CN109044740A - A kind of pneumatic swivel of hand rehabilitation system - Google Patents
A kind of pneumatic swivel of hand rehabilitation system Download PDFInfo
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- CN109044740A CN109044740A CN201811076452.2A CN201811076452A CN109044740A CN 109044740 A CN109044740 A CN 109044740A CN 201811076452 A CN201811076452 A CN 201811076452A CN 109044740 A CN109044740 A CN 109044740A
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- fingerstall
- hand
- finger
- rehabilitation training
- pneumatic
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- 230000001105 regulatory effect Effects 0.000 claims abstract description 12
- 210000003811 finger Anatomy 0.000 claims description 40
- 210000003813 thumb Anatomy 0.000 claims description 8
- 210000001145 finger joint Anatomy 0.000 claims description 6
- 238000004026 adhesive bonding Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims 1
- 238000011084 recovery Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 208000005392 Spasm Diseases 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000022306 Cerebral injury Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 201000006417 multiple sclerosis Diseases 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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- 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
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H9/00—Pneumatic or hydraulic massage
- A61H9/005—Pneumatic massage
- A61H9/0078—Pneumatic massage with intermittent or alternately inflated bladders or cuffs
-
- 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
- A61H1/0218—Drawing-out devices
- A61H2001/0233—Pulsating, alternating, fluctuating
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- 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 invention discloses a kind of pneumatic swivel of hand rehabilitation systems, and including band, there are five gloves, air pump and the control devices of fingerstall；The back side of each fingerstall and the pneumatic Pneumatic extension regulating mechanism for being provided with a set of finger for being directed to and being inserted into the fingerstall along its length, inflation/deflation is carried out to the Pneumatic extension regulating mechanism on each fingerstall by air pump by control device, so that the finger being inserted on the fingerstall passively generates flexor, rehabilitation training is completed；Pass through control device: the finger for needing to carry out rehabilitation training can be selected, and rehabilitation training time and finger flex switching time are set；Circulation rehabilitation training can be carried out to all fingers, and the switching time of rehabilitation training time and finger is set；It can complete actively to bend and stretch the mirror image rehabilitation training for driving and suffering from hand passive flexion and extension by being good for hand；The degree that palm holds conjunction can be adjusted.The present invention can drive patient's finger the passive exercises such as grab, hold, stretching automatically, effectively recovery testing finger flexibility.
Description
Technical field
The present invention relates to a kind of swivel of hand rehabilitation appliances technical field, in particular to a kind of pneumatic swivel of hand rehabilitation system.
Background technique
With the raising of cerebrovascular disease incidence of disease, the increase year by year of hemiplegic patient's quantity, the health of patient motion function
It is multiple increasingly to draw attention.Swivel of hand rehabilitation technique research is exactly come into being under this demand form one and brand-new grinds
Study carefully field, the study found that implement the passive exercises such as continuously to grab, hold, stretch using finger of the rehabilitation appliances to hemiplegic patient, it can
To increase the resume speed of patient's finger.But existing swivel of hand rehabilitation appliances are to the swivel of hand rehabilitation training effect of patient
It is not fine.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, provide a kind of gas that rehabilitation training effect is good
It starts joint recovering system.
In order to solve the above technical problems, the technical solution used in the present invention is:
A kind of pneumatic swivel of hand rehabilitation system, including band, there are five gloves, air pump and the control devices of fingerstall；The back of each fingerstall
Face and the pneumatic Pneumatic extension regulating mechanism for being provided with a set of finger for being directed to and being inserted into the fingerstall along its length, by controlling
Device carries out inflation/deflation to the Pneumatic extension regulating mechanism on each fingerstall by air pump, so that the finger quilt being inserted on the fingerstall
Dynamic generation flexor completes rehabilitation training；Pass through the control device: the hand for needing to carry out rehabilitation training can be selected
Refer to, and be arranged rehabilitation training time and finger bends and stretches switching time；Circulation rehabilitation training can be carried out to all fingers, from thumb
Refer to and start to train each finger one by one, and the switching time of rehabilitation training time and finger is set；It can complete by strong hand actively
Bend and stretch the mirror image rehabilitation training for driving and suffering from hand passive flexion and extension；The degree that palm holds conjunction can be adjusted.
