CN102908240A - Parallel ectoskeletal recovery training device for thumbs - Google Patents
Parallel ectoskeletal recovery training device for thumbs Download PDFInfo
- Publication number
- CN102908240A CN102908240A CN201210389370XA CN201210389370A CN102908240A CN 102908240 A CN102908240 A CN 102908240A CN 201210389370X A CN201210389370X A CN 201210389370XA CN 201210389370 A CN201210389370 A CN 201210389370A CN 102908240 A CN102908240 A CN 102908240A
- Authority
- CN
- China
- Prior art keywords
- thumb
- ball
- driving mechanism
- ectoskeleton
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a parallel ectoskeletal recovery training device for thumbs. A first ball joint linear driving mechanism, a second ball joint linear driving mechanism and a thumb front end driving mechanism of the parallel ectoskeletal recovery training device for the thumbs comprise driving devices and expansion devices that are connected; first ends of the expansion devices of the first ball joint linear driving mechanism and the second ball joint linear driving mechanism are connected with a thumb ectoskeletal connecting piece by ball joints respectively; second ends of the expansion devices of the first ball joint linear driving mechanism and the second ball joint linear driving mechanism are connected with a first end of the expansion device of the thumb front end driving mechanism by the ball joints respectively; the thumb ectoskeletal connecting piece is connected with the first end of the expansion device of the thumb front end driving mechanism to ensure that the thumb front end driving mechanism can conduct movements including curling, stretching, adduction and outward swaying; a near end knuckle ectoskeleton of a thumb ectoskeleton is articulated with the first end of the expansion device of the thumb front end driving mechanism; and the thumb ectoskeleton is connected with a second end of the expansion device of the thumb front end driving mechanism by a connecting rod to ensure that the thumb ectoskeleton can curl and stretch.
Description
Technical field
The present invention relates to a kind of human motion auxiliary device, relate in particular to a kind of ectoskeleton thumb device for healing and training and using method thereof.
Background technology
For the hand Disease, comprise unexpected injury, apoplexy etc., the Rehabilitation Training in Treating of science has very important meaning for recovering to greatest extent dexterity.At present, mainly carry out rehabilitation by specialist, such therapeutic modality too relies on doctor's experience, and for patient's individual difference problem, lacks accordingly for measure, and therapeutic effect is greatly limited.
Mechanical exoskeleton is a kind of brand new technical that obtains thinking from biological ectoskeleton, and it just is suggested as far back as last century as a kind of mode of function of human body being strengthened by machinery, is attempted applying to military field at first; Simultaneously, the complementary and property strengthened of mechanical exoskeleton also provides brand-new thinking to rehabilitation and disaster assistance.
Existing exoskeleton rehabilitation training manipulator has reached good effect on the athletic rehabilitation of the fingers such as forefinger, middle finger, but the thumb ectoskeleton is because the limitation of design, can only realize bending and stretching and two kinds of simple motions of side-sway and combination thereof, can't reappear the various compound movements of thumb fully, so that the rehabilitation of thumb is had a greatly reduced quality; And thumb is as finger the most flexibly, plays a part indispensablely in staff is realized the process of various functions, and exoskeleton rehabilitation training manipulator is to the not good rehabilitation efficacy that also will have a strong impact on hand integral body of the rehabilitation efficacy of thumb.
Summary of the invention
The objective of the invention is for the deficiencies in the prior art, a kind of parallel connection type ectoskeleton thumb device for healing and training is provided.
