Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides exoskeleton hand passive rehabilitation assistance equipment, which has the advantages of compact component arrangement, high efficiency in utilizing the limited space of the back of the hand, no interference to the movement of the finger after wearing, light structure, simple assembly, short assembly time and the like.
The technical scheme is that the exoskeleton hand passive rehabilitation assistance device comprises a fixing plate capable of being connected to the back of a user hand and four-finger bending and stretching devices connected to the fixing plate, wherein each four-finger bending and stretching device comprises an independently controllable power device, each four-finger bending and stretching device comprises a guide rail seat, a near-finger connecting part connected to the guide rail seat, and a middle finger connecting part rotationally connected to the near-finger connecting part, the guide rail seat is fixedly connected to the fixing plate and provided with an arc chute, the near-finger connecting part is connected to the arc chute, the four-finger bending and stretching device further comprises a multi-link structure part for enabling the middle finger connecting part and the near-finger connecting part to be linked, and the multi-link structure part is rotationally connected to the power device, the near-finger connecting part and the middle finger connecting part.
Optionally, the power device comprises a linear push rod, and the multi-link structural component and the middle finger connecting component are provided with a sliding connecting structure.
The multi-link structure component comprises a first link, a second link, a third link and a fourth link, wherein the rear end of the first link, the rear end of the near finger connecting component and the front end of the linear push rod are rotationally connected through a first pin shaft, the rear end of the second link is connected to the guide rail seat, the front end of the second link, the front end of the first link and the rear end of the third link are rotationally connected through a second pin shaft, the front end of the third link and the rear upper end of the fourth link are rotationally connected, the rear lower end of the fourth link is rotationally connected with the front end of the near finger connecting component, and the front end of the fourth link and the middle finger connecting component are provided with the sliding connecting structure.
Optionally, the sliding connection structure comprises a linear chute arranged on the middle finger connection part and a linear sliding part connected to the front end of the fourth connecting rod and slidingly connected to the linear chute.
Optionally, the linear sliding component comprises a first rotating shaft passing through the fourth connecting rod and first bearings connected to two ends of the first rotating shaft, and the first bearings are arranged in the linear sliding groove.
The middle finger connecting part comprises a middle finger connecting part and a middle finger fixing belt connected to the middle finger connecting part, wherein the middle finger connecting part comprises a middle finger bottom plate and two middle finger side plates which are arranged at intervals in opposite directions, the two middle finger side plates are respectively provided with a linear sliding groove, the front end of a fourth connecting rod stretches into the space between the two middle finger side plates, the middle finger side plates are provided with two first through holes, the first rotating shafts are provided with two first through holes and respectively pass through the two first through holes, the first bearings are provided with four first bearings and respectively sleeved at the two ends of the two first rotating shafts, and each linear sliding groove is internally provided with two first bearings capable of sliding along the linear sliding groove.
Optionally, the guide rail seat comprises a guide rail bottom plate and two guide rail side plates which are arranged at intervals in opposite directions, wherein the two guide rail side plates are provided with the arc-shaped sliding grooves;
The near-finger connecting component comprises a near-finger connecting piece and a near-finger fixing belt connected with the near-finger connecting piece, wherein the near-finger connecting piece is provided with a near-finger connecting rod positioned between two guide rail side plates, the near-finger connecting rod is provided with two second connecting holes, a near-finger shaft is penetrated through the second connecting holes, the near-finger shaft is provided with two second connecting holes and is respectively penetrated through the second connecting holes, the near-finger bearings are provided with four near-finger bearings and are respectively connected with two ends of the two near-finger shafts, and each arc-shaped chute is internally provided with two near-finger bearings capable of sliding along the arc-shaped chute;
the near-finger connecting rod is provided with a near-finger connecting shifting fork at one end close to the power device, the rear end of the first connecting rod is provided with a first shifting fork, and the front end of the first connecting rod is provided with a second shifting fork;
the second connecting rods are arranged on the outer sides of the guide rail side plates, and the rear ends of the second connecting rods are rotationally connected with the third connecting holes through third pin shafts;
the first shifting fork is arranged on the inner side of the near-finger connection shifting fork, the front end of the linear push rod stretches into the inner side of the first shifting fork, and the first pin shaft penetrates through the near-finger connection shifting fork, the first shifting fork and the front end of the linear push rod;
the second shifting fork is positioned between the two second connecting rods, the rear end of the third connecting rod is positioned on the inner side of the second shifting fork, and the second pin shaft passes through the front end of the second connecting rod, the rear ends of the second shifting fork and the third connecting rod;
The rear end of the fourth connecting rod is provided with a third shifting fork, the third shifting fork is provided with an upper connecting hole and a lower connecting hole, the front end of the third connecting rod is positioned between the third shifting forks and is rotationally connected with the upper connecting hole through a fourth pin shaft, and the front end of the near-finger connecting rod is positioned between the third shifting forks and is rotationally connected with the lower connecting hole through a fifth pin shaft.