Further, the Pneumatic extension regulating mechanism include along the spaced multiple air bags of fingerstall length direction and
The connection tracheae of two neighboring air bag is connected, and the both ends of each air bag are fixed by the bracket the back side that branch is located at fingerstall
On；The number of air bag on each fingerstall back side is equal to the finger joint number for the finger being inserted into the fingerstall, and air bag corresponds to hand
The finger joint of finger is arranged；The back of the hand position at the gloves back side is provided with a collector box, and the end of collector box is provided with a main tracheae
With five gas-distributing pipes, the outer end of main tracheae is connected with the exhaust outlet of air pump, and five gas-distributing pipes are respectively and on five fingerstall back sides
First air bag close to the back of the hand position is correspondingly connected with；One output end of the control device is connected with the controlled end of air pump.
Further, a solenoid valve is provided on the main tracheae and gas-distributing pipe.
Further, the control device include singlechip controller, buzzer, indicator light, memory, LCD display,
Driving circuit for electromagnetic valve and key；The output end of key is connected with the input terminal of singlechip controller, singlechip controller it is more
A output end input terminal and air pump with buzzer, indicator light, memory, driving circuit for electromagnetic valve and LCD display respectively
Controlled end it is corresponding be connected, multiple output ends of driving circuit for electromagnetic valve are separately connected the correspondence controlled end of six solenoid valves.
Further, the gloves are one secondary, are provided on the fingerstall of one of gloves and are inserted into the fingerstall for detecting
In strong hand active flexor sensor, the output end of the sensor is through the one of mirror image control circuit and control device
Input terminal is connected, and after which detects the active flexor of strong hand, is controlled by control device and is inserted into another gloves
Correspondence fingerstall in suffer from hand carry out passive rehabilitation training.
Further, the collector box is strip and the back side that gloves are pasted onto along the back of the hand position width direction.
Further, thread gluing is provided at the palm of the hand front entrance of the gloves.
Further, the connection tracheae, main tracheae and gas-distributing pipe are PU pipe, and air bag is PU bellows.
The beneficial effects of adopting the technical scheme are that
The present invention be based on to manpower structure and function, the characteristics of motion of finger be Research foundation, and the one kind designed is pneumatic
Swivel of hand rehabilitation system.The present invention has preferable wearing comfort, movement flexibility and higher safety.The present invention is based on
Pneumatic safety can be effectively pneumatically for power, to drive patient's finger the passive exercises such as grab, hold, stretching automatically
Inhibit the spasm of finger, restores testing finger flexibility, not only increase the rehabilitation efficacy and quality of life of patient, and save and control
Treat the time that teacher does hand massage the time.
There are four types of operating modes for pneumatic swivel of hand rehabilitation system tool of the invention, bend and stretch mode, circulation pattern, mirror image mould
Formula, semiflexion mode.Bend and stretch mode: can autonomous selection activity finger, and be arranged and bend and stretch switching time and training time；Cyclic module
Formula: movable each finger one by one since thumb, the switching time and training time of settable finger；Mirror image pattern: by being good for
Hand activity is suffered from hand-motion, such as: strong hand thumb is stretched out, and pneumatic hand thumb, which also executes, stretchs out movement；Semiflexion mode: adjustable hand
The degree closed is grasped, semiflexion state is in；It is Department of Aged, surgery, rehabilitation department and Neurology etc. that the present invention, which is applicable in department, is applicable in
It is postoperative in the nervous system diseases such as cerebral apoplexy, cerebral injury, spinal cord injury, brain paralysis, multiple sclerosis and osteoarticular system disease
Functional training.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is erection schematic diagram of the Pneumatic extension regulating mechanism of the present invention on fingerstall；
Fig. 3 is control principle drawing of the invention；
Fig. 4 is the circuit diagram of controller and drive part of the invention；
Fig. 5 is that key of the present invention is shown and the circuit diagram of electromagnetism valve portion；
Fig. 6 is the circuit diagram of mirror image control section of the present invention；
Fig. 7 is the circuit diagram of power unit of the present invention.