The objective of the invention is to be achieved through the following technical solutions:
Parallel connection type ectoskeleton thumb device for healing and training of the present invention comprises thumb ectoskeleton connector, the first ball-joint straight line driving mechanism, the second ball-joint straight line driving mechanism, thumb front-end driven mechanism and thumb ectoskeleton, the first ball-joint straight line driving mechanism, the second ball-joint straight line driving mechanism and thumb front-end driven mechanism comprise respectively interconnective driving device and retractor device, and described retractor device can carry out stretching motion under the driving of the described driving device of correspondence; The first end of the retractor device of the first ball-joint straight line driving mechanism, the second ball-joint straight line driving mechanism is connected with thumb ectoskeleton connector by ball-joint respectively, the second end of the retractor device of the first ball-joint straight line driving mechanism the second ball-joint straight line driving mechanism is connected by the first end of ball-joint with the retractor device of described thumb front-end driven mechanism respectively, described thumb ectoskeleton connector is connected with the first end of the retractor device of thumb front-end driven mechanism so that thumb front-end driven mechanism can do to comprise curl, the motion of stretching, extension, interior receipts and outer pendulum; The first end of the retractor device of the ectoskeletal left knee ectoskeleton of thumb and thumb front-end driven mechanism is hinged, the thumb ectoskeleton is connected by connecting rod with the second end of the retractor device of thumb front-end driven mechanism, so that the thumb ectoskeleton can be done to curl and stretching.
Further, thumb ectoskeleton connector of the present invention is to be connected by cross-garnet butt with the first end of the retractor device of thumb front-end driven mechanism.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention is used for ectoskeleton thumb device for healing and training dexterously with parallel institution, and its mechanism design is novel, and idea is unique, and control is accurate, for the hand rehabilitation provides a kind of new selection.
The present invention has overcome the shortcoming of the ectoskeleton thumb convalescence device of prior art by structural innovation, really allows the ectoskeletal motion of thumb equally flexible with people's thumb.The present invention is by being connected the first end of thumb ectoskeleton connector with the retractor device of thumb front-end driven mechanism, the first ball-joint straight line driving mechanism, the first end of the retractor device of the second ball-joint straight line driving mechanism is connected with thumb ectoskeleton connector by ball-joint respectively, the first ball-joint straight line driving mechanism, the second end of the retractor device of the second ball-joint straight line driving mechanism is connected by the first end of ball-joint with the retractor device of described thumb front-end driven mechanism respectively, make the first ball-joint straight line driving mechanism, the second ball-joint straight line driving mechanism, thumb ectoskeleton connector and thumb front-end driven mechanism consist of parallel institution, thereby under the first ball-joint straight line driving mechanism and the driving of the second ball-joint straight line driving mechanism, thumb front-end driven mechanism and thumb ectoskeleton can be realized comprising and curl, stretch, interior receipts and outer pendulum are in interior motion, simultaneously thumb front-end driven mechanism can drive the thumb ectoskeleton and curls and stretching, the first ball-joint straight line driving mechanism, the combination of the second ball-joint straight line driving mechanism and the different model of action of thumb front-end driven mechanism can more effectively help the patient to recover the thumb function so that the present invention has really realized the perfection reproduction to the various motions of thumb.In addition, the preferred feed screw nut of the present invention makes Motion Transmission more accurate as the main body of the retractor device of each driving mechanism, can carry out easily the control of speed and the control of power simultaneously, can realize to different patients the Extraordinary treatment; The present invention is simple in structure, and volume is little, and quality is light, and is high with thumb applying degree, can not cause extra compressing and burden to patient's thumb, plays better therapeutic effect.
Description of drawings
Fig. 1 is overall structure schematic top plan view of the present invention;
Fig. 2 is the structural representation of the first ball-joint straight line driving mechanism of the present invention and the second ball-joint straight line driving mechanism;
Fig. 3 is the structural representation of thumb front-end driven of the present invention mechanism;
Fig. 4 is the ectoskeletal structural representation of thumb of the present invention;
Among the figure, 2. the first ball-joint straight line driving mechanism, 3. the second ball-joint straight line driving mechanism, 4. thumb front-end driven mechanism, 5. thumb ectoskeleton, 6. the first joint ball bearing, 7. second joint ball bearing, 8. the first ball-joint connector, 9. thumb ectoskeleton connector, 10. the first ball-joint axle, 11. the first ball-joint connecting rod, 12. travelling gear, 13. travelling gear, 14. electric machine support, 15. bearing block, 16. the first transmission nut, 17. fixing head, 18. the second ball-joint connecting rod, 19. the first screw mandrel, 20. drive motors, 21. bearing block, 22. the 3rd joint ball bearing, 23. thumb frame, 24. bearing block, 25. the second ball-joint connector, 26. the second ball-joint axle, 27. the second screw mandrel, 28. drive motors, 29. the second transmission nut, 30. the 3rd ball-joint connector, 31. the 3rd ball-joint axle, 32. bearing block, 33. electric machine support, 34. travelling gear, 35. travelling gear, 36. cross-garnet butt, 37. thumb MP joint knee, 38. thumb left knee ectoskeleton, 39. thumb DIP joint knee, 40. thumb far-end dactylus ectoskeleton.
