CN114849182A - Training glove and automatic butt joint and release control method - Google Patents
Training glove and automatic butt joint and release control method Download PDFInfo
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- CN114849182A CN114849182A CN202210661866.1A CN202210661866A CN114849182A CN 114849182 A CN114849182 A CN 114849182A CN 202210661866 A CN202210661866 A CN 202210661866A CN 114849182 A CN114849182 A CN 114849182A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 210000001503 joint Anatomy 0.000 title abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 172
- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 238000003032 molecular docking Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 13
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 8
- 230000000903 blocking effect Effects 0.000 claims description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000004044 response Effects 0.000 description 9
- 230000003111 delayed effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000005422 blasting Methods 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 2
- 238000002788 crimping Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003115 biocidal effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D19/00—Gloves
- A41D19/0024—Gloves with accessories
-
- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D19/00—Gloves
- A41D19/0024—Gloves with accessories
- A41D19/0027—Measuring instruments, e.g. watch, thermometer
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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
-
- 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
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/50—Control means thereof
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Textile Engineering (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The embodiment of the invention provides a training glove and an automatic butt joint and release control method, and relates to the field of medical instruments. This training gloves includes power component, transmission assembly and training gloves body, power component includes power spare and driving gear, power spare and driving gear connection, transmission assembly includes driven gear, connecting rod and transmission connecting block, driving gear and driven gear meshing, the one end and the driven gear of connecting rod are connected, the other end and the transmission connecting block of connecting rod are connected, transmission connecting block and this body coupling of training gloves, wherein, power spare drive driving gear rotates, the driving gear drives driven gear and rotates together, driven gear drives the connecting rod motion, the connecting rod drives the motion of transmission connecting block, the transmission connecting block drives the training gloves body rather than being connected and carries out crooked or unbend the motion. This training gloves can ensure this training gloves steady operation in the use, has improved the accurate nature and the reliability of finger flexion and extension training.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a training glove and an automatic butt joint and release control method.
Background
At present, the hand function training glove is mainly driven by two modes of air driving and rope driving. The air flow driving mode adopts positive pressure generated by air compression and negative pressure generated by vacuum pumping, and the bellows arranged on the back of the fingers of the training glove stretches to pull the patient to do flexion and extension movement. The wire driving mode is to adopt flexible wires to transmit the power and position information of the operation of the servo motor.
Therefore, the driving mode of the training glove in the prior art has the problem of low precision of the finger flexion and extension training.
Disclosure of Invention
The invention provides a training glove and an automatic butt joint and release control method, which can improve the precision of finger flexion and extension training.
Embodiments of the invention may be implemented as follows:
the embodiment of the invention provides a training glove, which comprises a power component, a transmission component and a training glove body;
the power component includes power and driving gear, the power with the driving gear connection, the transmission assembly includes driven gear, connecting rod and transmission connecting block, the driving gear with driven gear meshes, the one end of connecting rod with driven gear connects, the other end of connecting rod with the transmission connecting block is connected, the transmission connecting block with this body coupling of training gloves, wherein, the power drive the driving gear rotates, the driving gear drives driven gear rotates together, driven gear drives the connecting rod motion, the connecting rod drives the motion of transmission connecting block, the drive connecting block drives rather than being connected the training gloves body is crooked or is stretched the motion.
Optionally, the connecting rod includes an upper connecting rod, a lower connecting rod and a guide rod, one end of the upper connecting rod is connected with the lower connecting rod, the other end of the upper connecting rod is connected with the driven gear, the lower connecting rod is connected with the transmission connecting block, the transmission connecting block is slidably connected with the guide rod, and the driven gear is used for driving the lower connecting rod to move through the upper connecting rod under the rotating condition, so that the transmission connecting block slides along the guide rod under the driving of the lower connecting rod.
Optionally, the transmission assembly further comprises a connecting bracket, and the connecting rod and the driven gear are both arranged on the connecting bracket.
Optionally, the number of the power assemblies is multiple, and the multiple power assemblies are arranged at intervals along the circumferential direction of the driven gear.
Optionally, the transmission connecting block is provided with a connecting barb, and the connecting barb is provided with a butt joint guide surface.
Optionally, the angle between the docking guide surface and the horizontal plane is in the range of 25 degrees to 45 degrees.
Optionally, the training glove body comprises a glove, a traction rope and a glove end connecting block, the traction rope is arranged outside the glove, the glove end connecting block is connected with the traction rope, and the glove end connecting block is connected with the transmission connecting block.
Optionally, the glove end connecting block is provided with a clamping barb, and the clamping barb is matched with the connecting barb to connect the glove end connecting block and the transmission connecting block.
Optionally, the training glove further comprises a transmission connection block release member, the transmission connection block release member comprises an electromagnet module, a release bracket, a release member, a compression spring, a T-shaped pin and a roller, the electromagnet module is arranged on the release bracket, the release piece is connected with the moving iron core of the electromagnet module, the T-shaped pin is positioned right above the clamping barb, the roller is connected with one end of the T-shaped pin, the compression spring is sleeved on the T-shaped pin, the release piece is provided with a guide inclined plane and a working positioning arc surface, the electromagnet module is used for driving the roller to move to the working positioning arc surface through the guide inclined plane under the condition of driving the release piece to move, thereby lifting the T-shaped pin, so that the T-shaped pin applies external force to the clamping barb, and the transmission connecting block and the glove-end connecting block are separated.
