CN106074092A - A kind of novel exoskeleton finger healing robot and method of work thereof - Google Patents

A kind of novel exoskeleton finger healing robot and method of work thereof Download PDF

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Publication number
CN106074092A
CN106074092A CN201610591258.2A CN201610591258A CN106074092A CN 106074092 A CN106074092 A CN 106074092A CN 201610591258 A CN201610591258 A CN 201610591258A CN 106074092 A CN106074092 A CN 106074092A
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China
Prior art keywords
finger
motor
joint
patient
healing robot
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Pending
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CN201610591258.2A
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Chinese (zh)
Inventor
郭书祥
郭健
张卫杰
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Tianjin University of Technology
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Tianjin University of Technology
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Priority to CN201610591258.2A priority Critical patent/CN106074092A/en
Publication of CN106074092A publication Critical patent/CN106074092A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285Hand
    • A61H1/0288Fingers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • A61H2205/065Hands
    • A61H2205/067Fingers

Abstract

A kind of novel exoskeleton finger healing robot, it is characterised in that it includes control unit, electric-motor drive unit, gear unit and performance element;Its method of work includes: control unit output control signal, driving motor power input, finger MCP joint motions, finger PIP joint motions and the regulation of kinematic parameter;It is advantageous in that: intelligent, portable, wearable, rehabilitation training efficiently, utilize the bending stretching of finger-joint to control the rehabilitation exercise of patient.

Description

A kind of novel exoskeleton finger healing robot and method of work thereof
(1) technical field:
The invention belongs to robot field, especially relate to a kind of novel exoskeleton finger healing robot, be mainly suitable for Patient in the finger function obstacle caused due to apoplexia disease carries out rehabilitation training.
(2) background technology:
Apoplexy, also referred to as apoplexy, be one of healthy disease of serious threat middle-aged and elderly people, in most cases can draw Playing hemiplegia, this disease sickness rate in recent years is obvious ascendant trend.Hemiplegic patient side extremity motor function is lost, to daily life Live and bring very big inconvenience.According to incompletely statistics, the existing Patients with Stroke of China up to more than 5,000,000;The apoplexy of the U.S. is suffered from Person's quantity is also above 4,500,000.The rehabilitation overwhelming majority to hemiplegic patient uses and treats one to one between therapist and patient clinically Method.Although existing medical level can cure the paralytic of 60-70%, but most survival patient all exists Limb or lower extremity motor function defect.Wherein, hands is one of mechanism the finest in human body, and vascularity is intricate, tiny Muscle spreads all over full hands, causes the treatment difficulty of hand injury to increase, and the treatment cycle time is long.The most medically health of finger The multiple crucial problem as upper limb healing.
According to scientific research, brain centres nerve has plasticity, and scientific and effective motion mode contributes to stimulating brain Neural recovery, this just brings theoretical basis for athletic rehabilitation therapy.Rehabilitation is mainly passed through in current athletic rehabilitation treatment Therapist helps patient to recover motor function by the method such as acupuncture, massage or by some easy medical apparatus and instruments.First, this Making rehabilitation training higher to the requirement of man power and material, expensive medical expense causes heavy economy and bears patient Load;Secondly, rehabilitation efficacy relies primarily on experience and the subjective judgment of medical treatment teacher, lacks the evaluation of objective quantification;Finally, rehabilitation instruction During white silk, lacking comfortable supporting construction, this makes hemiplegic limb easily cause the injury of secondary in training.
On the basis of meeting ergonomics, exoskeleton finger healing robot is that apoplexy hemiplegia patient provides one Novel outer " skeleton ", is used for helping patient to carry out finger rehabilitation exercise action, and meanwhile, the application of efficient sensor makes dermoskeleton Bone finger gymnastic robot more high efficient and reliable when assisting patient to carry out rehabilitation training, and provide standard for Rehabilitation degree Evaluation methodology the most reliably.At present, exoskeleton finger healing robot on the market is the hugest, transports comparison and is stranded Difficulty, and may not apply to use in family.Additionally, the many employings of method of work of existing exoskeleton finger healing robot carry The mode taking human body electroencephalogram's signal or electromyographic signal controls the method for robot, but owing to EEG signals or electromyographic signal are being extracted During often occur that deviation causes robot the situation of maloperation occur, patient is caused certain damage.