In figure: 1, gloves, 2, main tracheae, 3, collector box, 4, fingerstall, 5, gas-distributing pipe, 6, bracket, 7, air bag, 8, connection gas
Pipe, 9, solenoid valve, 10, thread gluing.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
As shown, the invention discloses a kind of pneumatic swivel of hand rehabilitation system, including band there are five the gloves 1 of fingerstall 4,
Air pump and control device；Thread gluing 10 is provided at the palm of the hand front entrance of gloves 1.The back side of each fingerstall 4 and along its length side
To a set of pneumatic Pneumatic extension regulating mechanism for the finger being inserted into the fingerstall 4 is provided with, air pump is passed through by control device
Inflation/deflation is carried out to the Pneumatic extension regulating mechanism on each fingerstall 4, is bent so that the finger being inserted on the fingerstall 4 passively generates
Movement is stretched, rehabilitation training is completed；Pass through control device: the finger for needing to carry out rehabilitation training can be selected, and rehabilitation instruction is set
That practices time and finger bends and stretches switching time；Circulation rehabilitation training can be carried out to all fingers, be trained one by one since thumb
Each finger, and the switching time of rehabilitation training time and finger is set；It can complete actively to bend and stretch drive by strong hand and suffer from hand quilt
The dynamic mirror image rehabilitation training bent and stretched；The degree that palm holds conjunction can be adjusted.
As Figure 1-Figure 2, Pneumatic extension regulating mechanism of the invention includes spaced more along fingerstall length direction
The connection tracheae 8 of a air bag 7 and the two neighboring air bag 7 of connection, and the both ends of each air bag 7 pass through the fixed branch of bracket 6
It is located on the back side of fingerstall 4；The number of air bag 7 on each 4 back side of fingerstall is equal to the finger joint for the finger being inserted into the fingerstall 4
Number, and the finger joint setting of the corresponding finger of air bag 7；The back of the hand position at 1 back side of gloves is provided with a collector box 3, collector box 3
End is provided with a main tracheae 2 and five gas-distributing pipes 5, and the outer end of main tracheae 2 is connected with the exhaust outlet of air pump, five gas-distributing pipes
5 first air bag 7 respectively with close the back of the hand position on five 4 back sides of fingerstall is correspondingly connected with；On main tracheae 2 and gas-distributing pipe 5
It is provided with a solenoid valve 9.The solenoid valve 9 on main tracheae 2 is opened by control device first using preceding, can then be opened
Solenoid valve 9 on one or several fingerstall carries out rehabilitation training with one or more fingers to patient.
Connection tracheae 8, gas-distributing pipe 5 and the main tracheae 2 that the present invention uses are able to bear certain air pressure change and indeformable,
Air bag 7 can generate in its longitudinal direction telescopic variation in air pressure change.It is equal to connect tracheae 8, main tracheae 2 and gas-distributing pipe 5
For PU pipe, air bag 7 is PU bellows.
Collector box 3 of the invention is strip and the back side that gloves 1 are pasted onto along the back of the hand position width direction.Air pump is first
It is first inflatable and deflatable into collector box 3 then inflatable and deflatable into air bag 7 via collector box 3, since air bag 7 is in its length side
It is scalable upwards, and its both ends passes through the fixed branch of bracket 6 and is located on the back side of fingerstall 4, therefore, in air bag 7 by inflation/deflation
During, the telescopic level on top is greater than the telescopic level of its bottom end, such that driving the corresponding finger of air bag 7 automatically
It saves and the passive exercises such as is grabbed, held, stretched, the spasm of patient's finger can be effectively inhibited, restore the flexibility of patient's finger,
Improve the rehabilitation efficacy and quality of life of patient.
