CN106361538B - Finger function convalescence device based on space mechanism - Google Patents
Finger function convalescence device based on space mechanism Download PDFInfo
- Publication number
- CN106361538B CN106361538B CN201610835119.XA CN201610835119A CN106361538B CN 106361538 B CN106361538 B CN 106361538B CN 201610835119 A CN201610835119 A CN 201610835119A CN 106361538 B CN106361538 B CN 106361538B
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- Prior art keywords
- thumb
- stop plate
- finger stop
- bar
- rehabilitation
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- 208000034657 Convalescence Diseases 0.000 title claims abstract description 15
- 210000003813 thumb Anatomy 0.000 claims abstract description 112
- 210000003811 finger Anatomy 0.000 claims abstract description 92
- 210000002421 cell wall Anatomy 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims 1
- 230000006870 function Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 10
- 208000006011 Stroke Diseases 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 4
- 238000005452 bending Methods 0.000 description 4
- 230000002490 cerebral effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001097 facial muscle Anatomy 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000000302 ischemic effect Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of finger function convalescence device based on space mechanism,It include the holder that rehabilitation palm is waited for for support,The side of holder is provided with thumb rehabilitation institution,Thumb rehabilitation institution includes the remote finger stop plate of thumb and the nearly finger stop plate of thumb,The remote finger stop plate of thumb and the nearly finger stop plate of thumb are connect with linkage unit,The remote finger stop plate of thumb finger stop plate plate end close with thumb is hinged,Driving mechanism drives the remote finger stop plate of thumb and the nearly finger stop plate relative rotation action of thumb,Thumb is placed on the remote finger stop plate of thumb and the nearly finger stop plate of thumb of thumb rehabilitation institution,Thumb rehabilitation institution is acted by driving mechanism drive link unit,The remote finger stop plate of thumb and the nearly finger stop plate of thumb for interlocking thumb rehabilitation institution relatively rotate,And then imitate the action of taking down the exhibits in thumb joint,Achieve the purpose that patient's thumb functional rehabilitation,By the length for adjusting the nearly finger stop plate of thumb in thumb rehabilitation institution,The patient for being suitable for not homochirality uses.
Description
Technical field
The present invention relates to rehabilitation training equipment technical fields, and in particular to a kind of finger function rehabilitation based on space mechanism
Device.
Background technology
Cerebral apoplexy is only second to malignant tumour and angiocardiopathy, is the third-largest fatal disease of western industrialization country, and
In the China for accounting for world population 1/5th, cerebral apoplexy has become second fatal disease, and incidence, illness rate increase year by year.
For majority there are sequelae such as different degrees of limb movement disturbance, cognitive disorders, ischemic cerebral stroke patients are clinical in survivor
On with hemiplegia for main sequelae, in the rehabilitation of hemiplegia, and the most difficult with the rehabilitation of finger function.The rehabilitation of convalescence is controlled
Treatment is extremely important for apoplexy something lost disease patient, it is now recognized that the limb movement disturbance patient that cerebral apoplexy causes passes through rehabilitation appropriate
Training can significantly reduce or mitigate the sequelae of paralysis.Used hand rehabilitation material mainly utilizes table in industry at present
Facial muscle electric signal is triggered completes interactive biofeedback training to realize four finger of patient, thumb, wrist three with dynamic and intelligent control
Part individually moves, however mechanism is complicated, expensive, lacks micro-adjusting mechanism, cannot meet patient in rehabilitation each stage
Exercise requirement.
Invention content
The purpose of the present invention is：A kind of finger function convalescence device based on space mechanism is provided, patient's finger can be driven
Rehabilitation training campaign, and adjustable thumb proximal phalanx and distal phalanx motion amplitude are carried out, the patient of various hand-types is adapted to
It uses.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of finger function convalescence device based on space mechanism, includes the holder that rehabilitation palm is waited for for support,
The side of the holder is provided with thumb rehabilitation institution, and the thumb rehabilitation institution includes the remote finger stop plate of thumb and big thumb
Refer to nearly finger stop plate, the remote finger stop plate of thumb and the nearly finger stop plate of thumb are connect with linkage unit, the remote finger stop plate of thumb and big thumb
It is hinged to refer to nearly finger stop plate plate end, waits for that the thumb of rehabilitation is placed on the remote finger stop plate of thumb and the nearly finger stop plate of thumb,
The linkage unit is connect with driving mechanism, and driving mechanism drives the remote finger stop plate of thumb and opposite turn of the nearly finger stop plate of thumb
It is dynamic.
There is also technical characteristics once by the present invention：
Linkage unit includes first connecting rod and second connecting rod, one end finger stop plate hinge remote with thumb of the first connecting rod
It connecing, the second connecting rod includes the first bar and the second bar, is connected by multi-directional ball headstock between first bar and the second bar, the
Two bars and thumb closely refer to panel hinge, and the first bar and driving sliding sleeve are hinged, and the of the other end of first connecting rod and second connecting rod
Two club bodies connect and constitute the prismatic pair along the second pole length direction, and driving mechanism driving driving sliding sleeve is past along its die direction
It is multiple mobile.