(3) summary of the invention:
It is an object of the invention to provide a kind of novel exoskeleton finger healing robot and method of work thereof, it can gram Take the deficiencies in the prior art, be a kind of simple in construction, to patient's fanout free region, easy to operate healing robot and method of work, Make patient can momentarily carry out rehabilitation training to stimulate brain in patients nervus motorius, reach finally to recover its finger motion function Purpose.
Technical scheme: a kind of novel exoskeleton finger healing robot, it is characterised in that it includes controlling list Unit, electric-motor drive unit, gear unit and performance element;Wherein, the input reception of described control unit is attached to patient and is good for side The bending signal that bend sensor on finger produces, its outfan is connected with the input of electric-motor drive unit;Described transmission The input of unit is connected with the outfan of electric-motor drive unit, and its outfan is connected with the input of performance element;Described hold The outfan of row unit contacts with patient's Ipsilateral finger, makes patient's Ipsilateral finger carry out action by transmission power.
Described control unit include bend sensor, AD (Analog to Digital simulates numeral) modular converter, Single-chip microcomputer, LCD (Liquid Crystal Display liquid crystal display) digital display module, motor drive module;Wherein, described The input of bend sensor receives the angle of bend information that patient's healthy side hand refers to, its outfan is connected with AD conversion module;Institute The input stating single-chip microcomputer receives the output signal of AD conversion module, its outfan and motor drive module and LCD digital display module Input connect.
Described electric-motor drive unit is made up of motor cabinet, driving motor and motor driving shaft;The input of described driving motor End is connected with motor cabinet, and outfan is connected with motor driving shaft;Described driving motor is arranged on motor cabinet;Described driving motor Drive shaft is arranged on driving motor;Described motor cavity is in position, the palm back side;Described motor driving shaft with drive motor it Between in interference fit connect.
Described driving motor is stepper drive motors, and is arranged on palm back, reduces the size of overall robot.
Described driving motor uses drive lacking mode, and to realize finger MCP, (Metacarpophalangeal slaps Refer to) joint, finger PIP (between Proximal interphalangeal near-end refers to) joint and DIP (Distal Between Interphalangeal far-end refers to) motion of the bending and stretching in joint.
Described gear unit is by transmission cord, rotary shaft I, connecting rod I, middle socket joint, gear I, gear II, rotary shaft II, connecting rod II and end points support seat and constitute;Described performance element is by finger MCP joint, finger PIP joint, finger MCP joint Connect fluting and finger PIP joint connects fluting and constitutes;Wherein, described rotary shaft I and motor driving shaft are by transmission cord shape Become Miniature steel wire rope drive mechanism;Described rotary shaft I, connecting rod I, middle socket joint form quadric chain with finger MCP joint;Institute State rotary shaft II, connecting rod II, end points supports seat and finger PIP joint forms second quadric chain;Described gear I and gear II forms gear drive;Described finger MCP joint connects be connected fixing with middle socket joint of slotting;Described finger PIP joint Connect be connected fixing with end points support seat of slotting.
Described exoskeleton finger healing robot uses photosensitive resin and silica gel material.
Described exoskeleton finger healing robot uses wire rope gearing mode, is applicable to long-distance transmission.
Described exoskeleton finger healing robot uses cambered design requirement with the local of patient contact.
All there is silicagel pad in the place that described exoskeleton finger healing robot contacts with patient's finger, reduces the damage to finger Wound.
