air pressure device 9 is connected with an air supply pipe 8, the upper end face of the transverse mounting plate 3 is sequentially provided with an air supply box 5 and an air pump 6, the output end of the air supply box 5 is connected with the input end of the air pump 6, the air pump 6 pumps air in the air supply box 5 to the massage air bag through the air supply pipe 8 to realize inflation and deflation from the telecentric end to the near-heart end, the air pump 6 supplies air to the massage air bag, and the massage air bag is reciprocally expands from the telecentric end to the near-heart end to press the tail end of the patient, and thus the finger intermittent effect of a finger is achieved.

Further, in order to better promote blood circulation and achieve the effect of hot compress, the upper end face of the transverse mounting plate 3 is also provided with a water bath heating box 7, as shown in fig. 7 and 8, a first hot air channel 34 is formed in the water bath heating box 7 along the vertical direction, the water bath heating box 7 is divided by the first hot air channel 34 to form two cavities, each cavity is internally symmetrically provided with two conical boxes 29 along the vertical direction, and the two conical boxes 29 positioned in the same cavity are communicated through a plurality of vertical communicating pipes 36 distributed in a rectangular shape; the narrow portion of the conical box 29 positioned below in the cavity on the right side of the water bath heating box 7 is communicated with the hot water inlet 27, the narrow portion of the conical box 29 positioned above is horizontally connected with a transverse communicating pipe 33, the narrow portion of the conical box 29 positioned below in the cavity on the left side of the water bath heating box 7 is communicated with the hot water outlet 28, the transverse communicating pipe 33 horizontally extends through a first hot gas channel 34 and then is connected with the narrow portion of the conical box 29 positioned above in the cavity on the left side, an air inlet 25 is formed in the bottom of the cavity on the left side, an air guide hole 32 is formed in the edge of a box bottom plate 30 of each conical box 29, the two cavities are communicated through a second hot gas channel 37 at the top, a channel inlet 35 communicated with the cavity on the right side is formed in the bottom of the first hot gas channel 34, the top of the first hot gas channel 34 is communicated with the air outlet 26, the output end of the air pump 6 is connected with the air inlet 25, and the air supply pipe 8 is connected with the air outlet 26 on the water bath heating box 7. The air pump 6 pumps the gas in the air supply tank 5 into the water bath heating tank 7, the hot water inlet 27 on the water bath heating tank 7 is connected with a hot water system, hot water is continuously supplied to the inside of the water bath heating tank 7 through the hot water system at a certain pressure, the pressure of the hot water system can ensure that the hot water can be filled in all hot water pipelines in the water bath heating tank 7, the gas enters the inside of the water bath heating tank 7 from the air inlet 25, the gas firstly exchanges heat with the rectangular vertical communicating pipes 36 through the air holes 32 at the edge of the tank bottom plate 30, the gas after the heat exchange passes through the air holes 32 of the upper tank bottom plate 30, then enters the right side cavity through the second hot air channel 37, the gas passes through the air holes 32 above the right side cavity again and enters the space between the two tank bottom plates 30, the heat exchange is completed with the rectangular vertical communicating pipes 36 again, the heated gas enters the first hot air channel 34 through the air holes 32 below, the heated gas finally enters the air inlets 35, the heated gas enters the air bags 9 through the air inlets, and the air bags are heated by the air bags, and the finger pressure is heated by the air bags, and the finger massage device is heated by the finger massage device.

In addition, the inside two cavities of the water bath heating box 7 are symmetrically provided with the air guide plates 31 between the upper box bottom plate 30 and the lower box bottom plate 30, the air guide plates 31 are fixed on the inner wall of the water bath heating box 7 along the horizontal direction, the air guide plates 31 can prevent gas from directly passing through the opposite air guide holes 32, but guide the gas between the plurality of vertical communicating pipes 36 distributed in a rectangular manner, so that the gas is fully contacted with hot water inside the vertical communicating pipes 36, and the heating efficiency of the gas is further improved.

