CN108079520A - A kind of hand rehabilitation training system - Google Patents
A kind of hand rehabilitation training system Download PDFInfo
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- CN108079520A CN108079520A CN201810115404.3A CN201810115404A CN108079520A CN 108079520 A CN108079520 A CN 108079520A CN 201810115404 A CN201810115404 A CN 201810115404A CN 108079520 A CN108079520 A CN 108079520A
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- finger
- hand
- sensor
- arm controller
- rehabilitation training
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
- A63B2024/0065—Evaluating the fitness, e.g. fitness level or fitness index
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/065—Visualisation of specific exercise parameters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/08—Measuring physiological parameters of the user other bio-electrical signals
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/08—Measuring physiological parameters of the user other bio-electrical signals
- A63B2230/10—Measuring physiological parameters of the user other bio-electrical signals electroencephalographic signals
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Rehabilitation Tools (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
Abstract
The present invention provides a kind of hand rehabilitation training system, including grooming glove, brain electricity cap, ARM controller, liquid crystal display, memory and touch switch；Grooming glove includes finger section, palmar hand and wrist portion, each joint of finger section sets inertial sensor respectively, inertial sensor detects the athletic posture of each finger-joint, and inertial sensor is located at the outer layer of grooming glove, and each finger tip of finger section further respectively has touch sensor.The present invention realizes the training of 14 degree of freedom by the inertial sensor in each joint of finger, the control of having an effect of the touch sensor of finger tip and the pressure sensor training hand of palm, the pulse signal of patient in wrist pulse transducer detection training process, realize each joint freedom degrees of finger of functional rehabilitation phase and the exercise of finger tip and palm in Trauma of Hand treatment, patient's EEG signals are extracted by 16 leads simultaneously, the detection data of hand motion are matched with corresponding EEG signals.
Description
Technical field
The present invention relates to rehabilitation medicine equipment technical field, more particularly to a kind of hand rehabilitation training system.
Background technology
Cerebral apoplexy is also known as apoplexy, cerebrovas-cularaccident, is a kind of acute cerebrovascular diseases.The existing patients with cerebral apoplexy of China is about
9000000 people, annual neopathy more than 1,500,000 people, about 75% patients with cerebral apoplexy can be left after morbidity it is different degrees of after
Lose disease.And in numerous sequelae, with hemiplegia incidence highest.In the rehabilitation of hemiplegia, and with the rehabilitation of hand function most
For difficulty.
The interactive biofeedback training of surface electromyogram signal triggering and dynamic and intelligent control is mostly utilized in industry at present
Realize that patient four refers to, thumb, wrist three parts individually move, however, four fingers, thumb, wrist three in hand function recovery
Point collective effect directly affects the muscular strength of hand and bends and stretches, it is therefore necessary to which existing training device is improved.
The content of the invention
(1) the technical issues of solving
To solve the above-mentioned problems, the present invention provides a kind of hand rehabilitation training system, in being treated by Trauma of Hand
The each joint freedom degrees of finger of functional rehabilitation phase and the exercise of finger tip and palm, and combine EEG signals and carry out adaptability tune
Whole, wearable design facilitates the functional training that patient is aided in based on daily life, improves training effect.
(2) technical solution
A kind of hand rehabilitation training system, including grooming glove, brain electricity cap, ARM controller, liquid crystal display, memory
And touch switch；
The grooming glove includes finger section, palmar hand and wrist portion, and each joint of the finger section is set respectively
Inertial sensor, the inertial sensor detect the athletic posture of each finger-joint, and the inertial sensor is located at the instruction
It tries one's hand the outer layer of set, each finger tip of the finger section further respectively has touch sensor, and the touch sensor detection is each
The touching pressure of finger fingertip, the touch sensor are located at the internal layer of the grooming glove, the centre of the palm position of the palmar hand
Equipped with pressure sensor, the touching pressure of the pressure sensor detection palm, the pressure sensor is located at the trained hand
The internal layer of set, the internal layer of the wrist portion are internally provided with pulse transducer, and the pulse transducer detects pulse signal, the hand
The superficies of wrist are equipped with indicator light, and whether extremely the indicator light is used to indicate pulse signal, the inertial sensor, institute
The data output pin for stating touch sensor, the pressure sensor and the pulse transducer connects first data transmission respectively
Line, the first data transmission line are through to outside inside the internal layer of the grooming glove and are connected with the ARM controller
It connects；
The top of the brain electricity cap sets several electrode interfaces, and for grafting electrode for encephalograms, the brain electricity cap lower part is equipped with
Symmetrical extension, the end of the extension is stickiness hasp, and the second data line is additionally provided at the top of the brain electricity cap,
The lead harness of the electrode for encephalograms is connected to second data line, second data line also with it is described
ARM controller is connected；
The ARM controller handles the gathered data of the grooming glove and the brain electricity cap, the ARM controls
The output terminal of device connects the liquid crystal display and the memory respectively, and the liquid crystal display is used to show the trained hand
The gathered data of set and the brain electricity cap, the memory preserve the data of acquisition, and the touch switch connection is external
DC power supply, the external DC power supply by the touch switch is the grooming glove, the brain electricity cap, the ARM controller,
The liquid crystal display and the memory provide operating voltage.