The method of work of a kind of novel exoskeleton finger healing robot, it is characterised in that it comprises the following steps:
1. motor drives and inputs:
Exoskeleton finger healing robot connects fluting by finger MCP joint and finger PIP joint connects fluting and dresses On the Ipsilateral finger of patient;Be attached to patient's healthy side hand refer on bend sensor along with digital flexion time the angle of bend that sends Signal passes to single-chip microcomputer through AD conversion module, and single-chip microcomputer receives after the angle of bend signal of AD conversion, output control Signal processed is to motor drive module, and motor drive module drives according to the control signal that single-chip microcomputer exports and drives motor to perform accordingly Action;
2. finger MCP joint motions:
After driving electric machine rotation, corresponding rotation can be carried out with the motor driving shaft driving motor to be closely connected, with Time, the two transmission cords connected with motor driving shaft can drive rotary shaft I to carry out corresponding rotational motion;Due to rotary shaft I, Connecting rod I, middle socket joint form quadric chain with finger MCP joint, and when rotary shaft I rotates, finger MCP joint is the most just carried out Corresponding rotation, so that finger MCP joint carries out rehabilitation exercise motion;
3. finger PIP joint motions:
When connecting rod I moves, can rotate by driven gear I, thus drive and turn with gear I gear meshed gears II Dynamic, gear II drives rotary shaft II affixed with it to rotate;Owing to rotary shaft II, connecting rod II, end points support seat and close with finger PIP Joint forms quadric chain, and when rotary shaft II rotates, finger PIP joint rotates the most accordingly, so that finger PIP joint carries out rehabilitation exercise motion;
4. the regulation of kinematic parameter:
During ectoskeleton finger gymnastic robot carries out rehabilitation training to patient, it is attached on patient's healthy side hand refers to Bend sensor can carry out Real-time Collection to the movable information of patient, and be converted to digital data transmission through AD conversion module and arrive Single-chip microcomputer, regulates the kinematic parameter of exoskeleton finger healing robot in real time according to the motion conditions of patient, with for different journeys The patient of degree formulates different rehabilitation training schemes.
The present invention is advantageous in that: 1, uses wire rope gearing mode, changes conventional exoskeleton finger rehabilitation machine The kind of drive of people, it is achieved that remotely transmission, substantially reduces the weight of self of exoskeleton finger healing robot;2, this is outer Skeleton finger gymnastic robot can realize the single movement of five Ipsilateral fingers, substantially increases rehabilitation efficiency;3, exoskeleton hand Refer to that healing robot mainly uses photosensitive resin and silica gel material, while alleviating robot deadweight, in turn ensure that robot The rigidity requirement of self;4, the place contacted with patient's finger in ectoskeleton finger gymnastic robot applies silica gel cushion, protects Protect patient's finger, prevent the secondary injury of patient's finger.
(4) accompanying drawing explanation:
Fig. 1 is the overall structure block diagram of a kind of exoskeleton type finger healing robot involved by the present invention.
Fig. 2 is the connection diagram of a kind of exoskeleton type finger healing robot control unit part involved by the present invention.
Fig. 3 is the left side structure schematic diagram of a kind of exoskeleton-type left-hand finger healing robot involved by the present invention.
Fig. 4 is the right side structure schematic diagram of a kind of exoskeleton-type left-hand finger healing robot involved by the present invention.
Fig. 5 is that in a kind of exoskeleton type finger healing robot involved by the present invention, the structure of gear unit and performance element is shown It is intended to.
Wherein, 1 is motor cabinet;2 for driving motor;3 is motor driving shaft;4 is transmission cord;5 is rotary shaft I;6 for even Bar I;7 is middle socket joint;8 is finger MCP joint;9 is gear I;10 is gear II;11 be rotary shaft II, 12 for connecting rod II;13 Seat is supported for end points;14 is that finger MCP joint connects fluting;15 is finger PIP joint;16 is that finger PIP joint connects fluting.
(5) detailed description of the invention:
Embodiment: a kind of novel exoskeleton finger healing robot (see Fig. 1), it is characterised in that it include control unit, Electric-motor drive unit, gear unit and performance element;Wherein, the input of described control unit receives and is attached to patient's healthy side hand and refers to On bend sensor produce bending signal, its outfan is connected with the input of electric-motor drive unit;Described gear unit Input be connected with the outfan of electric-motor drive unit, its outfan is connected with the input of performance element;Described perform list The outfan of unit contacts with patient's Ipsilateral finger, makes patient's Ipsilateral finger carry out action by transmission power.
Described control unit (see Fig. 2) includes bend sensor, AD conversion module, single-chip microcomputer, LCD digital display module, motor Drive module;Wherein, the input of described bend sensor receives the angle of bend signal that healthy side hand refers to, its outfan turns with AD Die change block connects;The input of described single-chip microcomputer receives the output signal of AD conversion module, its outfan and motor drive module And the input of LCD digital display module connects.
Described electric-motor drive unit (see Fig. 3, Fig. 4) is made up of motor cabinet 1, driving motor 2 and motor driving shaft 3;Described The input driving motor is connected with motor cabinet, and outfan is connected with motor driving shaft;Described driving motor is arranged on motor cabinet On;Described driving motor driving shaft is arranged on driving motor;Described motor cavity is in position, the palm back side;Described motor drives Axle is connected in interference fit between motor with driving.
Described driving motor is stepper drive motors, and is arranged on palm back, reduces the size of overall robot.
Described driving motor uses drive lacking mode, to realize finger MCP joint, finger PIP joint and DIP joint Bending and stretching is moved.
Described gear unit (see Fig. 4, Fig. 5) is by transmission cord 4, rotary shaft I5, connecting rod I6, middle socket joint 7, gear I9, gear II10, rotary shaft II11, connecting rod II12 and end points support seat 13 and constitute;Described performance element is by finger MCP joint 8, finger PIP joint 15, finger MCP joint connect fluting 14 and finger PIP joint and connect fluting 16 composition;Wherein, described turn Moving axis I5 forms Miniature steel wire rope drive mechanism with motor driving shaft 3 by transmission cord 4;Described rotary shaft I5, connecting rod I6, in Socket joint 7 and finger MCP joint 8 form quadric chain;Described rotary shaft II11, connecting rod II12, end points support seat 13 and hands Refer to that PIP joint 15 forms second quadric chain;Described gear I9 and gear II10 forms gear drive;Described finger MCP joint connection fluting 14 is fixing with middle socket joint 7 to be connected;Described finger PIP joint connects fluting 16 and supports seat 13 with end points Fixing connection.
Described exoskeleton finger healing robot uses photosensitive resin and silica gel material.
Described exoskeleton finger healing robot uses wire rope gearing mode, is applicable to long-distance transmission.
Described exoskeleton finger healing robot uses cambered design requirement with the local of patient contact.
All there is silicagel pad in the place that described exoskeleton finger healing robot contacts with patient's finger, reduces the damage to finger Wound.
The method of work of a kind of novel exoskeleton finger healing robot, it is characterised in that it comprises the following steps:
1. motor drives and inputs:
Exoskeleton finger healing robot connects fluting 14 and finger PIP joint by finger MCP joint and connects fluting 16 It is worn on the Ipsilateral finger of patient;Be attached to patient's healthy side hand refer on bend sensor along with digital flexion time the bending that sends Angle signal passes to single-chip microcomputer through AD conversion module, and single-chip microcomputer receives after the angle of bend signal of AD conversion, defeated Going out control signal drives driving motor to perform to motor drive module, motor drive module according to the control signal that single-chip microcomputer exports Corresponding action;
2. finger MCP joint motions (see Fig. 3, Fig. 4, Fig. 5):
After driving electric machine rotation, corresponding rotation can be carried out with the driving motor shaft driving motor to be closely connected, with Time, rotary shaft I 5 can be driven to carry out corresponding rotational motion with the two transmission cords driving motor shaft to connect;Due to rotary shaft I5, connecting rod I6, middle socket joint 7 form quadric chain with finger MCP joint 8, when rotary shaft I5 rotates, and finger MCP joint 8 Rotate the most accordingly, so that finger MCP joint 8 carries out rehabilitation exercise motion;
3. finger PIP joint motions (see Fig. 3, Fig. 4, Fig. 5):
When connecting rod I6 moves, can rotate by driven gear I9, thus drive and gear I9 gear meshed gears II10 rotates, and gear II10 drives rotary shaft II11 affixed with it to rotate;Owing to rotary shaft II11, connecting rod II12, end points prop up Support seat 13 forms quadric chain with finger PIP joint 15, and when rotary shaft II11 rotates, finger PIP joint 15 is the most just carried out Corresponding rotation, so that finger PIP joint 15 carries out rehabilitation exercise motion;
4. the regulation of kinematic parameter:
During ectoskeleton finger gymnastic robot carries out rehabilitation training to patient, it is attached on patient's healthy side hand refers to Bend sensor can carry out Real-time Collection to the movable information of patient, and be converted to digital data transmission through AD conversion module and arrive Single-chip microcomputer, regulates the kinematic parameter of exoskeleton finger healing robot in real time according to the motion conditions of patient, with for different journeys The patient of degree formulates different rehabilitation training schemes.

Claims (10)

1. a novel exoskeleton finger healing robot, it is characterised in that it includes control unit, electric-motor drive unit, transmission Unit and performance element;Wherein, described control unit input receive be attached to patient's healthy side hand refer on bend sensor produce Raw bending signal, its outfan is connected with the input of electric-motor drive unit;The input of described gear unit drives with motor The outfan of moving cell connects, and its outfan is connected with the input of performance element;The outfan of described performance element and patient Ipsilateral finger contacts, and makes patient's Ipsilateral finger carry out action by transmission power.
A kind of novel exoskeleton finger healing robot, it is characterised in that described control unit bag Include bend sensor, AD conversion module, single-chip microcomputer, LCD digital display module, motor drive module;Wherein, described bend sensor Input receives the angle of bend information that patient's healthy side hand refers to, its outfan is connected with AD conversion module;Described single-chip microcomputer defeated Entering end and receive the output signal of AD conversion module, its outfan is connected with the input of motor drive module and LCD digital display module.
A kind of novel exoskeleton finger healing robot, it is characterised in that described motor drives single Unit is made up of motor cabinet, driving motor and motor driving shaft;The input of described driving motor is connected with motor cabinet, outfan with Motor driving shaft connects;Described driving motor is arranged on motor cabinet;Described driving motor driving shaft is arranged on driving motor; Described motor cavity is in position, the palm back side;Described motor driving shaft is connected in interference fit between motor with driving.
A kind of novel exoskeleton finger healing robot, it is characterised in that described driving motor is Stepper drive motors, and it is arranged on palm back, reduce the size of overall robot;Described driving motor uses drive lacking side Formula, to realize the motion of the bending and stretching to finger MCP joint, finger PIP joint and DIP joint.
A kind of novel exoskeleton finger healing robot, it is characterised in that described gear unit is Seat structure is supported by transmission cord, rotary shaft I, connecting rod I, middle socket joint, gear I, gear II, rotary shaft II, connecting rod II and end points Become;Described performance element is by finger MCP joint, finger PIP joint, finger MCP joint connection fluting and finger PIP joint even Connect fluting to constitute;Wherein, described rotary shaft I forms Miniature steel wire rope drive mechanism with motor driving shaft by transmission cord;Institute State rotary shaft I, connecting rod I, middle socket joint and finger MCP joint formation quadric chain;Described rotary shaft II, connecting rod II, end points Support seat and form second quadric chain with finger PIP joint;Described gear I and gear II forms gear drive;Institute State finger MCP joint and connect be connected fixing with middle socket joint of slotting;Described finger PIP joint connects fluting and supports seat admittedly with end points Fixed connection.
A kind of novel exoskeleton finger healing robot, it is characterised in that described exoskeleton finger Healing robot uses photosensitive resin and silica gel material.
A kind of novel exoskeleton finger healing robot, it is characterised in that described exoskeleton finger Healing robot uses wire rope gearing mode, is applicable to long-distance transmission.
A kind of novel exoskeleton finger healing robot, it is characterised in that described exoskeleton finger Healing robot uses cambered design requirement with the local of patient contact.
A kind of novel exoskeleton finger healing robot, it is characterised in that described exoskeleton finger All there is silicagel pad in the place that healing robot contacts with patient's finger, reduces the damage to finger.
10. the method for work of a novel exoskeleton finger healing robot, it is characterised in that it comprises the following steps:
1. motor drives and inputs:
Exoskeleton finger healing robot connects fluting by finger MCP joint and finger PIP joint connects fluting and is worn on trouble On the Ipsilateral finger of person;Be attached to patient's healthy side hand refer on bend sensor along with digital flexion time the angle of bend signal that sends Passing to single-chip microcomputer through AD conversion module, single-chip microcomputer receives after the angle of bend signal of AD conversion, and output controls letter Number giving motor drive module, the control signal that motor drive module export according to single-chip microcomputer drives and drives motor to perform accordingly to move Make;
2. finger MCP joint motions:
Drive after electric machine rotation, can carry out corresponding rotation with the motor driving shaft driving motor to be closely connected, meanwhile, with Two transmission cords that motor driving shaft connects can drive rotary shaft I to carry out corresponding rotational motion;Due to rotary shaft I, connecting rod I, middle socket joint form quadric chain with finger MCP joint, and when rotary shaft I rotates, finger MCP joint is the most just carried out accordingly Rotation so that finger MCP joint carries out rehabilitation exercise motion;
3. finger PIP joint motions:
When connecting rod I moves, can rotate by driven gear I, thus drive and rotate with gear I gear meshed gears II, tooth Wheel II drives rotary shaft II affixed with it to rotate;Owing to rotary shaft II, connecting rod II, end points support seat and finger PIP knuckle shaped Becoming quadric chain, when rotary shaft II rotates, finger PIP joint rotates the most accordingly, so that finger PIP closes Joint carries out rehabilitation exercise motion;
4. the regulation of kinematic parameter:
During ectoskeleton finger gymnastic robot carries out rehabilitation training to patient, be attached to patient's healthy side hand refer on bending Sensor can carry out Real-time Collection to the movable information of patient, and is converted to digital data transmission to monolithic through AD conversion module Machine, regulate the kinematic parameter of exoskeleton finger healing robot in real time according to the motion conditions of patient, with in various degree Patient formulates different rehabilitation training schemes.
CN201610591258.2A 2016-07-22 2016-07-22 A kind of novel exoskeleton finger healing robot and method of work thereof Pending CN106074092A (en)

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CN109549819A (en) * 2018-11-13 2019-04-02 东南大学 Palm support formula finger rehabilitation training device and application method
CN109730896A (en) * 2019-03-06 2019-05-10 北可精密机械(上海)有限公司 A kind of ectoskeleton hand healing robot based on finger function different degree
CN110051508A (en) * 2019-05-31 2019-07-26 山东海天智能工程有限公司 A kind of four finger driving mechanisms of rehabilitation training
CN110314066A (en) * 2019-07-24 2019-10-11 东南大学 Exoskeleton finger device for healing and training and its application method
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CN112755443A (en) * 2021-03-01 2021-05-07 河南省中医院(河南中医药大学第二附属医院) Finger recovery training device for rheumatoid arthritis

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WO2018113475A1 (en) * 2016-12-22 2018-06-28 Rehab-Robotics Company Ltd. A power assistive device for hand rehabilitation and a method of using the same
CN108524184A (en) * 2017-03-03 2018-09-14 新加坡国立大学 A kind of hand exoskeleton device based on the driving of prebuckling elasticity fiber tube
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CN110051508A (en) * 2019-05-31 2019-07-26 山东海天智能工程有限公司 A kind of four finger driving mechanisms of rehabilitation training
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WO2021012873A1 (en) * 2019-07-24 2021-01-28 东南大学 Exoskeleton finger rehabilitation training device and usage method thereof
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CN112356014B (en) * 2021-01-11 2021-06-01 中国科学院自动化研究所 Under-actuated coupling self-adaptive hand exoskeleton robot
CN112755443A (en) * 2021-03-01 2021-05-07 河南省中医院(河南中医药大学第二附属医院) Finger recovery training device for rheumatoid arthritis
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Application publication date: 20161109