The specific embodiment
Further specify the present invention below in conjunction with drawings and Examples.
As shown in Figure 1, parallel connection type ectoskeleton thumb device for healing and training of the present invention mainly comprises thumb ectoskeleton connector 9, the first ball-joint straight line driving mechanism 2, the second ball-joint straight line driving mechanism 3, thumb front-end driven mechanism 4 and thumb ectoskeleton 5.
Wherein, the structure of thumb ectoskeleton connector 9 does not have special requirement, as long as it can be connected the first ball-joint straight line driving mechanism 2, the second ball-joint straight line driving mechanism 3 and thumb front-end driven mechanism and be connected with palm ectoskeleton (not shown) respectively.For example, on the one hand, thumb ectoskeleton connector 9 is fixedly connected with the palm ectoskeleton; On the other hand, thumb ectoskeleton connector 9 is connected with the second ball-joint straight line driving mechanism 3 by the first joint ball bearing 6, thumb ectoskeleton connector 9 connects the first ball-joint straight line driving mechanism 2 by second joint ball bearing 7, and thumb ectoskeleton connector 9 is connected by cross-garnet butt 36 with the thumb frame 23 of the retractor device of thumb front-end driven device 4.
As shown in Figures 1 to 4, the first ball-joint straight line driving mechanism 2, the second ball-joint straight line driving mechanism 3 and thumb front-end driven mechanism 4 all comprise interconnective driving device and retractor device separately, and retractor device can carry out stretching motion under the driving of each self-corresponding driving device.
As one embodiment of the present invention, the first ball-joint straight line driving mechanism 2 and the second ball-joint straight line driving mechanism 3 all can adopt structure as shown in Figure 2.In Fig. 2, the driving device of the first ball-joint straight line driving mechanism 2 and the second ball-joint straight line driving mechanism 3 consists of by travelling gear 13, electric machine support 14 and drive motors 20, wherein, travelling gear 13 is connected with the power transmission shaft of drive motors 20, and electric machine support 14 is used for fixed drive motor 20.Drive motors 20 preferred DC servo motors.The retractor device of the first ball-joint straight line driving mechanism 2 and the second ball-joint straight line driving mechanism 3 is by the first ball-joint axle 10, the first ball-joint connecting rod 11, travelling gear 12, bearing block 15, the first transmission nut 16, fixing head 17, the second ball-joint connecting rod 18, the first screw mandrel 19, bearing block 21 and the 3rd joint ball bearing 22 consist of, wherein, the first ball-joint connecting rod 11 is fixedly connected with fixing head 17, the first ball-joint axle 10 is fixedly connected with the first ball-joint connecting rod 11, bearing block 15 all is fixedly connected with fixing head 17 with bearing block 21, bearing block 15 supports the first screw mandrel 19 by deep groove ball bearing, cover has the first transmission nut 16 on the first screw mandrel 19, fixing head 17 and the first transmission nut 16 are joined and are merged into its guiding, bearing block 21 supports the first screw mandrel 19 by deep groove ball bearing, the first screw mandrel 19 is fixedly connected with the 3rd joint ball bearing 22 by bearing block, the other end of the first screw mandrel 19 is fixedly connected with travelling gear 12 by bearing block 15, bearing block 15 is fixedly connected with electric machine support 14, and travelling gear 12 is used for transmission with travelling gear 13 engagements.