Optionally, the training glove further comprises a detection piece, the position of the detection piece corresponds to the position of the transmission connection block, and the detection piece is used for detecting the butt joint state of the transmission connection block.
The embodiment of the invention also provides an automatic docking and releasing control system for training gloves, which comprises:
in the first quarter movement period, the power part is controlled to drive the driving gear to rotate clockwise to drive the driven gear and the connecting rod to move, so that the transmission connecting block positioned on the lower side of the training glove body is driven to move to the maximum stroke in a right-handed linear mode, and the transmission connecting block is connected with the glove end connecting block positioned on the lower side of the training glove body to achieve stable connection;
then in half cycle, control power spare drive driving gear anticlockwise rotation, drive driven gear and connecting rod motion to drive the transmission connecting block that is located the upside of training gloves body rectilinear motion right to the biggest stroke, the transmission connecting block is connected with the gloves end connecting block of the upside of training gloves body, in order to realize stable connection.
Optionally, the training glove automatic docking and releasing control system further comprises:
the electromagnet module is in a power-on state, the roller moves to the working positioning arc surface through the guide inclined surface, so that the T-shaped pin is lifted, external force is applied to the clamping barb by the T-shaped pin, and the transmission connecting block and the glove end connecting block are separated.
Optionally, the training glove automatic docking and releasing control system further comprises:
after the transmission connecting block and the glove end connecting block are released, the detection piece outputs a release signal after the detection piece detects that the release is completed, and an operator trains the replacement work of the glove body according to prompt information.
The training gloves and the automatic docking and releasing control method of the embodiment of the invention have the beneficial effects that:
this training gloves includes power component, transmission assembly and training gloves body, power component includes power spare and driving gear, power spare and driving gear connection, transmission assembly includes driven gear, connecting rod and transmission connecting block, driving gear and driven gear meshing, the one end and the driven gear of connecting rod are connected, the other end and the transmission connecting block of connecting rod are connected, transmission connecting block and this body coupling of training gloves, wherein, power spare drive driving gear rotates, the driving gear drives driven gear and rotates together, driven gear drives the connecting rod motion, the connecting rod drives the motion of transmission connecting block, the transmission connecting block drives the training gloves body rather than being connected and carries out crooked or unbend the motion. This training gloves is in the use, through driving gear and driven gear's meshing to and the transmission between driven gear and the connecting rod, with the drive power transmission to the transmission connecting block of power spare, make the transmission connecting block drive the training gloves body and carry out crooked or unbend the motion. The gear is connected compactly with the connecting rod, and the transmission between the driving gear and the driven gear is rigid transmission, so that deformation is not easy to occur, stable operation of the training glove can be ensured, the transmission is quickly responded in the compact operation process of connecting the gear with the connecting rod, the response time is short, the problems that the exercise mode of the side-care hand cannot be quickly responded through the training glove in the control process of rope driving and the like in the image control mode and the like can be effectively avoided, the delayed response of the side-care hand and the like are solved, and the accuracy, timeliness and reliability of finger bending and stretching training are improved.
The automatic butt joint and release control method of the training gloves comprises the steps that in the front quarter of a movement period, a power part is controlled to drive a driving gear to rotate clockwise to drive a driven gear and a connecting rod to move, so that a transmission connecting block located on the lower side of a training glove body is driven to move to the maximum stroke in a right-handed linear mode, and the transmission connecting block is connected with a glove end connecting block located on the lower side of the training glove body to achieve stable connection; then in half cycle, control power spare drive driving gear anticlockwise rotation, drive driven gear and connecting rod motion to drive the transmission connecting block that is located the upside of training gloves body rectilinear motion right to the biggest stroke, the transmission connecting block is connected with the gloves end connecting block of the upside of training gloves body, in order to realize stable connection. The control method can stably realize the connection of the transmission connecting block and the glove end connecting block of the training glove body. The training glove can be ensured to stably run, the gears and the connecting rods are connected to enable transmission to rapidly respond in the compact running process, the response time is short, the problems that the motion mode of a healthy side hand cannot rapidly respond through the training glove and the response of the sick side hand is delayed in the modes of a mirror image control mode and the like in the control process of rope driving and the like can be effectively avoided, and the accuracy, timeliness and reliability of finger bending and stretching training are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of a training glove according to a first perspective of the present embodiment;
FIG. 2 is a schematic structural diagram of a training glove according to a second perspective in the present embodiment;
FIG. 3 is a schematic structural diagram of a training glove according to a third perspective in the present embodiment;
FIG. 4 is a schematic structural diagram of a fourth perspective of a training glove according to this embodiment;
FIG. 5 is a schematic structural diagram of a fifth perspective of a training glove according to the present embodiment;
FIG. 6 is a schematic structural diagram of a sixth perspective of a training glove according to the present embodiment;
FIG. 7 is a schematic structural diagram of a seventh perspective of a training glove according to the present embodiment;
FIG. 8 is a schematic structural diagram of an eighth perspective of a training glove provided in this embodiment;
FIG. 9 is a schematic structural diagram of a ninth perspective of a training glove provided in this embodiment;
fig. 10 is a schematic structural diagram of a tenth perspective of a training glove provided in this embodiment.
