多段连续结构的外骨骼手指功能康复机器人

Aiming at shortcomings of current hand function rehabilitation exoskeleton, such as the complicated mechanism, heavy weight due to the rigid structure, the safety problems caused by the joint misalignment during the rehabilitation movements, and the problem that air source and liquid reservoir of pneumatic and hydraulic exoskeleton greatly increase the size of the whole system, this paper proposes a novel exoskeleton for rehabilitation using a multi-segment mechanism driven by one layer of steel spring to assist both extension and flexion of the finger. The structure has good flexibility to make the interaction between exoskeleton and patients safer. This mechanism can generate enough range of motion with a single input by distributing an actuated linear motion into rotational motions of the finger joints. The experiments show that the exoskeleton can assist patients to flex and stretch their fingers within enough motion ranges and generates sufficient fingertip force.