As shown in figure 3, control device of the invention includes singlechip controller, buzzer, indicator light, memory, LCD aobvious
Show device, driving circuit for electromagnetic valve and key；The output end of key is connected with the input terminal of singlechip controller, singlechip controller
Multiple output ends respectively with the input terminal of buzzer, indicator light, memory, driving circuit for electromagnetic valve and LCD display and
The controlled end of air pump is corresponding to be connected, and the correspondence that multiple output ends of driving circuit for electromagnetic valve are separately connected six solenoid valves 9 is controlled
End.As shown in figure 4, the master chip U1 of singlechip controller uses ATmega16 single-chip microcontroller, chip U16 is digital analog converter
AD5300, chip U2 are twin voltage comparator LM393, are compared for voltage, adjusting strength.UD1-UD6 is optocoupler TLP521,
K1-K6 is relay SRD-24VDC-SL-C.As shown in figure 5, P2 is key, P1 is LCD display, and U10-U15 is the electricity of 24V
Magnet valve.In Fig. 7, rectifier circuit provides the d. c. voltage signal of needs for each device.
Gloves 1 of the invention are one, are also possible to a pair, are provided on each fingerstall of each gloves 1 and pneumatically stretch
Contracting regulating mechanism all carries out rehabilitation training with two hands to patient；When gloves 1 are one secondary, the fingerstall 4 of one of gloves 1
On be provided with for detect be inserted into the fingerstall 4 in strong hand active flexor sensor, the sensor output end warp
Mirror image control circuit is connected with an input terminal of control device, after which detects the active flexor of strong hand,
The hand of suffering from controlled in the correspondence fingerstall for being inserted into another gloves 1 by control device carries out passive rehabilitation training, such as the thumb of strong hand
Finger is stretched out, and pneumatic hand thumb, which also executes, stretchs out movement.As shown in fig. 6, U7 is sensor, U4-U6 is pressure stabilizing amplification chip.
Claims (8)
1. a kind of pneumatic swivel of hand rehabilitation system, it is characterised in that: including band, there are five gloves (1), air pump and the controls of fingerstall (4)
Device processed；The back side of each fingerstall (4) and the gas for being provided with a set of finger for being directed to and being inserted into the fingerstall (4) along its length
It takes offence dynamic expansion regulating mechanism, the Pneumatic extension regulating mechanism on each fingerstall (4) is filled by air pump by control device
It deflates, so that the finger being inserted on the fingerstall (4) passively generates flexor, completes rehabilitation training；It is filled by the control
It sets: the finger for needing to carry out rehabilitation training can be selected, and be arranged rehabilitation training time and finger bends and stretches switching time；It can
Circulation rehabilitation training is carried out to all fingers, trains each finger one by one since thumb, and rehabilitation training time and hand are set
The switching time of finger；It can complete actively to bend and stretch the mirror image rehabilitation training for driving and suffering from hand passive flexion and extension by being good for hand；Hand can be adjusted
Grasp the degree closed.
2. a kind of pneumatic swivel of hand rehabilitation system according to claim 1, it is characterised in that: the Pneumatic extension adjusts machine
Structure includes the connection tracheae along the spaced multiple air bags (7) of fingerstall length direction and the two neighboring air bag (7) of connection
(8), and the both ends of each air bag (7) pass through bracket (6) fixed branch and are located on the back side of fingerstall (4)；Each fingerstall (4) back
The number of air bag (7) on face is equal to the finger joint number for the finger being inserted into the fingerstall (4), and air bag (7) corresponds to finger
Finger joint setting；The back of the hand position at gloves (1) back side is provided with a collector box (3), and the end of collector box (3) is provided with a master
Tracheae (2) and five gas-distributing pipes (5), the outer end of main tracheae (2) are connected with the exhaust outlet of air pump, five gas-distributing pipes (5) respectively with
First air bag (7) at close the back of the hand position on five fingerstall (4) back sides is correspondingly connected with；One output of the control device
End is connected with the controlled end of air pump.
3. a kind of pneumatic swivel of hand rehabilitation system according to claim 2, it is characterised in that: the main tracheae (2) and point
A solenoid valve (9) is provided on tracheae (5).