Icon: 10-a power assembly; 11-a power member; 111-a direct current motor; 112-a miniature reduction gearbox; 113-an electronic control module; 12-a drive gear; 20-a transmission assembly; 21-a driven gear; 22-a connecting rod; 221-an upper connecting rod; 222-a lower link; 223-a guide rod; 224-connecting the stent; 225-radial bearing; 226-gear shaft; 227-mounting a base; 23-a transmission connecting block; 231-connecting barbs; 2311-butting guide surfaces; 30-training glove body; 31-a glove; 32-a hauling rope; 33-glove end connection block; 331-a clamping barb; 3311-clamping guide surface; 332-a limiting seat; 333-pin shaft; 334-an elastic member; 34-a mounting base; 35-connecting a positioning module; 40-transmission connecting block release; 41-an electromagnet module; 42-releasing the stent; 43-a release; 44-a compression spring; a 45-T pin; 46-a roller; 47-manual release; 50-a detection member; 101-a host module; 102-a housing; 103-a docking hole; 100-training gloves.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
At present, the hand function training gloves are mainly driven by two modes of air driving and rope driving. The air flow driving mode adopts positive pressure generated by air compression and negative pressure generated by vacuum pumping, and the bellows arranged on the back of the fingers of the training glove stretches to pull the patient to do flexion and extension movement. The wire driving mode is to adopt flexible wires to transmit the power and position information of the operation of the servo motor.
Therefore, the driving mode of the training glove in the related art has the problem of low precision of the finger flexion and extension training.
Referring to fig. 1-10, the present embodiment provides a training glove 100, which can effectively improve the above-mentioned technical problems and improve the precision of the finger flexion and extension training.
Referring to fig. 1-3, the present embodiment provides a training glove 100, which includes a power assembly 10, a transmission assembly 20 and a training glove body 30, wherein the power assembly 10 includes a power member 11 and a driving gear 12, the power member 11 is connected to the driving gear 12, the transmission assembly 20 includes a driven gear 21, a connecting rod 22 and a transmission connecting block 23, the driving gear 12 is engaged with the driven gear 21, one end of the connecting rod 22 is connected to the driven gear 21, the other end of the connecting rod 22 is connected to the transmission connecting block 23, the transmission connecting block 23 is connected to the training glove body 30, wherein, power component 11 drive driving gear 12 rotates, and driving gear 12 drives driven gear 21 and rotates together, and driven gear 21 drives connecting rod 22 motion, and connecting rod 22 drives the motion of transmission connecting block 23, and transmission connecting block 23 drives the training gloves body 30 rather than being connected and carries out crooked or straightening motion.
Specifically, the gaseous fluid drive mode among the prior art adopts the malleation that air compression produced and the negative pressure that the evacuation produced, and flexible through the bellows of installing at training gloves finger back, pulls the patient and bends and stretch out the motion, because gaseous compressible characteristic, the positive negative pressure that aerifys through the diaphragm pump and produce of bleeding can't realize accurate position control for can't drive end training gloves and realize the accurate angle training of suffering from the finger. Meanwhile, the corrugated pipe is under the action of positive and negative pressure, the long-term telescopic folding movement is easy to cause fatigue failure and crack breakage, and the pressure gas rushes out the blasting sound caused by the crack instantly, so that the patient can be scared and injured. In order to solve the above problem, the training glove 100 provided in this embodiment realizes transmission of the driving force through transmission of the gear and the connecting rod 22, so as to transmit the driving force of the power member 11 to the transmission connecting block 23, and the transmission connecting block 23 drives the training glove body 30 to perform bending or straightening movement. The gear is compactly connected with the connecting rod 22, and the transmission between the driving gear 12 and the driven gear 21 is rigid transmission, so that deformation is not easy to occur, the stable and timely operation of the training glove 100 can be ensured, and the accuracy and the reliability of finger flexion and extension training are improved. The problems that the motion mode of the healthy side hand cannot be quickly responded through the training glove and the response of the affected side hand is delayed in the mode of a mirror image control mode and the like in the control process of the line-driving glove are mainly caused.
Referring to fig. 2, in the present embodiment, the power component 11 is a dc servo motor module. The power part 11 comprises a direct current motor 111, a micro reduction box 112 and an electric control module 113, wherein the direct current motor 111 and the micro reduction box 112 are both connected with the driving gear 12. The electric control module 113 is electrically connected with the direct current motor 111 and the micro reduction box 112, the electric control module 113 converts high-speed and low-torque of the direct current motor 111 into low-speed and large-torque, meanwhile, accurate position closed-loop control is achieved, accurate position information is output, and accordingly the flexion and extension movement of the training glove 100 is accurately controlled.
Referring to fig. 3, it should be noted that the connecting rod 22 includes an upper connecting rod 221, a lower connecting rod 222 and a guide rod 223, one end of the upper connecting rod 221 is connected to the lower connecting rod 222, the other end of the upper connecting rod 221 is connected to the driven gear 21, the lower connecting rod 222 is connected to the transmission connecting block 23, the transmission connecting block 23 is slidably connected to the guide rod 223, and the driven gear 21 is configured to drive the lower connecting rod 222 to move through the upper connecting rod 221 under the rotation condition, so that the transmission connecting block 23 slides along the guide rod 223 under the driving of the lower connecting rod 222.
It can be understood that the driven gear 21, the upper link 221, the lower link 222, the guide rod 223 and the transmission connecting block 23 form a set of transmission chains to transmit the power and the motion trace of the corresponding power member 11 to the training glove body 30.
