MULTIFUNCTIONAL HAND REHABILITATION TRAINING DEVICE

摘要

Disclosed is a multifunctional hand rehabilitation training device, comprising mechanical fingers, palm rods (6), a mechanical wrist and a power control system, wherein the mechanical fingers correspond to human fingers; each mechanical finger comprises knuckles (1); a finger joint is formed by hinging adjacent knuckles (1) in a single degree of freedom, and each finger joint is provided with a first servo motor (2) for driving the knuckle (1) to rotate about a hinge axis; each knuckle (1) is provided with a sleeve ring (3) to be sleeved on a knuckle of the human finger; a controller (13) uses STM32F107VC based on ARM-Cortex-M3 architecture, and the controller (13) acquires various signals fed back from a pressure sensor outside a finger end, a pressure sensor inside the finger end, and linear sensors embedded into the first servo motor (2), a second servo motor (5), a third servo motor (12) and a fourth servo motor (7); and a finger abduction force sensor (17) detects the pressure on an outside surface of the finger when the finger stretches to detect the movement intention of the active stretch of the finger of a patient.