Further, the inertial sensor is acceleration transducer or gyroscope.
Further, the touch sensor is infrared touch sensor.
Further, the pulse transducer is wrist pulse transducer.
Further, the quantity of the electrode for encephalograms is 16.
Further, the ARM controller is 32 ARM controller LPC1768.
Further, the first data transmission line be HSSI High-Speed Serial Interface data line, second data transmission
Line is to lead the electrically amplified cable of biology.
(3) advantageous effect
The present invention provides a kind of hand rehabilitation training systems, and 14 are realized by the inertial sensor in each joint of finger
The training of degree of freedom, the control of having an effect of the touch sensor of finger tip and the pressure sensor training hand of palm, wrist pulse pass
The pulse signal of patient in sensor detection training process realizes each joint of finger of functional rehabilitation phase in Trauma of Hand treatment
The exercise of degree of freedom and finger tip and palm, while patient's EEG signals are extracted by 16 leads, by the detection data of hand motion
Match with corresponding EEG signals, to carry out accommodation, and wearable design side to hand rehabilitation training
Just the functional training that patient is aided in based on daily life improves training effect, and simple in structure, lightweight and portable in volume, accuracy of detection is high,
Fast response time, stability and good reliability, have good handling and autgmentability, can be applied to hand rehabilitation training and its
The occasion of his hand body feeling interaction.
Description of the drawings
Fig. 1 is a kind of structure diagram of hand rehabilitation training system according to the present invention.
Fig. 2 is a kind of grooming glove structure schematic diagram of hand rehabilitation training system according to the present invention.
Fig. 3 is a kind of fundamental diagram of hand rehabilitation training system according to the present invention.
Specific embodiment
Embodiment according to the present invention is described in further details below in conjunction with the accompanying drawings.
With reference to Fig. 1~Fig. 3, a kind of hand rehabilitation training system, including grooming glove, brain electricity cap 9, ARM controller 13, liquid
Crystal display 14, memory 15 and touch switch 16；
Grooming glove includes finger section 1, palmar hand 2 and wrist portion 3, and each joint of finger section 1 sets inertia respectively
Sensor 4, inertial sensor 4 detect the athletic posture of each finger-joint, and inertial sensor 4 is located at the outer layer of grooming glove,
Each finger tip of finger section 1 further respectively has touch sensor 7, and touch sensor 7 detects the touching pressure of each finger fingertip,
Touch sensor 7 is located at the internal layer of grooming glove, and the centre of the palm position of palmar hand 2 is equipped with pressure sensor 8, and pressure sensor 8 is examined
The touching pressure of palm is surveyed, pressure sensor 8 is located at the internal layer of grooming glove, and the internal layer of wrist portion 3 is internally provided with pulse sensing
Device, pulse transducer detection pulse signal, the superficies of wrist portion 3 are equipped with indicator light 5, and indicator light 5 is used to indicate pulse letter
Whether number abnormal, inertial sensor 4, touch sensor 7, the data output pin of pressure sensor 8 and pulse transducer connect respectively
First data transmission line 6 is connect, first data transmission line 6 is through to external and and ARM controller inside the internal layer of grooming glove
13 are connected；
The top of brain electricity cap 9 sets several electrode interfaces, and for grafting electrode for encephalograms 10,9 lower part of brain electricity cap is equipped with symmetrical
Extension, the end of extension is stickiness hasp 11, and the top of brain electricity cap 9 is additionally provided with the second data line 13, brain electricity electricity
The lead harness of pole 10 is connected to the second data line 12, and the second data line 12 is also connected with ARM controller 13
It connects；
ARM controller 13 handles the gathered data of grooming glove and brain electricity cap 9, the output terminal of ARM controller 13
Liquid crystal display 14 and memory 15 are connected respectively, and liquid crystal display 14 is used to show the acquisition number of grooming glove and brain electricity cap 9
According to memory 15 preserves the data of acquisition, and touch switch 16 connects external DC power supply, and external DC power supply is opened by touch-control
It closes 16 and provides operating voltage for grooming glove, brain electricity cap 9, ARM controller 13, liquid crystal display 14 and memory 15.