The number of the power modules 10 is plural, and the plural power modules 10 are arranged at intervals in the circumferential direction of the driven gear 21.
It should also be noted that the number of power assemblies 10 and transmission assemblies 20 is the same. In the present embodiment, the number of the power assemblies 10 and the number of the transmission assemblies 20 are five, so as to realize the driving control of the flexion and extension movement of all the fingers.
Referring to fig. 4 in combination with fig. 3, the plurality of driven gears 21 are fixed together with the gear shaft 226 through the radial bearing 225, and the driven gears 21 are arranged in a stepped manner in a direction parallel to the axis of the gear rotating shaft, so that the gear transmission structure is more compact, and the timeliness of the finger flexion and extension training is improved.
The plurality of upper links 221 are connected to the driven gear 21 through a rotation shaft, one end of the lower link 222 is connected to the upper link 221 through a rotation shaft, and the other end of the lower link 222 is connected to the transmission connection block 23 through a rotation shaft. The transmission connecting block 23 is provided with a guide hole, and the guide rod 223 is arranged in the guide hole and is in clearance fit with the guide hole to guide the transmission connecting block 23 to do linear motion along the arrangement direction of the guide rod 223.
In addition, training glove 100 further includes a mounting base 227, and power assembly 10 is disposed on mounting base 227.
More, the transmission assembly 20 further includes a connecting bracket 224, the connecting rod 22 and the driven gear 21 are both disposed on the connecting bracket 224, the guide rod 223 and the gear shaft 226 are also disposed inside the connecting bracket 224, and the connecting bracket 224 combines the components together, so as to ensure the accuracy of power transmission of the plurality of transmission assemblies 20.
Referring to fig. 5, in order to increase the reliability of the butt joint of the transmission connecting block 23, the transmission connecting block 23 is provided with a connecting barb 231, and the connecting barb 231 has a butt joint guide surface 2311.
In this embodiment, the angle between the docking guide surface 2311 and the horizontal plane ranges from 25 degrees to 45 degrees.
Referring to fig. 1-6, it should be noted that the power assembly 10, the transmission assembly 20 and the detection member 50 (see below) form a main unit module 101, and the training glove body 30 is connected to the main unit module 101, so as to provide the training glove 100 with a driving force for performing a stretching exercise.
More, host computer module 101 includes casing 102, and casing 102 is equipped with interpolation formula mechanical interface, and training gloves body 30 places the inside in host computer module 101 in through interpolation formula mechanical interface, has saved the space, and the equipment is more compact, has improved equipment convenience, the promptness and the reliability of power transmission.
Referring to fig. 6, in addition, the training glove body 30 includes a glove 31, a pulling rope 32 and a glove end connecting block 33, the pulling rope 32 is disposed outside the glove 31, the glove end connecting block 33 is connected to the pulling rope 32, and the glove end connecting block 33 is connected to the transmission connecting block 23. Specifically, gloves 31 adopt soft comfortable antibiotic material to make and form, all are equipped with the anchor point of traction force transmission in the corresponding position of the finger heart of gloves 31 and the back of the finger, and haulage rope 32 is connected with the anchor point, and gloves 31 are used for holding the finger, and gloves end connecting block 33 and transmission connecting block 23 cooperate to realize the butt joint of host computer module 101 and training gloves body 30.
The training glove body 30 further includes a flexible, high strength sleeve for protecting the pull cord 32 and providing powered support for the flexion and extension movements of the training glove 100.
Referring to fig. 7, in particular, the glove-end connecting block 33 is provided with a blocking barb 331, and the blocking barb 331 cooperates with the connecting barb 231 to connect the glove-end connecting block 33 and the transmission connecting block 23.
More, glove end connecting block 33 includes spacing seat 332, round pin axle 333 and elastic component 334, and spacing seat 332 is connected with mounting base 34, and screens barb 331 is connected with spacing seat 332 through round pin axle 333, and elastic component 334 sets up between spacing seat 332 and screens barb 331, and the tip of spacing seat 332 is equipped with spacing spigot surface, and the tip of screens barb 331 is equipped with screens spigot surface 3311. The limiting guide surface is opposite to the clamping guide surface 3311.
Specifically, the glove end connecting block 33 and the transmission connecting block 23 are clamped together, and the connection stability is ensured by the elastic force of the elastic member 334.
Specifically, the included angle between the limiting guide surface and the horizontal plane ranges from 30 degrees to 45 degrees.
The included angle between the blocking barb 331 and the horizontal plane is in the range of 30-45 degrees.
Spacing seat 332 has been seted up the through wires hole and has been dodged the groove, the through wires hole with dodge the groove intercommunication, haulage rope 32 passes the through wires hole and gets into and dodge the inslot, dodges the inslot and is equipped with the crimping head module, haulage rope 32 is connected with the crimping head module to be fixed in and dodge the inslot.
In addition, the limiting seat 332 is made of a magnetic material.
It will be appreciated that the number of pull cords 32 and glove end connector blocks 33 is the same as the number of fingers. In this embodiment, the number of the traction ropes 32 and the glove end connecting blocks 33 is five.