4. a kind of pneumatic swivel of hand rehabilitation system according to claim 3, it is characterised in that: the control device includes single
Piece machine controller, buzzer, indicator light, memory, LCD display, driving circuit for electromagnetic valve and key；The output end of key with
The input terminal of singlechip controller is connected, multiple output ends of singlechip controller respectively with buzzer, indicator light, memory,
Driving circuit for electromagnetic valve and the controlled end of the input terminal of LCD display and air pump correspondence are connected, driving circuit for electromagnetic valve it is more
A output end is separately connected the correspondence controlled end of six solenoid valves (9).
5. a kind of pneumatic swivel of hand rehabilitation system according to claim 2, it is characterised in that: the gloves (1) are one secondary,
The active flexor for detecting the strong hand being inserted into the fingerstall (4) is provided on the fingerstall (4) of one of gloves (1)
The output end of sensor, the sensor is connected through mirror image control circuit with an input terminal of control device, sensor inspection
After the active flexor for measuring strong hand, is controlled by control device in the correspondence fingerstall (4) for being inserted into another gloves (1) and suffer from hand
Carry out passive rehabilitation training.
6. a kind of pneumatic swivel of hand rehabilitation system according to claim 2, it is characterised in that: the collector box (3) is length
Bar shaped and the back side that gloves (1) is pasted onto along the back of the hand position width direction.
7. a kind of pneumatic swivel of hand rehabilitation system according to claim 2, it is characterised in that: the palm of the hand of the gloves (1)
Thread gluing (8) are provided at front entrance.
8. a kind of pneumatic swivel of hand rehabilitation system according to claim 2, it is characterised in that: the connection tracheae (8), master
Tracheae (2) and gas-distributing pipe (5) are PU pipe, and air bag (7) is PU bellows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811076452.2A CN109044740A (en) | 2018-09-14 | 2018-09-14 | A kind of pneumatic swivel of hand rehabilitation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811076452.2A CN109044740A (en) | 2018-09-14 | 2018-09-14 | A kind of pneumatic swivel of hand rehabilitation system |
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| CN109044740A true CN109044740A (en) | 2018-12-21 |
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| CN201811076452.2A Pending CN109044740A (en) | 2018-09-14 | 2018-09-14 | A kind of pneumatic swivel of hand rehabilitation system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109481236A (en) * | 2018-12-27 | 2019-03-19 | 西安交通大学 | The rigid flexible system exoskeleton hand functional rehabilitation device of flexible material 3D printing manufacture |
| CN109938968A (en) * | 2019-04-08 | 2019-06-28 | 北京航空航天大学 | Bionic pneumatic Opposing muscle design based on stratiform gas chamber |
| CN109953871A (en) * | 2019-04-11 | 2019-07-02 | 安徽东凯信息科技有限公司 | A kind of finger rehabilitating fingerstall being trained using gas pressure distribution state |
| CN110236880A (en) * | 2019-06-12 | 2019-09-17 | 西安交通大学 | A kind of pneumatic software manipulator of the customized passive type of user |
| CN112057293A (en) * | 2020-07-29 | 2020-12-11 | 湖州市中心医院 | Finger rehabilitation exercise system |
| CN112089427A (en) * | 2020-08-31 | 2020-12-18 | 南京麦澜德医疗科技有限公司 | Finger joint rehabilitation training evaluation method and system |
| CN112370311A (en) * | 2019-12-11 | 2021-02-19 | 上海司羿智能科技有限公司 | Data glove, manufacturing method and finger joint rehabilitation training device |
| CN112603770A (en) * | 2020-09-16 | 2021-04-06 | 上海司羿智能科技有限公司 | Method and device for assisted hand training of patient |
| CN113768755A (en) * | 2021-10-19 | 2021-12-10 | 深圳技术大学 | Flexible robot rehabilitation device based on pneumatic bellows driver |
| CN113842602A (en) * | 2021-11-01 | 2021-12-28 | 河南大学淮河医院 | Neurosurgery postoperative rehabilitation training device |
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