Optionally, the middle finger fixing strap is slidably connected with the middle finger connecting piece through a middle finger sliding block, and the near finger fixing strap is connected with or directly connected with the near finger connecting piece through a near finger sliding block.
Optionally, the fixing plate is connected with a thumb bending device for bending and stretching the thumb of a user, the thumb bending device comprises a thumb power device, a thumb guide rail seat and a thumb proximal finger clamp, the thumb guide rail seat is provided with a thumb arc-shaped chute, the thumb proximal finger clamp is slidingly connected with the thumb arc-shaped chute, the rear end of the thumb power device is rotatably connected with the fixing plate or the thumb guide rail seat, and the front end of the thumb power device is rotatably connected with the rear end of the thumb proximal finger clamp.
The thumb guide rail seat comprises a thumb guide rail bottom plate and two thumb guide rail side plates which are arranged at intervals in the opposite direction, wherein the two thumb guide rail side plates are respectively provided with the thumb arc-shaped sliding grooves, the thumb near-finger clamp comprises thumb connecting pieces and thumb fixing belts connected with the thumb connecting pieces, the thumb connecting pieces are provided with thumb connecting rods positioned between the two thumb guide rail side plates, the thumb connecting rods are provided with two fifth connecting holes, the two fifth connecting holes penetrate through fifth pin shafts, two ends of each fifth pin shaft are respectively provided with a second bearing, the rear ends of the thumb connecting rods are respectively provided with a thumb connecting shifting fork, the front ends of thumb power devices extend into the thumb connecting shifting forks and are connected with the thumb connecting forks in a rotating mode through sixth pin shafts, and the thumb fixing belts are connected with the thumb connecting rods or directly connected with the thumb connecting rod.
The four-finger bending and stretching device and the thumb bending and stretching device of the exoskeleton hand passive rehabilitation power assisting equipment provided by the embodiment of the invention all adopt linear drivers as power and are matched with a transmission mechanism consisting of a guide rail seat and a multi-connecting-rod structural component, so that the main actions of fingers are completed by fewer mechanisms.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
It should be noted that, in the embodiments of the present invention, terms such as left, right, up, and down are merely relative concepts or references to normal use states of the product, and should not be construed as limiting.
As shown in fig. 1 to 10, the exoskeleton hand passive rehabilitation assistance device provided by the embodiment of the invention may be connected to a fixing plate 900 at the back of a user's hand and a four-finger flexion and extension device 100 connected to the fixing plate 900, where the four-finger flexion and extension device 100 may be provided with four fingers corresponding to an index finger (second finger), a middle finger (third finger), a ring finger (fourth finger) and a little finger (fifth finger), respectively. The four-finger flexion and extension devices 100 may be independently controlled. The four-finger flexion-extension device 100 is characterized by a front "(closer to the user's fingertip in use) and a rear", an upper "and a lower" seen from the palm to the back of the palm, a finger being divided into three sections, a portion closer to the palm being referred to as the proximal finger, a middle portion being referred to as the middle finger (in this embodiment, the middle knuckle of the finger), and a portion farther from the palm being referred to as the distal finger. In the specific application, if part of fingers of the user are normal, the user can select the bending and stretching device for correspondingly removing the corresponding fingers without rehabilitation, and the user can select not to remove the corresponding fingers. Each four-finger bending and stretching device 100 comprises an independently controllable power device 110, wherein the power device 110 is used for driving the four-finger bending and stretching device 100 to bend and stretch, the power device simulates a hand to grip and stretch, and repeats cyclically, the power device 110 can be a linear power device (linear driver), such as a linear motor, a screw rod sliding block driven by a servo motor and the like, the four-finger bending and stretching device 100 comprises a guide rail seat 120, a proximal finger connecting part 130 connected to the guide rail seat 120 and capable of rotating around a first rotation center A relative to the guide rail seat 120, and a middle finger connecting part 140 rotatably connected to the proximal finger connecting part 130 and capable of rotating around a second rotation center B relative to the proximal finger connecting part 130, the proximal finger connecting part 130 can be bound with a proximal finger of a user, and the middle finger connecting part 140 can be bound with a middle finger (middle knuckle) of the user. The guide rail seat 120 is fixedly connected to the fixing plate 900, and the guide rail seat 120 has an arc chute 121. The middle finger connecting part 140 is connected to the arc chute 121, the four-finger bending and stretching device 100 further comprises a multi-link structure part for linking the middle finger connecting part 140 and the near finger connecting part 130, the multi-link structure part is rotationally connected to the power device 110, the near finger connecting part 130 and the middle finger connecting part 140, when the power device 110 moves linearly, the middle finger connecting part 140 and the near finger connecting part 130 are driven to move according to a set track by the multi-link structure part, the exoskeleton hand passive type rehabilitation assistance device has the advantages of compact arrangement, high space utilization rate and the like, fingers do not interfere when in use, the movement is flexible, each finger can be independently driven, the movement track of the hand of a person is well matched, and the exoskeleton hand passive type rehabilitation assistance device has the advantages of light structure, simplicity in assembly, short assembly time and the like.
Specifically, the proximal finger connecting member 130 is connected with a proximal finger shaft, and the proximal finger shaft is connected with a proximal finger bearing capable of moving along the arc chute 121, so that the transmission is stable and reliable, the proximal finger bearing of the proximal finger connecting member 130 can reliably slide smoothly along the arc chute 121 and is not easy to be jammed, the power device 110 comprises a linear push rod, and the multi-link structural member and the middle finger connecting member 140 have a sliding connection structure, so that the middle finger connecting member 140 can slide relatively during rotation and is well matched with the movement track of a human hand.
Specifically, the multi-link structure component comprises a first link 150, a second link 160, a third link 170 and a fourth link 180, wherein the rear end of the first link 150, the rear end of the near finger connecting component 130, the front end of the linear push rod and the near finger connecting component 130 are rotationally connected through a first pin 191, the rear end of the second link 160 is connected to the guide rail seat 120, the front end of the second link 160, the front end of the first link 150 and the rear end of the third link 170 are rotationally connected through a second pin 192, the front end of the third link 170 and the rear upper end of the fourth link 180 are rotationally connected, the rear lower end of the fourth link 180 is rotationally connected with the front end of the near finger connecting component 130, and the front end of the fourth link 180 and the middle finger connecting component 140 are provided with the sliding connection structure, so that the middle finger connecting component 140 can slide a proper distance relative to the fourth link 180 in the process of being acted by the fourth link 180, and can better match with the human hand experience.
Specifically, the sliding connection structure includes a linear chute 143 provided at the middle finger connection part 140 and a linear sliding part connected to the front end of the fourth link 180 and slidably connected to the linear chute 143, and has a simple and reliable structure.
Specifically, the linear sliding member includes a first rotation shaft 181 passing through the fourth link 180 and first bearings 182 connected to both ends of the first rotation shaft 181, and the first bearings 182 are disposed in the linear chute 143, and slide smoothly. Of course, in this embodiment, the cooperation of the bearing and the chute is adopted, and in specific application, a dovetail-shaped or T-shaped self-lubricating guide rail structure may be adopted to realize linear sliding, which also belongs to the protection scope of the present invention.
Specifically, the middle finger connecting member 140 includes a middle finger connecting member 141 and a middle finger fixing strap 142 connected to the middle finger connecting member 141, the middle finger connecting member 141 includes a middle finger bottom plate and two middle finger side plates disposed at intervals in opposite directions, two ends of the middle finger fixing strap 142 may be connected to two connecting holes of the middle finger bottom plate, and the middle finger fixing strap 142 may be an elastic strap or a magic tape strap. The two middle finger side plates are provided with the linear sliding grooves 143, the front end of the fourth connecting rod 180 extends into the space between the two middle finger side plates, the fourth connecting rod 180 is arranged between the two middle finger side plates, the fourth connecting rod 180 is not easy to swing towards two sides, and the structure is reliable. The middle finger side plate is provided with two first through holes, the first rotating shaft 181 is provided with two and passes through two respectively the first through holes, the first bearing 182 is provided with four and overlaps respectively in the both ends of two first rotating shafts 181, every in the straight line spout 143 have two can follow the gliding first bearing 182 of straight line spout 143 can smoothly realize the action of sliding while rotating, difficult clamping stagnation.
Specifically, the guide rail seat 120 includes a guide rail bottom plate and two guide rail side plates disposed opposite to each other at intervals and connected to the guide rail bottom plate, the two guide rail side plates are both provided with the arc chute 121, and the guide rail seat 120 may be integrally formed of aluminum alloy.
Specifically, the proximal finger connecting member 130 includes a proximal finger connecting member 131 and a proximal finger fixing strap 132 connected to the proximal finger connecting member 131, two ends of the proximal finger fixing strap 132 may be connected to two connecting holes of the proximal finger connecting member 131, the proximal finger fixing strap 132 may be an elastic strap or a magic towel strap, etc., the proximal finger connecting member 131 has a proximal finger connecting rod, and the proximal finger connecting rod is located between the two guide rail side plates. The near-finger connecting rod is provided with two second connecting holes, the near-finger shaft 133 is provided with two near-finger bearings 134 which respectively pass through the second connecting holes, the near-finger bearings 134 are provided with four near-finger shafts 133 and respectively connected to two ends of the near-finger shaft, and each arc-shaped chute 121 is internally provided with two near-finger bearings 134 which can slide along the arc-shaped chute 121, so that the sliding effect is good.
Specifically, the near-finger connection rod 135 has a near-finger connection fork 136 at one end near the power device 110, and the near-finger connection fork 136 may have a U shape. The rear end of the first connecting rod 150 is a first shifting fork 151, the front end of the first connecting rod 150 is a second shifting fork 152, and the first shifting fork 151 and the second shifting fork 152 can be U-shaped.
Specifically, two second links 160 are provided, and the second links 160 are disposed in parallel and spaced apart and can move synchronously. The guide rail side plates are provided with third connecting holes below the middle of the arc-shaped chute 121, the second connecting rods 160 are arranged on the outer sides of the guide rail side plates, the rear ends of the second connecting rods 160 are rotationally connected with the third connecting holes through third pin shafts, the second connecting rods 160 and the finger-approaching connecting rods 135 are separated by the guide rail side plates, interference is avoided, and the movement structure is compact and reliable.
Specifically, the first fork 151 is disposed inside the near-finger connection fork 136, the front end of the linear push rod extends into the inside of the first fork 151, and the first pin 191 passes through the near-finger connection fork 136, the first fork 151 and the front end of the linear push rod, so that the structure is compact.
Specifically, the second shift fork 152 is located between the two second links 160, the rear end of the third link 170 is located inside the second shift fork 152, and the second pin 192 passes through the front end of the second link 160, the rear ends of the second shift fork 152 and the third link 170, so that the structure is compact.
Specifically, a third shift fork 183 is disposed at the rear end of the fourth link 180, and the third shift fork 183 may have a U shape. The third shift forks 183 are provided with an upper connection hole and a lower connection hole, the front end of the third link 170 is located between the third shift forks 183 and is rotatably connected to the upper connection hole through a fourth pin, and the front end of the near finger link 135 is located between the third shift forks 183 and is rotatably connected to the lower connection hole through a fifth pin.
Specifically, the fixing plate 900 is connected with a fixing base 910, the rear end of the power device 110 is hinged to the fixing base 910, the middle finger fixing strap 142 can be slidably connected to the middle finger connecting piece 141 through a middle finger sliding block, the positions of the middle finger sliding block and the middle finger fixing strap 142 can be adjusted, the near finger fixing strap 132 is connected to or directly connected to the near finger connecting piece 131 through a near finger sliding block, and the positions of the near finger sliding block and the near finger fixing strap 132 can be adjusted so as to meet specific requirements of different users, so that the adaptability of the exoskeleton hand passive rehabilitation assistance device is better.
Specifically, the fixing plate 900 is connected with a thumb stretching device 200 for stretching the thumb of the user, the thumb stretching device 200 includes a thumb power device 210, a thumb guide rail seat 220 and a thumb proximal finger clamp 230, the thumb guide rail seat 220 has a thumb arc chute 221, and the thumb power device 210 can be the same as the power device 110 (the same model specification). The thumb proximal finger clip 230 is slidably connected to the thumb arc chute 221, the rear end of the thumb power device 210 (the communication connection base 920 or directly) is rotatably connected to the fixed plate 900 or the thumb guide rail base 220, and the front end of the thumb power device 210 is rotatably connected to the rear end of the thumb proximal finger clip 230.