Referring to fig. 8-10, in the embodiment, the training glove body 30 further includes a mounting base 34 and a connecting and positioning module 35, the mounting base 34 connects all the glove-end connecting blocks 33 and the glove 31 together, an accommodating space for accommodating the pulling rope 32 is provided in the mounting base 34, and the mounting base 34 is further provided with an arc groove for facilitating insertion and extraction. The connecting and positioning module 35 is disposed at an end of the mounting base 34 away from the glove 31, and the connecting and positioning module 35 is used to fix all the glove-end connecting blocks 33 on the mounting base 34.
In this embodiment, the connection positioning module 35 is made of a magnetic material. The connection positioning module 35 fixes the glove-end connection block 33 to the end of the mounting base 34 by magnetic attraction.
It should be further noted that the training glove 100 further includes a transmission connection block releasing element 40, the transmission connection block releasing element 40 is connected to the transmission connection block 23, the transmission connection block releasing element 40 is used for separating the transmission connection block 23 and the glove-end connection block 33, and specifically, the transmission connection block releasing element 40 ejects the blocking barb 331 of the glove-end connection block 33 by means of an external force, so as to release the glove-end connection block 33 and the transmission connection block 23.
Specifically, drive link release 40 includes electromagnet module 41, release bracket 42, release 43, compression spring 44, T-pin 45, and roller 46. The release bracket 42 is mounted on the casing 102, the electromagnet module 41 is mounted on the release bracket 42, the electromagnet module 41 is fixedly connected with the casing 102, the release member 43 is connected with the moving iron core of the electromagnet module 41, the T-shaped pin 45 is mounted on one side of the casing 102 close to the glove end connecting block 33, the T-shaped pin 45 is located right above the clamping barb 331 of the glove end connecting block 33, the roller 46 is connected with one end of the T-shaped pin 45, and the compression spring 44 is sleeved on the T-shaped pin 45.
Furthermore, in order to realize the self-release and butt joint of the transmission connecting block 23 and the glove end connecting block 33, the release member 43 is provided with a guide inclined surface and a working positioning arc surface. The guide inclined plane can provide a larger sliding butt joint surface of the roller 46, so that butt joint of the roller 46 and the guide inclined plane is facilitated, and the problem that the roller 46 is directly clamped or is not accurately aligned is avoided.
In addition, the lowest part of the guiding inclined plane is provided with a limiting part for preventing the roller 46 from slipping.
With the drive link release 40 in the initial position, the end of the T-pin 45 remote from the roller 46 abuts the housing 102, and the glove end link 33 is now stably connected to the drive link 23.
The butt joint hole 103 has been seted up with the position that the T type round pin 45 corresponds on the casing 102, the position of butt joint hole 103 is corresponding with the position of gloves end connecting block 33, electromagnet module 41 drives release 43 and removes, make gyro wheel 46 slide to the work location arc surface through the direction inclined plane and fix a position, thereby raise T type round pin 45, make T type round pin 45 get into butt joint hole 103 and apply an external force to the one end that the screens barb 331 of gloves end connecting block 33 kept away from transmission connecting block 23, screens barb 331 extrudes elastic component 334, and rotate along round pin axle 333, make the one end that screens barb 331 is close to transmission connecting block 23 rotate, finally realize the release of gloves end connecting block 33 and transmission connecting block 23.
It should be further noted that the transmission connecting block releasing part 40 further includes a manual releasing part 47, the manual releasing part 47 is connected with one end of the releasing part 43 far away from the electromagnet module 41, and when the electromagnet module 41 fails, the manual releasing part 47 is manually operated to move the releasing part 43 to the right and drive the T-shaped pin 45 to move upwards, so that the glove end connecting block 33 is manually pushed to be released from the transmission connecting block 23, and the reliability of the system is improved.
Besides, the training glove 100 further comprises a detecting element 50, the position of the detecting element 50 corresponds to the position of the transmission connecting block 23, and the detecting element 50 is used for detecting the butt joint state of the transmission connecting block 23.
In the present embodiment, the detecting member 50 is a sensor. The sensor is arranged right above the transmission connecting block 23 through a mounting bracket. The sensor judges whether each docking or releasing is successful or not by detecting the clamping barb 331 of the connecting block on the glove 31 side.
In the present embodiment, the number of the detecting members 50 is five.
The module is changed all to current gloves is connected through the connecting piece with control is the same, through manual mode assembly and change, the patient is because the hand motion is inconvenient, can not change by oneself, above-mentioned structure realizes releasing certainly and the butt joint of transmission connecting block 23 and gloves end connecting block 33, the patient of being convenient for is changed gloves by oneself under most of the circumstances, and electromagnet module 41 is connected with control system, can realize the intelligent control of the release certainly of transmission connecting block 23 and gloves end connecting block 33, the intelligent level of system has been improved greatly.