Each joint of every finger of finger section 1 is equipped with inertial sensor 4, is specially two joint meters of thumb
Three two inertial sensors 4, forefinger joints count three inertial sensors 4, three inertial sensors 4 are counted in three joints of middle finger,
Nameless three joints count three joints of three inertial sensors 4 and little finger of toe and count three inertial sensors 4, therefore finger section 1 is total
Meter is provided with 14 inertial sensors 4, and each inertial sensor 4 monitors the athletic posture in each joint of every finger, provides
The training of all finger whole degree of freedom.Inertial sensor 4 is acceleration transducer or gyroscope.
Each finger tip of finger section 1 is equipped with touch sensor 7, the stressing conditions of finger tip when detection hand is had an effect.Touching
Sensor 7 is infrared touch sensor, has higher detection sensitivity and accuracy of detection.
The pressure sensor 8 of palmar hand 2 is located at the centre of the palm, the stressing conditions of palm when detection hand is had an effect.
Since the patient of rehabilitation after wound is mostly also in weaker state, wrist arteries and veins is set in wrist portion 3
Sensor fight to detect the pulse signal of patient, prevents from overtraining, causes security incident.When the detection of wrist pulse transducer
When pulse signal occurs abnormal, indicator light 5 carries out warning reminding.
Training data is transferred to ARM controller 13 by first data transmission line 6 and handled by grooming glove, due to upper
The data volume of biography is larger, and in order to ensure the real-time of data transmission, data line 6 selects HSSI High-Speed Serial Interface (HSSI) data
Transmission line, HSSI are the serial interface standards released jointly by Cisco System Co., and the maximum data transmission rate is 52Mbps, most teletransmission
Defeated distance is 15 meters, RS-232 similar to usual connection computer or modem and V.35 interface, but transmission speed
Higher.
The quantity of electrode for encephalograms 10 is 16, and using the EEG signals of 16 leads extraction patient, electrode for encephalograms 10 is inserted respectively
It is connected to：1) from occipital tuberosity, about 2cm, the other 3cm that opens in left and right rest the head on line intersection as left and right occipital pole with left and right pupil upwards；2) line is rested the head on along pupil
It is pole before the volume of left and right at the about 1cm of human hair border；3) left and right external auditory meatus line and left and right pupil pillow line intersection are left and right central electrode；4) it is left
The midpoint of pole and central electrode is left and right antinion before right volume；5) midpoint of left and right central electrode and occipital pole is left and right climax；6) it is left
The midpoint of right median pole and external auditory meatus is pole in the temporo of left and right；7) left and right pupil and external auditory meatus midpoint are pole before the temporo of left and right；8)
At hairline about 1cm it is pole after the temporo of left and right in the mastoid process of left and right.Under normal circumstances, the flesh of the EEG signals of motor mindedness and hand motion
Electric signal has uniformity, and for patients with cerebral apoplexy, the electromyography signal of hand motion can be with the brain telecommunications of motor mindedness
Number there are deviation, thus can using the EEG signals of motor mindedness as judge hand motion electromyography signal whether mark in place
It is accurate.
The lead harness of 16 electrode for encephalograms 10 is summarized in the second data line 12, and passes through the second data line 12
The EEG signals that electrode for encephalograms 10 gathers are transferred to ARM controller 13 to handle.Since EEG signals are fainter,
Second data line 12 selects EEG signals are dedicated to lead the electrically amplified cable of biology, can be amplified EEG signals.