The invention provides a hand rehabilitation training system, when rehabilitation training is carried out, a finger sleeve 10 is worn after a hand part of a patient sequentially passes through an arm support cavity 4 and a wrist support ring 15, the arm support cavity 4 supports the arm of the patient, the wrist of the patient is relatively fixed with a rotating ring 13 by supplying air into a buffer air bag 16 through an air supply system and swelling, the finger and the wrist of the patient are trained by respectively controlling the movement of a finger movement mechanism and a wrist movement mechanism through a controller, the air supply system supplies air to the interior of the finger sleeve 10, the finger sleeve 10 expands and deforms due to the air supply, the required force is provided for bending of the finger, a motor 12 is controlled by a controller to drive a gear 21 to rotate, and then the rotating ring 13 is driven to rotate, under the friction force action of the sliding block 17 and the sliding groove 14, the wrist of the patient and the rotating ring 13 keep rotating synchronously, further, the exercise of rotating the wrist of the patient is achieved, the four air cylinders 18 are controlled by the controller to stretch and retract in a matched mode, the wrist supporting ring 15 can eccentrically move in any direction in a vertical plane, further, the exercise of bending the wrist of the patient is achieved, in the training process, air inside the air supply box 5 is pumped into the water bath heating box 7 through the air pump 6 to complete heat exchange, heated air enters the massage air bag of the finger glove type air pressure device 9 through the air supply pipe 8, inflation and deflation are achieved from the distal end to the proximal end, and accordingly hot compress massage of the tail ends of fingers of the patient is achieved.

The present invention is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present invention and the inventive concept thereof, can be replaced or changed within the scope of the present invention.

Claims

1. The hand rehabilitation training system comprises a finger movement mechanism for driving fingers to do bending and stretching movements, and is characterized by further comprising a base (1), wherein the upper end face of the base (1) is fixedly provided with a supporting plate (2) along the vertical direction, the top of the supporting plate (2) is connected with a transverse mounting plate (3) along the horizontal direction, the lower end face of the transverse mounting plate (3) is fixedly provided with a vertical mounting plate (11) along the vertical direction, the center of the vertical mounting plate (11) is provided with a wrist movement mechanism for driving the wrist to do active and passive training of dorsiflexion, palming and internal and external rotation, the finger movement mechanism is connected with the wrist movement mechanism to form an integrated member, and an arm support cavity (4) concentrically arranged with the vertical mounting plate (11) is formed on the supporting plate (2) in a penetrating way;

the wrist movement mechanism comprises a rotating ring (13) and a wrist supporting ring (15) which are concentrically arranged, the wrist supporting ring (15) is positioned at the inner side of the rotating ring (13), the rotating ring (13) is rotatably arranged on a vertical mounting plate (11), the wrist supporting ring (15) is connected with the rotating ring (13) through four air cylinders (18) which are uniformly distributed in a ring shape, a circle of sliding grooves (14) are formed on the circumferential surface of the inner side of the rotating ring (13), a sliding block (17) is connected inside the sliding grooves (14) in a sliding manner, the cylinder seat end of the air cylinder (18) is fixedly connected with the sliding block (17), the piston end of the air cylinder (18) is hinged with the circumferential surface of the wrist supporting ring (15), and a spring (19) is sleeved on a piston rod of the air cylinder (18);

a circle of meshing teeth (20) are formed on the circumferential surface of the outer side of the rotating ring (13), tooth grooves (23) corresponding to the meshing teeth (20) are formed in the vertical mounting plate (11), the rotating ring (13) is nested on the vertical mounting plate (11) and is rotationally connected with the vertical mounting plate, a mounting groove for mounting a gear (21) is formed in the vertical mounting plate (11), an arc-shaped notch (24) communicated with the tooth grooves (23) is formed in the mounting groove, the gear (21) penetrates through the arc-shaped notch (24) and then meshes with the meshing teeth (20), a central shaft of the gear (21) extends outwards to penetrate through the air inlet (25) and then is in driving connection with a motor (12) fixed at the bottom of the transverse mounting plate (3), limit baffles (22) are fixedly sleeved on two sides of the central shaft of the gear (21), the limit baffles (22) are positioned on the outer side of the air inlet (25), and the diameter of the limit baffles (22) is larger than that of the air inlet (25);