One end of the nearly finger stop plate of the thumb is provided with connecting plate, is provided between the nearly finger stop plate of thumb and connecting plate
First clamping screw, one end of connecting plate is hinged with the one end for adjusting hyoplastron, and the other end for adjusting hyoplastron is located at adjusting frid
In notch, the length direction for adjusting the side cell wall of frid offers multiple adjusting through-holes, adjusts in through-hole and is provided with the second lock
Tight bolt, the rod end of the second clamping screw with adjust hyoplastron against or detach.
The first connecting rod includes the first, second connection rod segment, head rod section and head rod section link position
Place is arranged at intervals with multiple adjusting through-holes, and the fastening bolt for adjusting through-hole is provided through in head rod section.
The lower face of the plate-like structure of holder, holder is provided with supporting slider, and the driving sliding sleeve is slidably arranged in
In supporting slider.
The holder is in sleeve-like configuration, and the opening passed through for linkage unit, the driving are provided on sleeve-shaped outer wall
It is provided with journal stirrup on sliding sleeve, one end of the journal stirrup and connecting rod is hinged, and the other end and crank of connecting rod are hinged, crank and handlebar
Either machine shaft connection handlebar or motor driving crank rotation.
Compared with the prior art, beneficial effects of the present invention are embodied in：It waits for that the palm of rehabilitation is placed on holder, waits for
The thumb of rehabilitation is placed on the remote finger stop plate of thumb and the nearly finger stop plate of thumb of thumb rehabilitation institution, above-mentioned big
Thumb rehabilitation institution is acted by driving mechanism drive link unit, the remote finger stop of thumb to interlock thumb rehabilitation institution
Plate and the nearly finger stop plate of thumb relatively rotate, and then imitate the action of taking down the exhibits in thumb joint, and then reach to patient's thumb
The purpose of functional rehabilitation is suitable for not homochirality by adjusting the length of the nearly finger stop plate of thumb in thumb rehabilitation institution
Patient uses.
Description of the drawings
Fig. 1 is the front view of the finger function convalescence device based on space mechanism；
Fig. 2 is the finger function convalescence device dimensional structure diagram based on space mechanism；
Fig. 3 is that the finger function convalescence device based on space mechanism removes the structural schematic diagram after stop sleeve；
Fig. 4 and Fig. 5 is two kinds of visual angles of the thumb rehabilitation institution of the finger function convalescence device based on space mechanism
Structural schematic diagram.
Specific implementation mode
In conjunction with Fig. 1 to Fig. 5, the present invention is further described：
Finger function convalescence device based on space mechanism includes the holder 10 that rehabilitation palm is waited for for support, institute
The side for stating holder 10 is provided with thumb rehabilitation institution, and the thumb rehabilitation institution includes the remote finger stop plate 21 of thumb and big
The nearly finger stop plate 22 of thumb, the remote finger stop plate 21 of thumb and the nearly finger stop plate of thumb 22 are connect with linkage unit, wait for rehabilitation
Thumb is placed on the remote finger stop plate 21 of thumb and the nearly finger stop plate of thumb 22, and the linkage unit is connect with driving mechanism,
Driving mechanism drives the remote finger stop plate 21 of thumb and the nearly finger stop plate 22 of thumb to relatively rotate.
It waits for that the palm of rehabilitation is placed over the mount 10, waits for that the thumb of rehabilitation is placed on thumb rehabilitation institution
The remote finger stop plate 21 of thumb and the nearly finger stop plate of thumb 22 on, above-mentioned thumb rehabilitation institution passes through driving mechanism drive link
Unit acts, and the nearly finger stop plate 22 of the remote finger stop plate 21 of thumb and thumb to interlock thumb rehabilitation institution relatively rotates,
And then the action of taking down the exhibits of finger-joint is imitated, and then achieve the purpose that patient's thumb functional rehabilitation, by adjusting thumb
The length of the nearly finger stop plate of thumb in rehabilitation institution, the patient for being suitable for not homochirality use.
The remote finger stop plate 21 of above-mentioned thumb, the nearly 22 preferred slot platy structure of finger stop plate of thumb facilitate and fixed wait for that rehabilitation is suffered from
The thumb of person.
As preferred embodiment of the present invention, the remote finger stop plate 21 of the thumb 22 plate end of finger stop plate close with thumb is hinged, greatly
The nearly finger stop plate 22 of thumb and holder 10 are hinged.