The present embodiment further provides a method for controlling automatic docking and releasing of training glove 100, comprising:
self-connection control mode: before the transmission connecting block 23 is butted with the glove-end connecting block 33, the host machine module 101 consisting of the power assembly 10, the transmission assembly 20, the detection piece 50 and the transmission connecting block release piece 40 is electrically connected with the controller, the controller drives the power piece 11 to realize the position alignment of all the transmission connecting blocks 23, at the moment, the electromagnet module 41 is in a power-off state, and the T-shaped pin 45 is tightly attached to the shell 102. Then the glove 31 is pulled straight and stretched flat manually, and all the glove-end connecting blocks 33 are placed at the corresponding positions manually through magnetic attraction. The training glove body 30 is inserted into the shell 102 of the host computer module 101 through the inserted mechanical interface, the controller sends a control instruction, in the first quarter of the movement period, the power part 11 drives the driving gear 12 to rotate along the pointer, and drives the driven gear 21 and the connecting rod 22 to move, so as to drive the transmission connecting block 23 located on the lower side of the glove 31 to linearly move right along the guide rod 223 to the maximum stroke, and the connecting barb 231 of the transmission connecting block 23 is clamped with the clamping barb 331 of the glove end connecting block 33 on the lower side of the glove 31, so as to realize stable connection. Then, in a half cycle, the power component 11 drives the driving gear 12 to rotate counterclockwise, so as to drive the driven gear 21 and the connecting rod 22 to move, thereby driving the transmission connecting block 23 located on the upper side of the glove 31 to move linearly to the maximum stroke rightward along the guide rod 223, and the connecting barb 231 of the transmission connecting block 23 is clamped with the clamping barb 331 of the glove-end connecting block 33 on the upper side of the glove 31, so as to realize stable connection.
After the transmission connecting block 23 is completely butted with the glove end connecting block 33, the power part 11 drives the driving gear 12 to rotate clockwise, the driven gear 21 rotates anticlockwise, the connecting rod 22 connected with the driven gear is driven to pull the transmission connecting block 23 on the upper side to move leftwards, and the transmission connecting block 23 on the lower side is pulled to move rightwards, so that the back stretching movement is realized.
Self-releasing training glove 100 control mode: under the condition that need change training gloves body 30, the controller sends the change instruction, electromagnet module 41 is in the on state, release 43 that links to each other with electromagnet module 41's iron core extends, make gyro wheel 46 move to the work location arc surface along the direction inclined plane and fix a position, thereby raise T type round pin 45, make T type round pin 45 get into butt joint hole 103 and apply an external force to the one end that transmission connecting block 23 was kept away from to screens barb 331 of gloves end connecting block 33, screens barb 331 extrudes elastic component 334, and rotate along round pin axle 333, make screens barb 331 be close to the one end of transmission connecting block 23 and rotate, finally realize the release of gloves end connecting block 33 and transmission connecting block 23.
And in the connection state monitoring mode, after the transmission connecting block 23 and the glove 31 side connecting block are released, the detection piece 50 outputs a release signal to the controller after the release is finished, and an operator trains the glove body 30 to replace according to prompt information.
The present embodiment provides a training glove 100 with at least the following advantages:
specifically, the pneumatic fluid drive mode among the prior art adopts the malleation that air compression produced and the negative pressure that the evacuation produced, and flexible through the bellows of installing at training gloves 100 finger back, pulls the patient and bends and stretch the motion, because gaseous compressible characteristic, the positive negative pressure that aerifys through the diaphragm pump and produce of bleeding can't realize accurate position control for can't drive end training gloves 100 and realize the accurate angle training of suffering from the finger. Meanwhile, the corrugated pipe is under the action of positive and negative pressure, the long-term telescopic folding movement is easy to cause fatigue failure and crack breakage, and the pressure gas rushes out the blasting sound caused by the crack instantly, so that the patient can be scared and injured. In order to solve the above problem, the training glove 100 provided in this embodiment realizes transmission of the driving force through transmission of the gear and the connecting rod 22, so as to transmit the driving force of the power member 11 to the transmission connecting block 23, and the transmission connecting block 23 drives the training glove body 30 to perform bending or straightening movement. The gears are compactly connected with the connecting rod 22, and the transmission between the driving gear 12 and the driven gear 21 is rigid transmission, so that deformation is not easy to occur, stable operation of the training glove 100 can be ensured, and the accuracy and reliability of finger flexion and extension training are improved.
In summary, the present invention provides a training glove 100 and an automatic docking and releasing control method, the training glove 100 comprises a power assembly 10, a transmission assembly 20 and a training glove body 30, wherein the power assembly 10 comprises a power part 11 and a driving gear 12, the power part 11 is connected with the driving gear 12, the transmission assembly 20 comprises a driven gear 21, a connecting rod 22 and a transmission connecting block 23, the driving gear 12 is meshed with the driven gear 21, one end of the connecting rod 22 is connected with the driven gear 21, the other end of the connecting rod 22 is connected with the transmission connecting block 23, the transmission connecting block 23 is connected with the training glove body 30, wherein, power component 11 drive driving gear 12 rotates, and driving gear 12 drives driven gear 21 and rotates together, and driven gear 21 drives connecting rod 22 motion, and connecting rod 22 drives the motion of transmission connecting block 23, and transmission connecting block 23 drives the training gloves body 30 rather than being connected and carries out crooked or straightening motion. In the use process of the training glove 100, the driving force of the power part 11 is transmitted to the transmission connecting block 23 through the engagement of the driving gear 12 and the driven gear 21 and the transmission between the driven gear 21 and the connecting rod 22, so that the transmission connecting block 23 drives the training glove body 30 to perform bending or straightening movement. The gear is compactly connected with the connecting rod 22, the transmission between the driving gear 12 and the driven gear 21 is rigid transmission, deformation is not easy to occur, stable operation of the training glove 100 can be ensured, the gear and the connecting rod 22 are quickly responded in the transmission compact operation process, the response time is short, the problems that the exercise mode of the side-care hand cannot be quickly responded through the training glove 100, the delayed response of the side-care hand and the like in the image control mode and the like in the control process of rope driving and the like can be effectively avoided, and the accuracy, timeliness and reliability of finger bending and stretching training are improved.