Specifically, the thumb guide rail seat 220 comprises a thumb guide rail bottom plate and two thumb guide rail side plates which are arranged at intervals in the opposite direction, the two thumb guide rail side plates are respectively provided with the thumb arc-shaped sliding grooves 221, the thumb near-finger clamp 230 comprises thumb connecting pieces 231 and thumb fixing belts 232 connected with the thumb connecting pieces 231, the thumb connecting pieces 231 are provided with thumb connecting rods positioned between the two thumb guide rail side plates, the thumb connecting rods are provided with two fifth connecting holes, the two fifth connecting holes penetrate through fifth pin shafts 241, two ends of each fifth pin shaft 241 are respectively provided with a second bearing 242, the rear ends of the thumb connecting rods are respectively provided with thumb connecting forks 233, and the front ends of the thumb power devices 210 extend into the thumb connecting forks 233 and are rotationally connected with the thumb connecting forks 233 through sixth pin shafts 261.
Specifically, the thumb strap 232 may be connected to or directly connected to the thumb connecting bar by a thumb slide.
In the embodiment of the present invention, the fixing plate 900 includes a four-finger region 931 and a thumb region 932, which in use covers the metacarpal region of a single hand, the four sets of four-finger flexion and extension devices 100 are mounted on the four-finger region 931 of the fixing plate 900, and the thumb flexion and extension device 200 is mounted on the thumb region 932. In order to realize wearing, the fixing plate 900 is provided with through holes for wearing the strap on the position close to the index finger side and the position close to the little finger side on the four-finger region 931. Fig. 1 shows the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 before bending, and fig. 10 shows the four-finger flexion and extension device 100 after bending. The four-finger bending and stretching device 100 comprises a linear driver and a first movable bow, wherein the linear driver is arranged along the extending direction of fingers, the first movable bow is composed of a guide rail seat 120 and a multi-link structure component, when the linear driver extends, the linear driver drives a near-finger connecting component 130 to rotate along the track of a slotted guide rail (an arc-shaped sliding groove 121) of the guide rail seat 120, the corresponding center of the arc-shaped sliding groove 121 is fitted (or nearly fitted) with a first virtual center, and the first virtual center is the rotation center of the near finger rotating around the palm, so that the near-finger connecting component 130 drives the near finger to rotate around the palm by a certain angle, such as 55 degrees; meanwhile, when the linear actuator is extended, the multi-link structural member composed of the first link 150, the second link 160, the third link 170 and the fourth link 180 can be driven to work, so that the fourth link 180 rotates around a third rotation center C, which is a hinge center where the middle finger connecting member 130 is coaxially hinged with the fourth link 180, so that the fourth link 180 drives the middle finger connecting member 140 to rotate around the third rotation center, the middle finger connecting member 140 drives the middle finger to rotate around a second virtual center, which is a rotation center where the middle finger rotates around the middle finger, as shown in fig. 7, since the second virtual center and the third rotation center cannot realize fitting (or approach fitting), the middle finger connecting member 140 can slide relative to the middle finger when driving the middle finger joint to rotate, in order to solve the problem, the two sides of the middle finger connecting member 140 are provided with linear sliding grooves 143, so that the fourth link 180 can slide along the linear sliding groove 143 on the middle finger connecting member 140 while rotating around the third rotation center, thereby transferring the sliding of the middle finger connecting member 140 relative to the middle finger when driving the middle finger to rotate to the sliding of the fourth link 180 and the slotted guide of the middle finger connecting member 140.
Fig. 8 shows a state before the thumb bending device 200 corresponding to the thumb is bent, and fig. 9 shows a state after the thumb bending device 200 corresponding to the thumb is bent. The thumb flexion and extension device 200 includes a thumb power means 210 disposed in the thumb forward extension direction and a second movable bow comprised of a thumb rail mount 220, a multi-link structural component. When the linear driver (the power device 210) is extended, the thumb proximal finger clamp 230 is driven to rotate along the track of the thumb arc-shaped chute 221 of the thumb guide rail seat 220, the center of the track of the thumb arc-shaped chute 221 is fitted with the virtual center of the thumb, and the virtual center is the rotation center D of the thumb that the proximal finger rotates around the palm, so that the thumb proximal finger clamp 230 drives the thumb to rotate around the palm by a certain angle, such as 55 degrees. .