Further, in conjunction with shown in Fig. 4 and Fig. 5, linkage unit includes first connecting rod 23 and second connecting rod 24, and described first
One end of connecting rod 23 finger stop plate 21 remote with thumb is hinged, and the second connecting rod 24 includes the first bar 241 and the second bar 242, institute
It states and is connected by multi-directional ball headstock 243 between the first bar 241 and the second bar 242, the second bar 242 finger stop plate 22 close with thumb is cut with scissors
It connects, the first bar 241 and driving sliding sleeve 40 are hinged, and the other end of first connecting rod 23 connects with 242 shaft of the second bar of second connecting rod 24
The prismatic pair along 242 length direction of the second bar is connect and constitutes, driving mechanism driving driving sliding sleeve 40 is back and forth moved along its die direction
It is dynamic；
In above-described embodiment, since the bending side of the thumb of human hand finger and four fingers is not in a dimension, actually
The bending side dimension of four fingers is identical, to realize the gearing of thumb rehabilitation institution movement, 40 edge of driving mechanism driving driving sliding sleeve
During the sliding of its die direction, it can realize the first bar 241 and the second bar 242 in space using multi-directional ball headstock 243
Multi-faceted rotation, and then realize the bending multi-faceted in space of thumb rehabilitation institution；
Driving mechanism driving driving sliding sleeve 40 is slided along its die direction, the other end and second connecting rod of first connecting rod 23
24 242 shaft of the second bar connects and constitutes the prismatic pair along 242 length direction of the second bar, by the linear motion of driving sliding sleeve 40
It is converted to the pendulum motion of first connecting rod 23 and second connecting rod 24, so that first connecting rod 23 and second connecting rod 24 act, into
And the nearly finger stop plate 22 of thumb and the remote presentation of finger stop plate 21 bending of thumb and stretching are interlocked, reach to patient's thumb
The purpose of rehabilitation training.
It is described in conjunction with shown in Fig. 4 and Fig. 5 to adapt to the different length of human hand finger in above-mentioned thumb rehabilitation institution
One end of the nearly finger stop plate of thumb 22 is provided with connecting plate 25, and first is provided between the nearly finger stop plate 22 of thumb and connecting plate 25
Clamping screw 251, one end of connecting plate 25 is hinged with the one end for adjusting hyoplastron 254, and the other end of adjusting hyoplastron 254, which is located at, to be adjusted
In the notch of frid 252, the length direction for adjusting the side cell wall of frid 252 offers multiple adjusting through-holes 253, adjusts through-hole
Be provided with the second clamping screw 255 in 253, the rod end of the second clamping screw 255 with adjust hyoplastron 254 against or detach.
For the fine tuning for realizing to the support unit amplitude of fluctuation of thumb, the first connecting rod 23 includes the first, second company
It is arranged at intervals with multiple adjustment holes at extension bar section 231,232, head rod section 231 and 232 link position of head rod section
2311, second connects the fastening bolt that adjustment hole 2311 is provided through in rod segment 232.
To realize that the slide-and-guide to driving sliding sleeve 40, the holder 10 are in sleeve-like configuration, branch is provided on holder 10
Slide bar 11 is supportted, the driving sliding sleeve 40 is slidably arranged in supporting slider 11.
The sleeve-shaped outer wall of the holder 10 is installed with the opening 51 passed through for first connecting rod unit, the driving sliding sleeve
One end that journal stirrup and connecting rod 41 are provided on 40 is hinged, and the other end and crank 42 of connecting rod 41 are hinged, crank 42 and handlebar 43
Either machine shaft connection handlebar 43 or motor driving crank 42 rotate, for the support for implementing to rehabilitation arm, institute
The side for stating holder 10 is provided with ancon or forearm that support arm 52 is used to support rehabilitation.
When using driven electrically, by configuring motor, battery and control cabinet in power section, half may be implemented certainly
Dynamic control patient motion obstacle finger carries out back and forth crawl and stretching routine, and the also controllable patient of regulation motor rotating speed suffers from fingering row
The speed of reciprocating motion.