the multifunctional finger glove type air pressure device is characterized by further comprising a finger glove type air pressure device (9), wherein the finger glove type air pressure device (9) is detachably sleeved at the finger end of the finger glove (10), a massage air bag is formed in the finger glove type air pressure device (9), and each massage air bag in the finger glove type air pressure device (9) is connected to the air supply pipe (8).

2. Hand rehabilitation training system according to claim 1, characterized in that the inner side of the wrist support ring (15) is formed with a buffer balloon (16) for contacting the hands of the person.

3. The hand rehabilitation training system according to claim 1, wherein the finger movement mechanism comprises a finger sleeve (10) with an air bag structure, an opening part of the finger sleeve (10) is fixedly connected with a wrist supporting ring (15), an inflation port of the finger sleeve (10) is connected with an external air supply system, and a pressure sensor, a flexible bending sensor and an electromyographic signal sensor which are in signal connection with the controller are further arranged on the finger sleeve (10).

4. The hand rehabilitation training system according to claim 3, wherein an air supply box (5) and an air pump (6) are sequentially installed on the upper end face of the transverse installation plate (3), the output end of the air supply box (5) is connected with the input end of the air pump (6), the output end of the air pump (6) is communicated with an air supply pipe (8), and the air pump (6) pumps air in the air supply box (5) into the massage air bag through the air supply pipe (8) to realize inflation and deflation from the telecentric end to the near-heart end.

5. The hand rehabilitation training system according to claim 4, wherein the massage air bag comprises an elastic inner liner layer, an elastic air bag layer and an outer sleeve layer from inside to outside.

6. The hand rehabilitation training system according to claim 4, wherein the upper end surface of the transverse mounting plate (3) is further provided with a water bath heating box (7), a first hot air channel (34) is formed in the water bath heating box (7) along the vertical direction, the water bath heating box (7) is divided by the first hot air channel (34) to form two cavities, two conical boxes (29) are symmetrically arranged in each cavity along the vertical direction, and the two conical boxes (29) in the same cavity are communicated through a plurality of vertical communicating pipes (36) distributed in a rectangular shape; the utility model provides a water bath heating cabinet (7) is internal to be located the toper box (29) narrow portion and the hot water inlet (27) of below that are linked together, be located the narrow portion horizontal connection of toper box (29) of top has horizontal communicating pipe (33), be located the toper box (29) narrow portion and the hot water delivery port (28) of below in the cavity on the left side of water bath heating cabinet (7), horizontal communicating pipe (33) extend along the horizontal direction and pass behind first hot gas passageway (34) with be located the toper box (29) narrow portion of top in the cavity on the left side link to each other, be located the bottom of cavity on the left side and be formed with air inlet (25), air vent (32) have all been seted up at box bottom plate (30) edge of every toper box (29), be linked together through second hot gas passageway (37) at top between two cavities, the passageway entry (35) with the passageway of being linked together of the right side cavity are seted up to the bottom of first hot gas passageway (34), the top and gas vent (26) are linked together, the output of air pump (6) links to each other with air inlet (25) and air outlet (26) on water bath heating cabinet (7).

7. The hand rehabilitation training system according to claim 6, wherein air guide plates (31) are symmetrically arranged between the upper box bottom plate (30) and the lower box bottom plate (30) in the two cavities inside the water bath heating box (7), and the air guide plates (31) are fixed on the inner wall of the water bath heating box (7) along the horizontal direction.