ARM controller 13 needs to gather No. 14 inertial sensors 4,5 road touch sensors 7, No. 1 piezoelectric transducer 8,1 tunnel
Pulse transducer and 16 road electrode for encephalograms 10 37 road sensor data signal in total, therefore it is required that ARM controller have it is stronger
Data-handling capacity, while also to ensure the real-time of accuracy of detection and data transmission.ARM controller 13 selects 32 ARM controls
Device LPC1768 processed, based on ARM Cortex-M3 kernels, operating frequency is up to 120MHz, and code execution speed is up to
1.25MIPS/MHz, and with abundant peripheral interface unit, enormously simplify circuit.The high speed processing skill of LPC1768 itself
Art will be helpful to improve the accuracy of detection of each sensor, while also ensure the real-time of data transmission.
The operation principle of hand rehabilitation training system is described below：
Conductive paste is smeared in patients head and wear brain electricity cap 9 first, it can be by adjusting the sticky hasp 11 of extension
The adjustment of length is carried out, to adapt to the patient of different head dummys, while the hand in hemiplegia side wears grooming glove, with external DC
Power supply is connected, and by 16 startup power supply of touch switch, system starts, patient distinguishes according to the instruction of rehabilitation training personnel
Hand motions, the inertial sensor 4 of 1 each joint of finger section such as write, pinch object, holding rod, drink water detect each joint
Athletic posture, the touch sensor 7 of finger tip detect the situation of having an effect of finger, and the pressure sensor 8 of palmar hand 2 detects the hair of palm
Power situation, electrode for encephalograms 10 gather the EEG signals of corresponding actions, and above-mentioned gathered data is sent into simultaneously at ARM controller 13
Reason, and by the matched curve of hand motion electromyography signal and the matched curve of motor mindedness EEG signals on liquid crystal display 14
It has been shown that, by comparing the registration of two matched curves, can the abnormal data very directly perceived that must watch some positions of hand,
And patient is allowed targetedly to be adjusted, it is then retested again, until registration is met the requirements, training data preserves
In 15 the inside of memory, in rehabilitation training, the pulse data of the pulse transducer detection patient of wrist portion 3 prevents out
It now overtrains and waits fortuitous events.
The present invention provides a kind of hand rehabilitation training systems, and 14 are realized by the inertial sensor in each joint of finger
The training of degree of freedom, the control of having an effect of the touch sensor of finger tip and the pressure sensor training hand of palm, wrist pulse pass
The pulse signal of patient in sensor detection training process realizes each joint of finger of functional rehabilitation phase in Trauma of Hand treatment
The exercise of degree of freedom and finger tip and palm, while patient's EEG signals are extracted by 16 leads, by the detection data of hand motion
Match with corresponding EEG signals, to carry out accommodation, and wearable design side to hand rehabilitation training
Just the functional training that patient is aided in based on daily life improves training effect, and simple in structure, lightweight and portable in volume, accuracy of detection is high,
Fast response time, stability and good reliability, have good handling and autgmentability, can be applied to hand rehabilitation training and its
The occasion of his hand body feeling interaction.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and scope is defined.On the premise of design concept of the present invention is not departed from, ordinary people in the field is to the technology of the present invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
It has all recorded in detail in the claims.
Claims (7)
1. a kind of hand rehabilitation training system, it is characterised in that：Including grooming glove, brain electricity cap, ARM controller, liquid crystal display
Device, memory and touch switch；
The grooming glove includes finger section, palmar hand and wrist portion, and each joint of the finger section sets inertia respectively
Sensor, the inertial sensor detect the athletic posture of each finger-joint, and the inertial sensor is located at the trained hand
The outer layer of set, each finger tip of the finger section further respectively have touch sensor, and the touch sensor detects each finger
The touching pressure of finger tip, the touch sensor are located at the internal layer of the grooming glove, and the centre of the palm position of the palmar hand is equipped with
Pressure sensor, the touching pressure of the pressure sensor detection palm, the pressure sensor are located at the grooming glove
Internal layer, the internal layer of the wrist portion are internally provided with pulse transducer, and the pulse transducer detects pulse signal, the wrist portion
Superficies be equipped with indicator light, whether the indicator light is used to indicate pulse signal abnormal, and the inertial sensor described touches
The data output pin of bump sensor, the pressure sensor and the pulse transducer connects first data transmission line, institute respectively
First data transmission line is stated to be through to outside inside the internal layer of the grooming glove and with the ARM controller be connected；
The top of the brain electricity cap sets several electrode interfaces, and for grafting electrode for encephalograms, the brain electricity cap lower part is equipped with symmetrical
Extension, the end of the extension is stickiness hasp, and the second data line is additionally provided at the top of the brain electricity cap, described
The lead harness of electrode for encephalograms is connected to second data line, second data line also with the ARM
Controller is connected；
The ARM controller handles the gathered data of the grooming glove and the brain electricity cap, the ARM controller
Output terminal connects the liquid crystal display and the memory respectively, the liquid crystal display for show the grooming glove and
The gathered data of the brain electricity cap, the memory preserve the data of acquisition, the external DC electricity of touch switch connection
Source, the external DC power supply by the touch switch is the grooming glove, the brain electricity cap, the ARM controller, described
Liquid crystal display and the memory provide operating voltage.
2. a kind of hand rehabilitation training system according to claim 1, it is characterised in that：The inertial sensor is acceleration
Spend sensor or gyroscope.
3. a kind of hand rehabilitation training system according to claim 1, it is characterised in that：The touch sensor is infrared
Touch sensor.
4. a kind of hand rehabilitation training system according to claim 1, it is characterised in that：The pulse transducer is wrist
Pulse transducer.
5. a kind of hand rehabilitation training system according to claim 1, it is characterised in that：The quantity of the electrode for encephalograms is
16.
6. a kind of hand rehabilitation training system according to claim 1, it is characterised in that：The ARM controller is 32
ARM controller LPC1768.
7. a kind of hand rehabilitation training system according to claim 1, it is characterised in that：The first data transmission line is
HSSI High-Speed Serial Interface data line, second data line are to lead the electrically amplified cable of biology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810115404.3A CN108079520A (en) | 2018-02-06 | 2018-02-06 | A kind of hand rehabilitation training system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810115404.3A CN108079520A (en) | 2018-02-06 | 2018-02-06 | A kind of hand rehabilitation training system |
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| Publication Number | Publication Date |
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| CN108079520A true CN108079520A (en) | 2018-05-29 |
Family
ID=62193884
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| CN201810115404.3A Withdrawn CN108079520A (en) | 2018-02-06 | 2018-02-06 | A kind of hand rehabilitation training system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109731314A (en) * | 2019-01-25 | 2019-05-10 | 潍坊市妇幼保健院 | A kind of Rehabilitation of Cerebral Infarction training device based on cloud |
| CN109806114A (en) * | 2019-03-21 | 2019-05-28 | 京东方科技集团股份有限公司 | A kind of hand convalescence device |
| CN111821570A (en) * | 2020-09-01 | 2020-10-27 | 新乡医学院第一附属医院 | Hand function rebuilding system based on biological feedback |
| CN112370310A (en) * | 2019-12-11 | 2021-02-19 | 上海司羿智能科技有限公司 | Hand motion control system and control method thereof |
| CN112603298A (en) * | 2020-12-30 | 2021-04-06 | 杭州电子科技大学 | Multi-sensing information fusion stroke acute-phase patient hand function rehabilitation evaluation system |
| CN113331844A (en) * | 2021-06-01 | 2021-09-03 | 郑州大学 | Cerebral stroke conditioning growth system and method based on testing cloud evaluation system |
-
2018
- 2018-02-06 CN CN201810115404.3A patent/CN108079520A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109731314A (en) * | 2019-01-25 | 2019-05-10 | 潍坊市妇幼保健院 | A kind of Rehabilitation of Cerebral Infarction training device based on cloud |
| CN109806114A (en) * | 2019-03-21 | 2019-05-28 | 京东方科技集团股份有限公司 | A kind of hand convalescence device |
| CN112370310A (en) * | 2019-12-11 | 2021-02-19 | 上海司羿智能科技有限公司 | Hand motion control system and control method thereof |
| CN112370310B (en) * | 2019-12-11 | 2024-03-29 | 上海司羿智能科技有限公司 | Hand movement control system and control method thereof |
| CN111821570A (en) * | 2020-09-01 | 2020-10-27 | 新乡医学院第一附属医院 | Hand function rebuilding system based on biological feedback |
| CN112603298A (en) * | 2020-12-30 | 2021-04-06 | 杭州电子科技大学 | Multi-sensing information fusion stroke acute-phase patient hand function rehabilitation evaluation system |
| CN113331844A (en) * | 2021-06-01 | 2021-09-03 | 郑州大学 | Cerebral stroke conditioning growth system and method based on testing cloud evaluation system |
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Application publication date: 20180529 |