The automatic butt joint and release control method of the training glove 100 comprises the steps that in the front quarter of a movement period, the power part 11 is controlled to drive the driving gear 12 to rotate clockwise to drive the driven gear 21 and the connecting rod 22 to move, so that the transmission connecting block 23 positioned on the lower side of the training glove body 30 is driven to move to the maximum stroke in a right-handed linear mode, and the transmission connecting block 23 is connected with a glove end connecting block 33 positioned on the lower side of the training glove body 30 to achieve stable connection; then, in a half period, the power part 11 is controlled to drive the driving gear 12 to rotate anticlockwise to drive the driven gear 21 and the connecting rod 22 to move, so that the transmission connecting block 23 located on the upper side of the training glove body 30 is driven to move rightwards and linearly to the maximum stroke, and the transmission connecting block 23 is connected with the glove end connecting block 33 on the upper side of the training glove body 30 to realize stable connection. The control method can stably realize the connection of the transmission connecting block 23 and the glove end connecting block 33 of the training glove body 30. The training glove 100 can be ensured to stably run, the gears are connected with the connecting rods 22 to be compactly run, transmission is rapidly responded in the running process, the response time is short, the problems that the exercise mode of the healthy lateral hand cannot be rapidly responded through the training glove 100, the delayed response of the affected lateral hand is caused in the control process of rope driving and the like in the mode of the image control mode and the like can be effectively avoided, and the accuracy, timeliness and reliability of finger bending and stretching training are improved.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (13)
1. Training glove, characterized in that it comprises a power component (10), a transmission component (20) and a training glove body (30);
the power assembly (10) comprises a power part (11) and a driving gear (12), the power part (11) is connected with the driving gear (12), the transmission assembly (20) comprises a driven gear (21), a connecting rod (22) and a transmission connecting block (23), the driving gear (12) is meshed with the driven gear (21), one end of the connecting rod (22) is connected with the driven gear (21), the other end of the connecting rod (22) is connected with the transmission connecting block (23), the transmission connecting block (23) is connected with the training glove body (30), wherein the power part (11) drives the driving gear (12) to rotate, the driving gear (12) drives the driven gear (21) to rotate together, the driven gear (21) drives the connecting rod (22) to move, and the connecting rod (22) drives the transmission connecting block (23) to move, the transmission connecting block (23) drives the training glove body (30) connected with the transmission connecting block to perform bending or straightening movement.
2. The training glove of claim 1 wherein the connecting rod (22) comprises an upper connecting rod (221), a lower connecting rod (222) and a guide rod (223), one end of the upper connecting rod (221) is connected with the lower connecting rod (222), the other end of the upper connecting rod (221) is connected with the driven gear (21), the lower connecting rod (222) is connected with the transmission connecting block (23), the transmission connecting block (23) is slidably connected with the guide rod (223), and the driven gear (21) is used for driving the lower connecting rod (222) to move through the upper connecting rod (221) under the rotation condition, so that the transmission connecting block (23) slides along the guide rod (223) under the driving of the lower connecting rod (222).
3. The training glove of claim 2 wherein the drive assembly (20) further comprises a connecting bracket (224), the link (22) and the driven gear (21) each being disposed on the connecting bracket (224).
4. Training glove according to claim 2, wherein the number of the power assembly (10) is plural, and the plural power assemblies (10) are arranged at intervals in the circumferential direction of the driven gear (21).
5. Training glove according to claim 1 wherein the transmission connection block (23) is provided with a connection barb (231), the connection barb (231) having an abutment guide surface (2311).
6. The training glove of claim 5 wherein the docking guide surface (2311) is at an angle in the range of 25 degrees to 45 degrees from horizontal.
7. The training glove of claim 5 wherein the training glove body (30) comprises a glove (31), a pull cord (32), and a glove end connection block (33), the pull cord (32) being disposed outside of the glove (31), the glove end connection block (33) being connected with the pull cord (32), and the glove end connection block (33) being connected with the transmission connection block (23).
8. Training glove according to claim 7 wherein the glove end connection block (33) is provided with a detent barb (331), the detent barb (331) cooperating with the connection barb (231) to connect the glove end connection block (33) and the transmission connection block (23).
9. The training glove according to claim 8, wherein the training glove (100) further comprises a transmission connection block release member (40), the transmission connection block release member (40) comprises an electromagnet module (41), a release bracket (42), a release member (43), a compression spring (44), a T-shaped pin (45) and a roller (46), the electromagnet module (41) is mounted on the release bracket (42), the release member (43) is connected with the moving iron core of the electromagnet module (41), the T-shaped pin (45) is located right above the blocking barb (331), the roller (46) is connected with one end of the T-shaped pin (45), the compression spring (44) is sleeved on the T-shaped pin (45), the release member (43) is provided with a guiding inclined surface and a working positioning circular arc surface, the electromagnet module (41) is used for driving the release member (43) to move, the roller (46) moves to the working positioning arc surface through the guide inclined surface, so that the T-shaped pin (45) is lifted, the T-shaped pin (45) applies external force to the clamping barb (331), and the transmission connecting block (23) and the glove end connecting block (33) are separated.
10. Training glove according to claim 1, characterized in that the training glove (100) further comprises a detection element (50), the position of the detection element (50) corresponding to the position of the transmission connection block (23), the detection element (50) being used to detect the docking status of the transmission connection block (23).
11. An automatic docking and release control method for training gloves, comprising:
in the first quarter of the movement period, the power part (11) is controlled to drive the driving gear (12) to rotate clockwise to drive the driven gear (21) and the connecting rod (22) to move, so that the transmission connecting block (23) positioned on the lower side of the training glove body (30) is driven to move linearly to the maximum stroke rightwards, and the transmission connecting block (23) is connected with the glove end connecting block (33) positioned on the lower side of the training glove body (30) to realize stable connection;
then, in a half period, the power part (11) is controlled to drive the driving gear (12) to rotate anticlockwise to drive the driven gear (21) and the connecting rod (22) to move, so that the transmission connecting block (23) located on the upper side of the training glove body (30) is driven to move rightwards and linearly to the maximum stroke, and the transmission connecting block (23) is connected with the glove end connecting block (33) on the upper side of the training glove body (30) to achieve stable connection.
12. A training glove automatic docking and release control method as claimed in claim 11, wherein the training glove automatic docking and release control method further comprises:
the electromagnet module (41) is in a power-on state, the roller (46) moves to the working positioning arc surface through the guide inclined surface, so that the T-shaped pin (45) is lifted, external force is applied to the clamping barb (331) by the T-shaped pin (45), and the transmission connecting block (23) and the glove end connecting block (33) are separated.
13. A training glove automatic docking and release control method as claimed in claim 11, wherein the training glove automatic docking and release control method further comprises:
after the transmission connecting block (23) and the glove end connecting block (33) are released, the detection piece (50) outputs a release signal after the release is finished, and an operator trains the replacement work of the glove body (30) according to prompt information.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210661866.1A CN114849182B (en) | 2022-06-13 | 2022-06-13 | Training glove and automatic docking and releasing control method |
| PCT/CN2023/089406 WO2023241216A1 (en) | 2022-06-13 | 2023-04-20 | Training glove and automatic butt-joining and release control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210661866.1A CN114849182B (en) | 2022-06-13 | 2022-06-13 | Training glove and automatic docking and releasing control method |
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| Publication Number | Publication Date |
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| CN114849182A true CN114849182A (en) | 2022-08-05 |
| CN114849182B CN114849182B (en) | 2023-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210661866.1A Active CN114849182B (en) | 2022-06-13 | 2022-06-13 | Training glove and automatic docking and releasing control method |
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| Country | Link |
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| CN (1) | CN114849182B (en) |
| WO (1) | WO2023241216A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023241216A1 (en) * | 2022-06-13 | 2023-12-21 | 法罗适(上海)医疗技术有限公司 | Training glove and automatic butt-joining and release control method |
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| CN105997426A (en) * | 2016-05-05 | 2016-10-12 | 安阳神方康复机器人有限公司 | Universal rehabilitation training hand device for left hand and right hand |
| WO2020108517A1 (en) * | 2018-11-28 | 2020-06-04 | 袁博 | Hip exoskeleton |
| WO2020147913A2 (en) * | 2019-01-16 | 2020-07-23 | باهى احمد محمد كامل احمد، | Exoskeleton for motor rehabilitation of the hand and wrist |
| WO2021012873A1 (en) * | 2019-07-24 | 2021-01-28 | 东南大学 | Exoskeleton finger rehabilitation training device and usage method thereof |
| US20220040027A1 (en) * | 2020-08-07 | 2022-02-10 | XZO, Inc. | Control and sensor system for devices assisting in joint flexion |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111249111B (en) * | 2020-02-25 | 2021-04-30 | 燕山大学 | Tail end traction type finger rehabilitation robot |
| CN114849182B (en) * | 2022-06-13 | 2023-07-21 | 法罗适(上海)医疗技术有限公司 | Training glove and automatic docking and releasing control method |
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2022
- 2022-06-13 CN CN202210661866.1A patent/CN114849182B/en active Active
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- 2023-04-20 WO PCT/CN2023/089406 patent/WO2023241216A1/en unknown
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| CN105997426A (en) * | 2016-05-05 | 2016-10-12 | 安阳神方康复机器人有限公司 | Universal rehabilitation training hand device for left hand and right hand |
| WO2020108517A1 (en) * | 2018-11-28 | 2020-06-04 | 袁博 | Hip exoskeleton |
| WO2020147913A2 (en) * | 2019-01-16 | 2020-07-23 | باهى احمد محمد كامل احمد، | Exoskeleton for motor rehabilitation of the hand and wrist |
| WO2021012873A1 (en) * | 2019-07-24 | 2021-01-28 | 东南大学 | Exoskeleton finger rehabilitation training device and usage method thereof |
| US20220040027A1 (en) * | 2020-08-07 | 2022-02-10 | XZO, Inc. | Control and sensor system for devices assisting in joint flexion |
| US20220134213A1 (en) * | 2020-10-29 | 2022-05-05 | Tokunbo Oluwaseun Adeniran | Exercise Glove |
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| WO2023241216A1 (en) * | 2022-06-13 | 2023-12-21 | 法罗适(上海)医疗技术有限公司 | Training glove and automatic butt-joining and release control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114849182B (en) | 2023-07-21 |
| WO2023241216A1 (en) | 2023-12-21 |
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