For the first ball-joint straight line driving mechanism 2, when drive motors 20 rotates, band nutating gear 12 rotates, travelling gear 12 band nutating gears 13, thus the first screw mandrel 19 is rotated, so that the first transmission nut 16 is made forward rectilinear motion, promote the second ball-joint connecting rod 18, thereby make forward moving linearly of the 3rd joint ball bearing 22, the 3rd joint ball bearing 22 promotes the second ball-joint axle 26, so that thumb front-end driven device 4 and thumb ectoskeleton 5 are received motion in doing; If motor reversal, then thumb front-end driven device 4 and thumb ectoskeleton 5 are made outer pendular motion.For the second ball-joint straight line driving mechanism 3, when drive motors 20 rotates, band nutating gear 12 rotates, travelling gear 12 band nutating gears 13, thus the first screw mandrel 19 is rotated, so that the first transmission nut 16 is made forward rectilinear motion, promote the second ball-joint connecting rod 18, thereby make forward moving linearly of the 3rd joint ball bearing 22, the 3rd joint ball bearing 22 promotes the 3rd ball-joint axle 31, so that thumb front-end driven device 4 and thumb ectoskeleton 5 do to curl motion; If motor reversal, then thumb front-end driven device 4 and thumb ectoskeleton 5 are made stretching.
As the second embodiment of the present invention, intermeshing travelling gear 12 and travelling gear 13 can be substituted by a pair of belt pulley in the first ball-joint straight line driving mechanism 2, the second ball-joint straight line driving mechanism 3.
As the third embodiment of the present invention, the first ball-joint straight line driving mechanism 2, the second ball-joint straight line driving mechanism 3 can remove travelling gear 12, travelling gear 13 and rear motor support 14, be connected by the end of shaft coupling with the first screw mandrel 19 by drive motors 20, directly drive the first screw mandrel 19 and rotate.
Among the present invention, above-mentioned screw nut driving structure also can be replaced by a push rod, promotes push rod by hydraulic cylinder or cylinder and does and the first transmission nut 16 similar rectilinear motions.
As one embodiment of the present invention, the structure that thumb front-end driven mechanism 4 can adopt as shown in Figure 3.In Fig. 3, thumb front-end driven mechanism 4 comprises thumb frame 23, bearing block 24, the second ball-joint connector 25, the second ball-joint axle 26, the second screw mandrel 27, drive motors 28, the second transmission nut 29, the 3rd ball-joint connector 30, the 3rd ball-joint axle 31, bearing block 32, electric machine support 33, travelling gear 34, travelling gear 35 and cross-garnet butt 36.Wherein, the driving device of thumb front-end driven mechanism 4 is by drive motors 28, electric machine support 33, travelling gear 34, and wherein, travelling gear 34 is connected with the power transmission shaft of drive motors 28, and electric machine support 33 is used for fixed drive motor 28.Drive motors 28 is preferentially selected DC servo motor.The retractor device of thumb front-end driven mechanism 4 is by thumb frame 23, bearing block 24, the second ball-joint connector 25, the second ball-joint axle 26, the second screw mandrel 27, the second transmission nut 29, the 3rd ball-joint connector 30, the 3rd ball-joint axle 31, bearing block 32, travelling gear 35, cross-garnet butt 36 consists of, its bottom bracket 24 all is fixedly connected with thumb frame 23 with bearing block 32, cross-garnet butt 36 is hinged with thumb frame 23, bearing block 24 supports the second screw mandrel 27 by deep groove ball bearing, cover has the second transmission nut 29 on the second screw mandrel 27, thumb frame 23 and the second transmission nut 29 are joined and are merged into its guiding, bearing block 32 supports the second screw mandrel 27 by deep groove ball bearing, the second screw mandrel 27 is fixedly connected with travelling gear 35 by bearing block 32, electric machine support 33 is fixedly connected with bearing block 32, travelling gear 34 and travelling gear 35 engaged transmission; The second ball-joint connector 25 all is fixedly connected with thumb frame 23 with the 3rd ball-joint connector 30, and an end of the second ball-joint axle 26 is fixedly connected with the second ball-joint connector 25
,One end of the 3rd ball-joint axle 31 is fixedly connected with the 3rd ball-joint connector 30.