The assembly of exoskeleton hand passive rehabilitation assistance device can be referred to as follows:
Firstly, preparing a fixing plate 900 capable of covering the metacarpal region of a single hand, wherein the fixing plate 900 comprises a four-finger region 931 and a thumb region 932, and the fixing plate 900 is provided with through holes for wearing straps at the position, close to the index finger side, and the position, close to the little finger side, of the four-finger region 931; four sets of four-finger bending and stretching devices 100 mounted on the four-finger area 931 of the fixing plate 900, the four sets of four-finger bending and stretching devices 100 are in one-to-one correspondence with four fingers, each set of four-finger bending and stretching devices 100 comprises a power device 110 and a first movable bow composed of a guide rail seat 120 and a multi-link structure component, the rear end of the power device 110 is hinged on a fixed seat 910 through a pin shaft, the front end (push rod end) of the power device 110 is hinged with the rear end of a near-finger connecting component 130 and the rear end of a first link 150 through a first pin shaft 191, the fixed seat 910 and the fixing plate 900 can be fastened through screws, the front end of the first movable bow is a middle finger connecting component 140, the middle finger connecting part 140 can be clamped on the corresponding middle finger through magic tape, the guide rail seat 120 at the rear end of the first movable bow and the fixing plate 900 can be fastened through screws, two cylindrical through holes are formed in the near finger connecting part 130, near finger shafts 133 are arranged in the cylindrical through holes, near finger bearings 134 (rolling bearings) are arranged on two sides of the near finger shafts 133, the near finger bearings 134 are arranged in arc-shaped sliding grooves 121 of guide rail side plates on two sides of the guide rail seat 120, so that the near finger connecting part 130 can rotate along the arc-shaped sliding grooves 121 of the guide rail seat 120, a cylindrical through hole is formed below the arc-shaped sliding grooves 121 on two sides of the guide rail seat 120, second connecting rods 160 are distributed on the left side and the right side of the guide rail seat 120, the rear end of the second link 160 is coaxially hinged to the cylindrical through holes below the arc-shaped sliding grooves 121 on the two sides of the guide rail seat 120 through a third pin, the front end of the second link 160 on the two sides of the guide rail seat 120 is coaxially hinged to the front end of the first link 150 and the rear end of the third link 170, the front end of the third link 170 is hinged to the upper end of the fourth link 180, the lower end of the fourth link 180 is hinged to the front end of the finger-approaching connecting member 130, the front end of the fourth link 180 is provided with two cylindrical through holes, a first rotating shaft 181 is arranged in the through holes, first bearings 182 (rolling bearings) are arranged on the two sides of the first rotating shaft 181, and the first bearings 182 are arranged in the linear sliding grooves 143 on the two sides of the middle finger connecting member 140, so that the fourth link 180 can slide in the linear sliding grooves 143 of the middle finger connecting member 140.
The thumb bending and stretching device 200 corresponding to the thumb, wherein the thumb bending and stretching device 200 comprises a thumb power device 210, a thumb guide rail seat 220 and a second movable bow formed by multiple connecting rod structural components, the thumb power device 210 is arranged along the forward stretching direction of the thumb, the rear end of the thumb power device 210 is hinged on a thumb fixing seat 920 through a pin shaft, and the thumb fixing seat 920 is fixed on the thumb guide rail seat 220. The front end (push rod end) of the thumb power device 210 is coaxially hinged to the rear end of the thumb near-finger clamp 230 through a sixth pin shaft 261, two cylindrical through holes (fifth connecting holes) are formed in the thumb near-finger clamp 230, a fifth pin shaft 241 is arranged in each cylindrical through hole, second bearings 242 (rolling bearings) are arranged on two sides of each fifth pin shaft 241, and the second bearings 242 are arranged in the thumb arc-shaped sliding groove 221, so that the thumb near-finger clamp 230 can rotate along the track of the thumb arc-shaped sliding groove 221, and the thumb track seat 220 and the fixing plate 900 can be fastened through screws.
The exoskeleton hand passive rehabilitation assistance device provided by the embodiment of the invention can be used as wearable device for helping a patient to perform hand passive rehabilitation training, the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 which are respectively in one-to-one correspondence with four fingers are arranged, the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 both adopt linear drivers as power and are matched with a transmission mechanism consisting of a guide rail seat 120 and a multi-link structure part, so that the main actions of fingers are completed by fewer mechanisms, the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 are arranged on the fixing plate 900 covering the metacarpal region, the parts are compacter, the limited space of the back of the hand is effectively utilized, the fingers do not move to interfere after being worn, the fixing plate 900 is provided with through holes 901 for wearing the binding belt, and the wearing and mounting are performed, so that the fixing mode is simpler.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.