Device for rehabilitation disclosed by the invention can be adapted to different finger lengths, and motion amplitude is adjustable, can pass through regulation handle
The rotating speed of 43 velocity of rotation of bar or motor refers to trouble to realize the control of movement velocity.Its is simple in structure, easy to operate, safe
Performance is high, can carry out reconditioning indoors, be conducive to restore finger position motor function early.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (4)
1. a kind of finger function convalescence device based on space mechanism, it is characterised in that：Rehabilitation hand is waited for including being used for support
The side of the holder (10) of the palm, the holder (10) is provided with thumb rehabilitation institution, and the thumb rehabilitation institution includes big
The remote finger stop plate (21) of thumb and the nearly finger stop plate (22) of thumb, the remote finger stop plate (21) of thumb and the nearly finger stop plate (22) of thumb with
Linkage unit connects, and waits for that the thumb of rehabilitation is placed on the remote finger stop plate (21) of thumb and the nearly finger stop plate (22) of thumb
On, the linkage unit is connect with driving mechanism, and driving mechanism drives the remote finger stop plate (21) of thumb and the nearly finger stop plate of thumb
(22) it relatively rotates；
The remote finger stop plate (21) of thumb finger stop plate (22) plate end close with thumb is hinged, the nearly finger stop plate (22) of thumb and branch
Frame (10) is hinged；
The linkage unit includes first connecting rod (23) and second connecting rod (24), one end of the first connecting rod (23) and thumb
Remote finger stop plate (21) is hinged, and the second connecting rod (24) includes the first bar (241) and the second bar (242), first bar (241)
It being connect by multi-directional ball headstock (243) between the second bar (242), the second bar (242) finger stop plate (22) close with thumb is hinged,
First bar (241) is hinged with driving sliding sleeve (40), the other end of first connecting rod (23) and the second bar (242) of second connecting rod (24)
Shaft connects and constitutes the prismatic pair along the second bar (242) length direction；
The holder (10) is in sleeve-like configuration, and supporting slider (11) is provided on holder (10), and the driving sliding sleeve (40) is sliding
Dynamic to be arranged in supporting slider (11), driving mechanism driving driving sliding sleeve (40) is moved back and forth along supporting slider (11).
2. the finger function convalescence device according to claim 1 based on space mechanism, it is characterised in that：The thumb
One end of nearly finger stop plate (22) is provided with connecting plate (25), and the is provided between the nearly finger stop plate (22) of thumb and connecting plate (25)
One clamping screw (251), one end of connecting plate (25) is hinged with the one end for adjusting hyoplastron (254), adjusts the another of hyoplastron (254)
It holds in the notch for being located at and adjusting frid (252), the length direction of the side cell wall of adjusting frid (252) offers multiple adjust and leads to
Hole (253) adjusts in through-hole (253) and is provided with the second clamping screw (255), the rod end of the second clamping screw (255) and adjusting
Hyoplastron (254) against or separation.
3. the finger function convalescence device according to claim 2 based on space mechanism, it is characterised in that：Described first connects
Bar (23) includes the first, second connection rod segment (231,232), and head rod section (231) connect rod segment (232) connection with second
It is arranged at intervals with multiple adjustment holes (2311) at position, adjustment hole (2311) is provided through in head rod section (232)
Fastening bolt.
4. the finger function convalescence device according to claim 1 based on space mechanism, it is characterised in that：The holder
(10) sleeve-shaped outer wall is provided with the opening (51) passed through for linkage unit, and journal stirrup is provided on the driving sliding sleeve (40),
One end of the journal stirrup and connecting rod (41) is hinged, and the other end and crank (42) of connecting rod (41) are hinged, crank (42) and handlebar
(43) either machine shaft connection handlebar (43) or motor driving crank (42) rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610835119.XA CN106361538B (en) | 2016-09-20 | 2016-09-20 | Finger function convalescence device based on space mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610835119.XA CN106361538B (en) | 2016-09-20 | 2016-09-20 | Finger function convalescence device based on space mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106361538A CN106361538A (en) | 2017-02-01 |
| CN106361538B true CN106361538B (en) | 2018-09-25 |
Family
ID=57897712
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610835119.XA Active CN106361538B (en) | 2016-09-20 | 2016-09-20 | Finger function convalescence device based on space mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN106361538B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202337A (en) * | 2018-03-15 | 2018-06-26 | 深圳勇艺达机器人有限公司 | A kind of muscle formula bionic finger device of robot |
| CN108524196B (en) * | 2018-05-08 | 2024-04-09 | 合肥工业大学 | Hand function exercise driving device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030073939A1 (en) * | 2001-02-23 | 2003-04-17 | Taylor Robin L. | Continuous passive motion apparatus |
| JP5083553B2 (en) * | 2008-03-18 | 2012-11-28 | 国立大学法人岐阜大学 | Hand and finger motion support device |
| CN103315880B (en) * | 2013-06-03 | 2014-12-10 | 上海交通大学 | Hand external skeleton rehabilitation system based on memory alloy driving |
| CN203777261U (en) * | 2014-01-15 | 2014-08-20 | 张晓云 | Hand palm and finger rehabilitation training device |
| CN203749793U (en) * | 2014-03-12 | 2014-08-06 | 吴焕英 | Apoplectic finger rehabilitation device |
| CN203749796U (en) * | 2014-03-21 | 2014-08-06 | 李倩 | Finger stall for little finger rehabilitation training |
| CN206315257U (en) * | 2016-09-20 | 2017-07-11 | 合肥工业大学 | Finger function convalescence device based on space mechanism |
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2016
- 2016-09-20 CN CN201610835119.XA patent/CN106361538B/en active Active
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| CN106361538A (en) | 2017-02-01 |
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