When drive motors 28 rotated, band nutating gear 34 rotated, travelling gear 34 band nutating gears 35, thus the second screw mandrel 27 is rotated, so that the second transmission nut 29 is done forward rectilinear motion; If motor reversal is then done rectilinear motion behind the second transmission nut 29 pictures.
As the second embodiment of the present invention, in thumb front-end driven mechanism 4, intermeshing travelling gear 34 and travelling gear 35 can be substituted by a pair of belt pulley.
In the present invention, thumb front-end driven mechanism 4 can remove travelling gear 34, travelling gear 35 and electric machine support 33, is connected by the end of shaft coupling with the second screw mandrel 27 by drive motors 28, directly drives the second screw mandrel 27 and rotates.In addition, the screw nut driving structure can be replaced by a push rod, promotes push rod by hydraulic cylinder or cylinder and does and the second transmission nut 29 similar rectilinear motions.
As one embodiment of the present invention, thumb ectoskeleton 5 can adopt structure as shown in Figure 4.In Fig. 4, thumb ectoskeleton 5 comprises thumb MP joint knee 37, thumb left knee ectoskeleton 38, thumb DIP joint knee 39 and thumb far-end dactylus ectoskeleton 40.Wherein, thumb left knee ectoskeleton 38 and thumb DIP joint knee 39 are all hinged with thumb MP joint knee 37, and thumb far-end dactylus ectoskeleton 40 is hinged with thumb left knee ectoskeleton 38 and thumb DIP joint knee 39 respectively.When thumb MP joint knee 37 is pushed forward, knee 37 promotion thumb left knee ectoskeletons 38 in thumb MP joint are done and are curled motion, thumb MP joint knee 37 promotes simultaneously thumb DIP joint knee 39 and travels forward, and curls motion thereby thumb far-end dactylus ectoskeleton 40 is done; If motor reversal, then thumb left knee ectoskeleton 38 and thumb far-end dactylus ectoskeleton 40 are all done stretching.
Each first ball-joint axle 10 is positioned at the first end of the retractor device of the first ball-joint straight line driving mechanism 2, the second ball-joint straight line driving mechanism 3 accordingly, and each first ball-joint axle 10 also is connected with second joint ball bearing 7 respectively.Each the 3rd joint ball bearing 22 is positioned at the second end of the retractor device of the first ball-joint straight line driving mechanism 2, the second ball-joint straight line driving mechanism 3 accordingly, wherein, the 3rd joint ball bearing 22 of the retractor device of the first ball-joint straight line driving mechanism 2 is connected with the 3rd ball-joint axle 31 of thumb front-end driven device 4, and the 3rd joint ball bearing 22 of the retractor device of the second ball-joint straight line driving mechanism 3 then is connected with the second ball-joint axle 26; Thumb ectoskeleton connector 9 is connected by cross-garnet butt 36 with the thumb frame 23 of the retractor device of thumb front-end driven device 4.Owing to adopt above-mentioned connected mode, thumb ectoskeleton connector 9, the first ball-joint straight line driving mechanism 2, the second ball-joint straight line driving mechanism 3 and thumb front-end driven device 4 consist of parallel institutions, thereby thumb front-end driven mechanism 4 can being done comprise curls, the motion of stretching, extension, interior receipts and outer pendulum.
Work process of the present invention is as follows:
Patient's thumb is put on parallel connection type thumb exoskeleton rehabilitation training device of the present invention, and ectoskeletal controller is assigned control instruction, and thumb can carry out various motion under ectoskeletal drive.Specific as follows: the driving device of the first ball-joint straight line driving mechanism 2 drives the retractor device motion of the first ball-joint straight line driving mechanism 2, make the retractor device elongation of the first ball-joint straight line driving mechanism 2, thereby so that thumb front-end driven mechanism 4 and thumb ectoskeleton 5 are received motion in doing; Otherwise the driving device of the first ball-joint straight line driving mechanism 2 is done adverse movement, and the retractor device of the first ball-joint straight line driving mechanism 2 is shortened, thereby thereby so that thumb front-end driven mechanism 4 and thumb ectoskeleton 5 are made outer pendular motion.The driving device of the second ball-joint straight line driving mechanism 3 drives the retractor device motion of the second ball-joint straight line driving mechanism 3, make the retractor device elongation of the second ball-joint straight line driving mechanism 3, thereby so that thumb front-end driven mechanism 4 and thumb ectoskeleton 5 do to curl motion; Otherwise the driving device adverse movement of the second ball-joint straight line driving mechanism 3 retractor device of the second ball-joint straight line driving mechanism 3 is shortened, thereby so that thumb front-end driven mechanism 4 and thumb ectoskeleton 5 is made stretching.The driving device of thumb front-end driven mechanism 4 drives the retractor device motion of thumb front-end driven mechanism 4, makes the retractor device elongation of thumb front-end driven mechanism 4, thereby so that thumb ectoskeleton 5 does to curl motion; Otherwise the driving device adverse movement of thumb front-end driven mechanism 4 is shortened the retractor device of thumb front-end driven mechanism 4, thereby so that thumb ectoskeleton 5 does to curl motion.The present invention is by the combination of the Different Exercise Mode of the first ball-joint straight line driving mechanism, the second ball-joint straight line driving mechanism and thumb front-end driven mechanism, make the thumb ectoskeleton realize complicated motion, really realize the perfection reproduction to the various motions of thumb, can more effectively help the patient to recover the thumb function.
Claims (2)
1. parallel connection type ectoskeleton thumb device for healing and training, it is characterized in that: comprise thumb ectoskeleton connector (9), the first ball-joint straight line driving mechanism (2), the second ball-joint straight line driving mechanism (3), thumb front-end driven mechanism (4) and thumb ectoskeleton (5), the first ball-joint straight line driving mechanism (2), the second ball-joint straight line driving mechanism (3) and thumb front-end driven mechanism (4) comprise respectively interconnective driving device and retractor device, and described retractor device can carry out stretching motion under the driving of the described driving device of correspondence; The first ball-joint straight line driving mechanism (2), the first end of the retractor device of the second ball-joint straight line driving mechanism (3) is connected with thumb ectoskeleton connector (9) by ball-joint respectively, the first ball-joint straight line driving mechanism (2), the second end of the retractor device of the second ball-joint straight line driving mechanism (3) is connected by the first end of ball-joint with the retractor device of described thumb front-end driven mechanism (4) respectively, described thumb ectoskeleton connector (9) is connected with the first end of the retractor device of thumb front-end driven mechanism (4), curls so that thumb front-end driven mechanism (4) can do to comprise, stretch, interior receipts and outer pendulum are in interior motion; The first end of the retractor device of the left knee ectoskeleton of thumb ectoskeleton (5) and thumb front-end driven mechanism (4) is hinged, thumb ectoskeleton 5 is connected by connecting rod with the second end of the retractor device of thumb front-end driven mechanism 4, so that thumb ectoskeleton 5 can be done to curl and stretching.
2. parallel connection type ectoskeleton thumb device for healing and training according to claim 1, it is characterized in that: described thumb ectoskeleton connector (9) is to be connected by cross-garnet butt with the first end of the retractor device of thumb front-end driven mechanism (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210389370.XA CN102908240B (en) | 2012-10-15 | 2012-10-15 | Parallel ectoskeletal recovery training device for thumbs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210389370.XA CN102908240B (en) | 2012-10-15 | 2012-10-15 | Parallel ectoskeletal recovery training device for thumbs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102908240A true CN102908240A (en) | 2013-02-06 |
| CN102908240B CN102908240B (en) | 2014-07-09 |
Family
ID=47606983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210389370.XA Expired - Fee Related CN102908240B (en) | 2012-10-15 | 2012-10-15 | Parallel ectoskeletal recovery training device for thumbs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102908240B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108992306A (en) * | 2018-08-08 | 2018-12-14 | 龚映清 | A kind of multiple degrees of freedom Table top type thumb convalescence device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008067852A (en) * | 2006-09-13 | 2008-03-27 | Gifu Univ | Training apparatus for rehabilitation of upper limb finger |
| CN101433491A (en) * | 2008-12-05 | 2009-05-20 | 华中科技大学 | Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof |
| CN102274107A (en) * | 2011-05-11 | 2011-12-14 | 浙江大学 | Fixed exoskeleton rehabilitation training manipulator |
| CN202892338U (en) * | 2012-10-15 | 2013-04-24 | 浙江大学 | Parallel connection type exoskeleton thumb rehabilitation training device |
-
2012
- 2012-10-15 CN CN201210389370.XA patent/CN102908240B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008067852A (en) * | 2006-09-13 | 2008-03-27 | Gifu Univ | Training apparatus for rehabilitation of upper limb finger |
| CN101433491A (en) * | 2008-12-05 | 2009-05-20 | 华中科技大学 | Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof |
| CN102274107A (en) * | 2011-05-11 | 2011-12-14 | 浙江大学 | Fixed exoskeleton rehabilitation training manipulator |
| CN202892338U (en) * | 2012-10-15 | 2013-04-24 | 浙江大学 | Parallel connection type exoskeleton thumb rehabilitation training device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108992306A (en) * | 2018-08-08 | 2018-12-14 | 龚映清 | A kind of multiple degrees of freedom Table top type thumb convalescence device |
| CN108992306B (en) * | 2018-08-08 | 2021-03-16 | 苏州睿智瀚医疗科技有限公司 | Multi freedom desktop formula thumb rehabilitation device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102908240B (en) | 2014-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102579227B (en) | Hand and wrist exoskeleton rehabilitation training device | |
| CN102274107B (en) | Fixed exoskeleton rehabilitation training manipulator | |
| CN202537871U (en) | Hand and wrist exoskeleton rehabilitation training device | |
| CN106943279B (en) | Hand exoskeleton and two-hand follow-up rehabilitation device | |
| CN105997426B (en) | The rehabilitation training terminal device of second self general | |
| CN101596139B (en) | Assistant movement exoskeleton of three-degree of freedom ankle joint | |
| CN104586608A (en) | Wearable assistance finger based on myoelectric control and control method thereof | |
| CN105726263A (en) | Wearable hand exoskeleton rehabilitation training robot | |
| CN202892338U (en) | Parallel connection type exoskeleton thumb rehabilitation training device | |
| CN201422989Y (en) | Exoskeleton with three degree of freedom for auxiliary ankle joint exercises | |
| CN208726201U (en) | A kind of wearable active healing hand function manipulator | |
| CN104367405B (en) | A kind of apery myoelectricity artificial hand | |
| CN104666049A (en) | Novel portable upper-limb rehabilitation robot | |
| CN105496725B (en) | A kind of Three Degree Of Freedom thumb rehabilitation training mechanism | |
| CN105853146A (en) | Functional rehabilitation training device for hands | |
| CN205903400U (en) | Recovered robot of lower jaw | |
| CN108081245A (en) | A kind of robot head structure of tongue strip expression | |
| CN103976848B (en) | Multivariant ankle joint power exoskeleton | |
| CN105832498A (en) | Lower jaw rehabilitation robot | |
| CN202168922U (en) | Fixed exoskeleton rehabilitation training manipulator | |
| CN107233190A (en) | A kind of multiple degrees of freedom thumb device for healing and training for hemiplegic patient | |
| CN204246276U (en) | A kind of ectoskeleton assistance type restoring gloves | |
| CN102908240B (en) | Parallel ectoskeletal recovery training device for thumbs | |
| CN103417355B (en) | Wearable exoskeleton hand function rehabilitation trainer | |
| CN107184362A (en) | Ancon rehabilitation training instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20211015 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |