CN106272404A - A kind of single-degree-of-freedom rehabilitation mechanical hand driving device - Google Patents
A kind of single-degree-of-freedom rehabilitation mechanical hand driving device Download PDFInfo
- Publication number
- CN106272404A CN106272404A CN201610852619.4A CN201610852619A CN106272404A CN 106272404 A CN106272404 A CN 106272404A CN 201610852619 A CN201610852619 A CN 201610852619A CN 106272404 A CN106272404 A CN 106272404A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- section
- driving device
- mechanical hand
- degree
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of single-degree-of-freedom rehabilitation mechanical hand driving device, it relates to a kind of manipulator driving device.The present invention solves existing remedy finger driving means and have employed rope driving, and rope drives and there is the rope tension problem that rope friction, deformation etc. bring.The output shaft driving motor is affixed with the first joint shaft through one end of first segment connecting rod, and Timing Belt is arranged on the first synchronous pulley and the second synchronous pulley；Gear is packed on the described first segment connecting rod other end by the first male cannula, the top of second section connecting rod is rotationally connected by second joint axle with the other end of described first segment connecting rod, 3rd joint shaft is arranged on the bottom of second section connecting rod, half gear is solidly set on the 3rd joint shaft, gear and half gear engage each other, the upper end of the second male cannula and Section of three connecting rod is all sleeved on the 3rd joint shaft, locking draw-in groove is positioned at and is connected by pivot pin and Section of three link rotatable, and one end of drive rod is installed in described through hole through fixed block.The present invention is used for driving mechanical hand.
Description
Technical field
The present invention relates to a kind of manipulator driving device, be specifically related to the driving means of a kind of exoskeleton hand articulations digitorum manus, belong to
In medical robot field.
Background technology
As robotics another application in medical domain, healing robot is rehabilitation theory and robot skill
The product that art is combined closely, a study hotspot during it has become as robot field at present.Manipulators in rehabilitation is rehabilitation machines
One important branch of device people, its main task is that patients with hand injury is carried out auxiliary rehabilitation exercise, and what it can be outstanding completes
The work that tradition Physical Therapist is complicated, helps patient to recover the proper motion function of its wound finger faster.
Finger actuation device is the important component part of manipulators in rehabilitation structure design.In order to avoid right in rehabilitation course
Wound finger causes extra injury, it is necessary to assure in rehabilitation course, the passive exercise of finger to be fitted finger as best one can
Natural motion, namely the movement locus of the drive mechanism of finger to match with the natural motion track of finger as much as possible.
Research shows, the finger of people is when natural motion, and the motion in three joints of finger has the relation determined.Thus,
As long as being the suitable gear ratio of the spor ts choice between three joints, it is possible to simulate finger with the mechanism of single-degree-of-freedom
Natural motion situation.
At present, the driving means of more existing remedy fingers is developed, and these devices mostly have employed rope and drive,
But rope drives and is necessarily accompanied with the rope tension problem brought by rope friction, deformation etc..
To sum up, existing remedy finger driving means have employed rope and drives, and rope drives and there are rope friction, deformation etc.
The rope tension problem brought.
Summary of the invention
The present invention solves that existing remedy finger driving means have employed rope and drives, there is rope and rubs in rope driving
The rope tension problem that wiping, deformation etc. bring, and then a kind of single-degree-of-freedom rehabilitation mechanical hand driving device is provided.
The single-degree-of-freedom rehabilitation mechanical hand driving device of the present invention fully simulates the situation of the finger natural motion of people, keeps away
Exempt from, in rehabilitation course, wound finger is caused extra injury, solved rope and drive the tensioning problem produced.
The present invention solves that above-mentioned technical problem adopts the technical scheme that:
The single-degree-of-freedom rehabilitation mechanical hand driving device of the present invention includes driving means 1, and first segment connecting rod 2, second section are even
Bar 3, Section of three connecting rod 5, locking draw-in groove 4 and drive rod 7；Driving means 1 includes driving motor 9 and motor cabinet 10, motor cabinet 10
It is packed on contact basis 8, drives motor 9 to be arranged on motor cabinet 10, first segment connecting rod 2 is provided with synchronous cog belt machine
Structure, synchronous cog belt mechanism includes the first joint shaft 11, second joint axle the 15, first synchronous pulley the 12, second synchronous pulley 16
With Timing Belt 14, described first segment connecting rod 2 one end is affixed with motor cabinet 10, drives the output shaft of motor 9 through first segment connecting rod 2
One end affixed with the first joint shaft 11, the first synchronous pulley 12 is solidly set on the first joint shaft 11, and second joint axle 15 is installed
At the other end of first segment connecting rod 2, the second synchronous pulley 16 is solidly set on second joint axle 15, and it is same that Timing Belt 14 is arranged on first
On step belt wheel 12 and the second synchronous pulley 16；Planetary gear coupling mechanism, planetary gear coupling machine it is provided with on second section connecting rod 3
Structure includes the first male cannula 17, gear 18, half gear the 19, the 3rd joint shaft 20 and the second male cannula 22, and gear 18 passes through
First male cannula 17 is packed on described first segment connecting rod 2 other end, the top of second section connecting rod 3 and described first segment connecting rod
The other end of 2 is rotationally connected by second joint axle 15, and the 3rd joint shaft 20 is arranged on the bottom of second section connecting rod 3, half gear
19 are solidly set on the 3rd joint shaft 20, and gear 18 engages each other with half gear 19, the second male cannula 22 and Section of three connecting rod 5
Upper end is all sleeved on the 3rd joint shaft 20, and Section of three connecting rod 5 is machined with groove along its length, and locking draw-in groove 4 is positioned at logical
Crossing pivot pin 21 to be rotationally connected with Section of three connecting rod 5, locking draw-in groove 4 is positioned at the groove of Section of three connecting rod 5 when locking, Section three even
The bottom of bar 5 is machined with multiple through hole the most successively, and fixed block 24 is fixed on the bottom of Section of three connecting rod 5, drives
One end of bar 7 is installed in described through hole through fixed block 24, and the other end of drive rod 7 is located on fingerstall device 6 successively.
Further, the bottom face on contact basis 8 is provided with softness, rich malleable sponge material.
Further, drive rod 7 is S-shaped drive rod.
Further, fingerstall device 6 includes referring to slide 28, refer to carry on the back 29 and refer to abdomen 30, refers to that abdomen 30 is by screw with the finger back of the body 29 admittedly
Connect and the two forms finger ring, refer to that sliding 28 are fixed by screws on the upper surface referring to the back of the body 29.
Further, referring to that the bottom of sliding 28 is cantilever design, the lower surface of cantilever is pasted with foil gauge.
Further, fixed block 24 is L-shaped fixed block.
Further, synchronous cog belt mechanism also includes that tensioner 13, tensioner 13 include fanning strip 25, cylindrical sleeve
Cylinder 26 and lock-screw 27, fanning strip 25 proximal part is machined with manhole, and fanning strip 25 distal end is machined with to be processed along covering of the fan
Having bar hole, the proximal part of fanning strip 25 to be fixed by screws on the sidewall of first segment connecting rod 2, fanning strip 25 is true around proximal part
Location is postponed and is fixed on first segment connecting rod 2 by lock-screw 27 location, and cylindrical sleeves 26 is fixed on the side of fanning strip 25
On face.
Further, driving means 1, first segment connecting rod 2 and second section connecting rod 3 are provided with housing.
The present invention compared with prior art has the advantages that
The single-degree-of-freedom rehabilitation mechanical hand driving device of the present invention is positive drive, effectively overcomes rope and drives generation
Tensioning problem, and improve efficiency of transmission；Fully simulate the state of the finger natural motion of people, it is to avoid in rehabilitation course
Wound finger is caused extra injury；Have only to use a motor, make single unit system weight significantly alleviate；Section three, connecting rod
On offered a series of jack, the position of drive rod can be adjusted and adapt to the length of different finger；Space S shape drive rod band
Interior receipts/abduction exercise can also be carried out while starting to refer to as flexion/extension motion；Finger is sliding can be to drive rod by stress change principle
The active force acting on finger tip measures, and can be that the power that carries out of rehabilitation hand controls to provide foundation simultaneously；The contact bottom of foundation
Use malleable sponge material soft, rich to adapt to the size of the hands of different patient, add the comfortableness of rehabilitation course.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the single-degree-of-freedom rehabilitation mechanical hand driving device of the present invention；
Fig. 2 is the internal structure schematic diagram of the single-degree-of-freedom rehabilitation mechanical hand driving device of the present invention；
Fig. 3 is the structure chart of tensioner 13 in the specific embodiment of the invention seven；
Fig. 4 is the structure chart of the specific embodiment of the invention four middle finger covering device 6；
Fig. 5 is the force analysis figure of sliding 28 foil gauges of the specific embodiment of the invention four middle finger；
Fig. 6 is the front view of the specific embodiment of the invention one middle gear 18；
Fig. 7 is the sectional view of Fig. 6.
Detailed description of the invention
Detailed description of the invention one: as shown in Fig. 1～7, the single-degree-of-freedom rehabilitation mechanical hand driving device bag of present embodiment
Include driving means 1, first segment connecting rod 2, second section connecting rod 3, Section of three connecting rod 5, locking draw-in groove 4 and drive rod 7；Driving means 1
Including driving motor 9 and motor cabinet 10, motor cabinet 10 is packed on contact basis 8, drives motor 9 to be arranged on motor cabinet 10,
Being provided with synchronous cog belt mechanism on first segment connecting rod 2, synchronous cog belt mechanism includes the first joint shaft 11, second joint axle
15, the first synchronous pulley the 12, second synchronous pulley 16 and Timing Belt 14, described first segment connecting rod 2 one end is affixed with motor cabinet 10,
The output shaft driving motor 9 is affixed with the first joint shaft 11 through one end of first segment connecting rod 2, and the first synchronous pulley 12 is solidly set on
On first joint shaft 11, second joint axle 15 is arranged on the other end of first segment connecting rod 2, and the second synchronous pulley 16 is solidly set on second
On joint shaft 15, Timing Belt 14 is arranged on the first synchronous pulley 12 and the second synchronous pulley 16；It is provided with on second section connecting rod 3
Planetary gear coupling mechanism, planetary gear coupling mechanism includes the first male cannula 17, gear 18, half gear the 19, the 3rd joint
Axle 20 and the second male cannula 22, gear 18 is packed on described first segment connecting rod 2 other end by the first male cannula 17, the
The top of two joint connecting rods 3 is rotationally connected by second joint axle 15 with the other end of described first segment connecting rod 2, the 3rd joint shaft 20
Being arranged on the bottom of second section connecting rod 3, half gear 19 is solidly set on the 3rd joint shaft 20, and gear 18 is mutually nibbled with half gear 19
Closing, the upper end of the second male cannula 22 and Section of three connecting rod 5 is all sleeved on the 3rd joint shaft 20, and Section of three connecting rod 5 is long along it
Degree direction is machined with groove, and locking draw-in groove 4 is positioned at and is rotationally connected with Section of three connecting rod 5 by pivot pin 21, when locking draw-in groove 4 is locked
Being positioned at the groove of Section of three connecting rod 5, the bottom of Section of three connecting rod 5 is machined with multiple through hole the most successively, fixing
Block 24 is fixed on the bottom of Section of three connecting rod 5, and one end of drive rod 7 is installed in described through hole through fixed block 24, drive rod 7
The other end be located in successively on fingerstall device 6.
Detailed description of the invention two: as in figure 2 it is shown, the bottom face on present embodiment contact basis 8 is provided with softness, is rich in and prolongs
The sponge material of malleability.It is so designed that, is adapted to the size of different patient's hands.Other composition and annexation be embodied as
Mode one is identical.
Detailed description of the invention three: as depicted in figs. 1 and 2, present embodiment drive rod 7 is S-shaped drive rod.It is so designed that, S
Shape can also carry out interior receipts and abduction exercise while finger can be driven to make flexing, stretching.Other composition and connection are closed
It is identical with detailed description of the invention one or two.
Detailed description of the invention four: as shown in Figure 4, present embodiment fingerstall device 6 includes referring to slide 28, refer to carry on the back 29 and refer to abdomen
30, refer to that abdomen 30 is affixed with the finger back of the body 29 by screw and the two forms finger rings, refer to that sliding 28 are fixed by screws in the upper end referring to carry on the back 29
On face.Being so designed that, patient's finger can be worn on fingerstall device 6.Other composition and annexation and detailed description of the invention
Three is identical.
Detailed description of the invention five: as shown in Figure 4, present embodiment refers to that the bottom of sliding 28 is cantilever design, the lower end of cantilever
Face is pasted with foil gauge.It is so designed that, can be as elastomer for measuring the active force of finger tip.Other composition and annexation
Identical with detailed description of the invention four.
Detailed description of the invention six: as depicted in figs. 1 and 2, present embodiment fixed block 24 is L-shaped fixed block.It is so designed that,
By jackscrew, S-shaped drive rod 7 can be fixed, prevent it from rotating.Other composition and annexation and detailed description of the invention one,
Two, four or five is identical.
Detailed description of the invention seven: as it is shown on figure 3, present embodiment synchronous cog belt mechanism also includes tensioner 13,
Tight device 13 includes that fanning strip 25, cylindrical sleeves 26 and lock-screw 27, fanning strip 25 proximal part are machined with manhole, fan-shaped
Plate 25 distal end is machined with and is machined with bar hole along covering of the fan, and the proximal part of fanning strip 25 is fixed by screws in first segment connecting rod 2
Sidewall on, fanning strip 25 after proximal part determines position by lock-screw 27 location be fixed on first segment connecting rod 2, cylinder
Sleeve 26 is fixed on the one side of fanning strip 25.It is so designed that, so can realize by adjusting the position of fanning strip 25
The pretension of Timing Belt 14.Other composition and annexation are identical with detailed description of the invention six.
Detailed description of the invention eight: as it is shown in figure 1, present embodiment driving means 1, first segment connecting rod 2 and second section connecting rod 3
On be provided with housing.It is so designed that, internal drive mechanism can be hidden in housing.Other composition and annexation with
Detailed description of the invention one, two, four, five or seven are identical.
Detailed description of the invention nine: combine Fig. 4, Fig. 5 and present embodiment is described, the finger described in present embodiment is sliding to be designed to hang
The structure of arm beam, material is duralumin ZA12, and the linearity is good, below finger sliding 28 in stickup after foil gauge, can be as elasticity
Body is for measuring the active force of finger tip.Foil gauge and regulating resistor constitute 1/4 bridge circuit.If a length of L of cantilever beam, strain
The a length of L of sheets, the position of the beginning and end of foil gauge sensitive grid is respectively X1And X1+Ls。
On cantilever beam, the strain value at any point X is
Overall strain is
Due to
Δ R/R=4 Δ U/U=k ε (3)
Then cantilever beam stress is
The strain value of cantilever beam electric bridge output during ε External Force Acting in formula；
The elastic modelling quantity of E foil gauge；
W bending sections coefficient；
The width of b square-section；
The height of h square-section；
The sensitivity coefficient of k foil gauge；
Δ U bridge output voltage；
U supply voltage；
P drive rod is to referring to sliding power；
F force acting on transducer.
Operation principle:
As shown in figs. 1 to 6, the built-in driving motor of driving means of the present invention, it is provided that power source drive first is same
Step belt wheel rotates, and then transfers power to the second synchronous pulley by Timing Belt and makes the second synchronous pulley rotate.Second synchronizes
It is D type hole in the middle of belt wheel, coordinates with second joint axle, so that second joint axle drives the pinion rotation coordinated with it, this tooth
Take turns and be connected with second connecting rod by screw, so that second connecting rod rotates.Meanwhile, this gear engages with partial gear,
Make partial gear rotate, be D type hole in the middle of partial gear, move the 3rd joint shaft with the 3rd joint shaft mating band and rotate, with
Sample ground, the 3rd joint shaft and Section of three connecting rod are by D type shaft hole matching, thus drive third connecting rod to rotate.During rehabilitation training, S
Shape drive rod one end passes fingerstall device, and the jack of the drive rod on the other end and Section of three connecting rod connects, and then passes through nylon
Driving means is fixed on the back of the hand by bandage, and patient suffers from the finger tip referred to and is worn on the finger abdomen of fingerstall device, can be according to finger
Length adjust the position of drive rod, locked with locking draw-in groove after drive rod position determines.So, by the 3rd even
The rotation of bar just can drive finger to make continuous passive motion with S-shaped drive rod.
Claims (8)
1. a single-degree-of-freedom rehabilitation mechanical hand driving device, described manipulator driving device includes driving means (1), first segment
Connecting rod (2), second section connecting rod (3), Section of three connecting rod (5), locking draw-in groove (4) and drive rod (7)；It is characterized in that: drive dress
Putting (1) to include driving motor (9) and motor cabinet (10), motor cabinet (10) is packed in contact basis (8), drives motor (9) peace
Being contained on motor cabinet (10), first segment connecting rod (2) is provided with synchronous cog belt mechanism, synchronous cog belt mechanism includes the first pass
Nodal axisn (11), second joint axle (15), the first synchronous pulley (12), the second synchronous pulley (16) and Timing Belt (14), described
One joint connecting rod (2) one end affixed with motor cabinet (10), drive motor (9) output shaft through first segment connecting rod (2) one end and
First joint shaft (11) is affixed, and the first synchronous pulley (12) is solidly set on the first joint shaft (11), and second joint axle (15) is installed
At the other end of first segment connecting rod (2), the second synchronous pulley (16) is solidly set on second joint axle (15), and Timing Belt (14) is installed
On the first synchronous pulley (12) and the second synchronous pulley (16)；Second section connecting rod is provided with planetary gear coupling mechanism on (3),
Planetary gear coupling mechanism includes the first male cannula (17), gear (18), half gear (19), the 3rd joint shaft (20) and second
Male cannula (22), gear (18) is packed on described first segment connecting rod (2) other end by the first male cannula (17), and second
The top of joint connecting rod (3) is rotationally connected by second joint axle (15) with the other end of described first segment connecting rod (2), the 3rd joint
Axle (20) is arranged on the bottom of second section connecting rod (3), and half gear (19) is solidly set on the 3rd joint shaft (20), gear (18) and half
Gear (19) engages each other, and the upper end of the second male cannula (22) and Section of three connecting rod (5) is all sleeved on the 3rd joint shaft (20)
On, Section of three connecting rod (5) is machined with groove along its length, and locking draw-in groove (4) is positioned at by pivot pin (21) with Section three even
Bar (5) is rotationally connected, and is positioned at the groove of Section of three connecting rod (5), the bottom of Section of three connecting rod (5) during locking draw-in groove (4) locking
Being machined with multiple through hole the most successively, fixed block (24) is fixed on the bottom of Section of three connecting rod (5), drive rod (7)
One end be installed in described through hole through fixed block (24), the other end of drive rod (7) is located in fingerstall device (6) successively
On.
Single-degree-of-freedom rehabilitation mechanical hand driving device the most according to claim 1, it is characterised in that: the end on contact basis 8
End face is provided with softness, rich malleable sponge material.
Single-degree-of-freedom rehabilitation mechanical hand driving device the most according to claim 1 and 2, it is characterised in that: drive rod (7) is
S-shaped drive rod.
Single-degree-of-freedom rehabilitation mechanical hand driving device the most according to claim 3, it is characterised in that: fingerstall device (6) wraps
Include finger to slide (28), refer to carry on the back (29) and refer to abdomen (30), refer to that abdomen (30) is affixed with the finger back of the body (29) by screw and the two forms finger ring, refer to
Sliding (28) are fixed by screws on the upper surface referring to the back of the body (29).
Single-degree-of-freedom rehabilitation mechanical hand driving device the most according to claim 4, it is characterised in that: refer to the bottom of sliding (28)
For cantilever design, the lower surface of cantilever is pasted with foil gauge.
6. according to the single-degree-of-freedom rehabilitation mechanical hand driving device described in claim 1,2,4 or 5, it is characterised in that: fixed block
(24) it is L-shaped fixed block.
Single-degree-of-freedom rehabilitation mechanical hand driving device the most according to claim 6, it is characterised in that: synchronous cog belt mechanism
Also include that tensioner (13), tensioner (13) include fanning strip (25), cylindrical sleeves (26) and lock-screw (27), fan-shaped
Plate (25) proximal part is machined with manhole, and fanning strip (25) distal end is machined with and is machined with bar hole, fanning strip along covering of the fan
(25) proximal part is fixed by screws on the sidewall of first segment connecting rod (2), and fanning strip (25) is after proximal part determines position
Being fixed on first segment connecting rod (2) by lock-screw (27) location, cylindrical sleeves (26) is fixed on the side of fanning strip (25)
On face.
8. according to the single-degree-of-freedom rehabilitation mechanical hand driving device described in claim 1,2,4,5 or 7, it is characterised in that: drive
It is provided with housing on device (1), first segment connecting rod (2) and second section connecting rod (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610852619.4A CN106272404A (en) | 2016-09-26 | 2016-09-26 | A kind of single-degree-of-freedom rehabilitation mechanical hand driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610852619.4A CN106272404A (en) | 2016-09-26 | 2016-09-26 | A kind of single-degree-of-freedom rehabilitation mechanical hand driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272404A true CN106272404A (en) | 2017-01-04 |
Family
ID=57715068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610852619.4A Pending CN106272404A (en) | 2016-09-26 | 2016-09-26 | A kind of single-degree-of-freedom rehabilitation mechanical hand driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272404A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL442202A1 (en) * | 2022-09-05 | 2024-03-11 | Politechnika Rzeszowska im. Ignacego Łukasiewicza | Palm rehabilitation device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005036923A (en) * | 2003-07-17 | 2005-02-10 | Star Seiki Co Ltd | Tensile force imparting mechanism for traveling device |
| CN203280688U (en) * | 2013-05-22 | 2013-11-13 | 东南大学 | Exoskeleton type finger rehabilitation training device by combination driving of active/passive drivers |
| CN204092502U (en) * | 2014-09-30 | 2015-01-14 | 安阳工学院 | A kind of cluster finger recovering training device |
| CN204181854U (en) * | 2014-09-30 | 2015-03-04 | 安阳工学院 | The towed finger recovering training device of a kind of three dactylus |
-
2016
- 2016-09-26 CN CN201610852619.4A patent/CN106272404A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005036923A (en) * | 2003-07-17 | 2005-02-10 | Star Seiki Co Ltd | Tensile force imparting mechanism for traveling device |
| CN203280688U (en) * | 2013-05-22 | 2013-11-13 | 东南大学 | Exoskeleton type finger rehabilitation training device by combination driving of active/passive drivers |
| CN204092502U (en) * | 2014-09-30 | 2015-01-14 | 安阳工学院 | A kind of cluster finger recovering training device |
| CN204181854U (en) * | 2014-09-30 | 2015-03-04 | 安阳工学院 | The towed finger recovering training device of a kind of three dactylus |
Non-Patent Citations (1)
| Title |
|---|
| 王鹏: "手指创伤功能康复机械手系统研究", 《中国博士学位论文全文数据库（电子期刊）信息科技辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL442202A1 (en) * | 2022-09-05 | 2024-03-11 | Politechnika Rzeszowska im. Ignacego Łukasiewicza | Palm rehabilitation device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102119902B (en) | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton | |
| Chiri et al. | Mechatronic design and characterization of the index finger module of a hand exoskeleton for post-stroke rehabilitation | |
| Ball et al. | A planar 3DOF robotic exoskeleton for rehabilitation and assessment | |
| Saglia et al. | A high performance 2-dof over-actuated parallel mechanism for ankle rehabilitation | |
| CN202027877U (en) | Wearable upper limb motion rehabilitation training exoskeleton with seven degrees of freedom | |
| CN102319162B (en) | Exoskeletal thumb moving function rehabilitation robot | |
| CN102499857B (en) | Exoskeleton wearable upper limb rehabilitation robot | |
| JP5924642B2 (en) | Rehabilitation support device | |
| CN109009883A (en) | A kind of Multifunctional hand device for healing and training | |
| JP2008067852A (en) | Training apparatus for rehabilitation of upper limb finger | |
| CN106214425A (en) | A kind of exoskeleton-type wound finger gymnastic robot | |
| CN110801239B (en) | Upper limb multi-joint constant speed training testing device | |
| CN106618967A (en) | Novel portable hand exoskeleton recovery device | |
| CN107496139A (en) | A kind of joint moment measuring system for wound finger gymnastic | |
| CN206063263U (en) | Bionical prosthetic hand | |
| CN113367935A (en) | Flexible driving knee joint rehabilitation robot | |
| CN109498373A (en) | Wearable hand healing robot | |
| Shisheie et al. | Design and fabrication of an assistive device for arm rehabilitation using twisted string system | |
| CN104523401B (en) | A kind of upper limb healing device | |
| Wang et al. | Design and development of a skinny bidirectional soft glove for post-stroke hand rehabilitation | |
| RU175324U1 (en) | Training apparatus | |
| CN106272404A (en) | A kind of single-degree-of-freedom rehabilitation mechanical hand driving device | |
| RU177032U1 (en) | SIMULATOR FOR FINGERS OF THE HAND | |
| CN111281739A (en) | Recovered ectoskeleton robot | |
| CN110665192A (en) | Recovered type ectoskeleton gloves robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |