CN116138991A - Hard-soft coupled line-driven rehabilitation assistance glove - Google Patents
Hard-soft coupled line-driven rehabilitation assistance glove Download PDFInfo
- Publication number
- CN116138991A CN116138991A CN202310053502.XA CN202310053502A CN116138991A CN 116138991 A CN116138991 A CN 116138991A CN 202310053502 A CN202310053502 A CN 202310053502A CN 116138991 A CN116138991 A CN 116138991A
- Authority
- CN
- China
- Prior art keywords
- driving
- joint
- knuckle
- passive
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000811 metacarpophalangeal joint Anatomy 0.000 claims abstract description 71
- 230000008878 coupling Effects 0.000 claims abstract description 11
- 238000010168 coupling process Methods 0.000 claims abstract description 11
- 238000005859 coupling reaction Methods 0.000 claims abstract description 11
- 230000008859 change Effects 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 210000001503 joint Anatomy 0.000 claims description 59
- 210000002435 tendon Anatomy 0.000 claims description 58
- 230000033001 locomotion Effects 0.000 claims description 48
- 230000005540 biological transmission Effects 0.000 claims description 12
- 210000001015 abdomen Anatomy 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000005057 finger movement Effects 0.000 abstract description 2
- 210000002478 hand joint Anatomy 0.000 abstract description 2
- 210000003811 finger Anatomy 0.000 description 83
- 230000006399 behavior Effects 0.000 description 10
- 210000001145 finger joint Anatomy 0.000 description 10
- 210000004932 little finger Anatomy 0.000 description 9
- 238000005452 bending Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000012549 training Methods 0.000 description 6
- 230000003044 adaptive effect Effects 0.000 description 4
- 210000001142 back Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 208000012260 Accidental injury Diseases 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 208000018737 Parkinson disease Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Geometry (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mathematical Optimization (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Computational Mathematics (AREA)
- Physical Education & Sports Medicine (AREA)
- Mathematical Analysis (AREA)
- General Health & Medical Sciences (AREA)
- Pure & Applied Mathematics (AREA)
- Pain & Pain Management (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Epidemiology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a hard-soft coupled line-driven rehabilitation aid glove which comprises a glove wearing mechanism and a far-end driving device, wherein the glove wearing mechanism comprises a hand fixing wearing part and four driving fingerstalls, and the wearing part is connected with the fingerstalls through flexible connection joints and ropes; the finger sleeves of the index finger and the middle finger are of hinge type structures, and the hand joint angles are accurately controlled through the change of the line length based on the geometric relation of the finger sleeve model. The remote driving device consists of a plurality of steering engines and a control board; in addition, the invention increases the function of finger abduction and adduction, and can independently control the metacarpophalangeal joints and the proximal interphalangeal joints of part of fingers, so that the distal interphalangeal joints are driven by the proximal interphalangeal joints in a coupling way, and balance is realized between the functionality and the driving quantity, thereby ensuring that the rehabilitation assistance glove can assist in completing more common and complex finger movements, avoiding unnecessary joint driving, optimizing the driving quantity and reducing the weight of the device.
Description
Technical Field
The invention belongs to the technical field of hand function rehabilitation assistance equipment, and particularly relates to a hard-soft coupled line-driven rehabilitation assistance glove.
Background
Spinal cord injury, cerebral apoplexy (apoplexy), hemiplegia, parkinson's disease, hand accidental injury and other events all lead to the loss of human hand functions, and the serious problem is that patients lose life self-care ability and cannot return to society because the patients are inconveniently brought to daily life and work. Clinical rehabilitation medicine proves that the Chinese medicinal composition has an important recovery effect on hand movement dysfunction patients caused by diseases or accidental injuries, and rehabilitation training opponent functions in middle and later stages. Wherein, carry out the rehabilitation training (CPM, continuous passive motion) of continuous passive motion, through strengthening the passive training to muscle tendon, be favorable to neural restoration remodelling, reduce patient's hand disability, can resume some staff functions.
Traditional rehabilitation therapy generally requires rehabilitation training by a rehabilitation engineer and patients one by one, and although the rehabilitation effect is better, the amount of labor is larger, the rehabilitation period of the patients is long, and the number of rehabilitation doctors is limited, so that the requirements of all patients cannot be met. Therefore, the field of rehabilitation robots is developed, and by means of the hand exoskeleton robot, not only can effective rehabilitation be provided for patients, and the workload of rehabilitation operators is lightened, but also the rehabilitation experience of the patients can be improved through an interaction technology, and the willingness and the enthusiasm of the patients to participate in the rehabilitation are improved.
According to investigation, the existing hand rehabilitation robot is often less in function and can only train a patient to implement simple gripping behaviors; and different patients have different final recovery conditions due to different conditions of the patients and different nerve injury parts, and still have the defects that after a rehabilitation therapy, the hand functions of some patients cannot be completely recovered and only some simple grabbing behaviors can be completed. Therefore, for these two situations, it is necessary to design a rehabilitation device that can train and assist the patient with lost hand function to perform daily hand movements, thereby improving the work and living experience of the patient.
Disclosure of Invention
In order to solve the defect of simple rehabilitation training mode of the existing hand rehabilitation equipment and realize the purposes of training the fingers of a patient and assisting more complicated and daily hand movements, the invention adopts the following technical scheme:
the utility model provides a recovered helping hand gloves of line drive of rigid-flexible coupling, includes glove wearing mechanism and distal end drive arrangement, glove wearing mechanism includes drive dactylotheca, the fixed wearing part of joint hand and drive line, and the drive dactylotheca passes through the fixed wearing part of joint and hand and links to each other, and the drive line twines in the drive dactylotheca, drives through distal end drive arrangement, controls the motion of drive dactylotheca.
The hand fixing and wearing part comprises a back fixing plate and a palm fixing plate, positioning slots are formed in two sides of the palm fixing plate and the palm fixing plate, and the flexible magic tape is connected with the palm fixing plate and the palm fixing plate through the positioning slots and is worn on the hands of a patient;
the remote driving device comprises a driving steering engine and a control board which are arranged on the back.
Further, the drive line includes abduction adduction drive line, the back of the hand face of fixed wearing part of hand is equipped with rotatory base, the joint includes connecting piece, lower metacarpophalangeal joint back of the hand linkage member, first drive disc and drive shaft, lower metacarpophalangeal joint back of the hand linkage member one side pass through the connecting piece with the drive dactylotheca is connected, and the opposite side sets up with rotatory base, first drive disc cooperation, and the cover is located in the drive shaft, and wherein lower metacarpophalangeal joint back of the hand linkage member and first drive disc all are connected with the drive shaft interference, and abduction adduction drive line twines in the first drive disc that has the recess, and the both ends and the distal end drive arrangement of abduction adduction drive line are connected. The driving device is retracted and released, the abduction and adduction driving wire pulls the first driving disc, the first driving disc rotates by taking the driving shaft as the center of a circle and drives the driving shaft in interference fit with the driving disc, the driving shaft transmits the rotation to the lower metacarpophalangeal joint back of hand linkage component, and the driving fingerstall is driven by the connecting piece to do abduction and adduction movement, so that the function of abduction and adduction movement is provided for the traditional rehabilitation assistant glove with only the gripping function, and simultaneously, in the abduction and adduction movement, the abduction and adduction movement of metacarpophalangeal joints can not influence the stretching and buckling joint angles of metacarpophalangeal joints because the total length of metacarpophalangeal joint driving wire is unchanged.
Further, the back of the finger of the driving knuckle is provided with a back of the upper metacarpophalangeal joint hand back linkage member, and the back of the upper metacarpophalangeal joint hand back linkage member and the back of the lower metacarpophalangeal joint hand back linkage member are respectively provided with an inverted trapezoidal groove which is matched with the two ends of the longitudinal section of the connecting piece in a trapezoid shape with the inner part small and the outer part large.
Further, the driving wire comprises a metacarpophalangeal joint driving wire, a pair of transmission parts are arranged on the palm surface of the hand fixing wearing part in a matched mode for a single driving fingerstall, the transmission parts comprise a supporting shaft, a second driving disc with a groove and a disc fixing piece, the supporting shaft is fixedly connected with the palm surface, the second driving disc is sleeved on the supporting shaft and is limited to axially move through the disc fixing piece, after the metacarpophalangeal joint driving wire winds the second driving disc of one transmission part, the back of the driving fingerstall is wound, the second driving disc of the other transmission part is wound, and two ends of the metacarpophalangeal joint driving wire are connected with the far-end driving device. The distal end driving device is retracted and released to make the two ends of the metacarpophalangeal joint driving line move downwards together, the second driving disc rotates on the supporting shaft along with the second driving disc, and the driving fingerstall is driven by the metacarpophalangeal joint driving line to bend.
Further, the driving wire also comprises a near-end interphalangeal driving wire, the driving fingerstall is a first knuckle, a second knuckle and a third knuckle which are movably connected in sequence from the fingertip to the metacarpophalangeal joint, the first knuckle and the second knuckle are correspondingly provided with an upper passive tendon track and a lower passive tendon track, and the second knuckle and the third knuckle are provided with corresponding near-end interphalangeal joint driving wire tracks; the passive tendon winds the first knuckle and the second knuckle through the upper passive tendon track and the lower passive tendon track, two ends of the passive tendon are fixed on the third knuckle, one end of the proximal interphalangeal joint driving line penetrates through the proximal interphalangeal joint driving line track to be connected with the second knuckle, the other end of the proximal interphalangeal joint driving line is connected with the distal driving device, and the third knuckle is connected with the hand fixing and wearing part through the connecting joint. When the proximal interphalangeal joint driving wire is pulled by the distal driving device, the distance between the two ends of the wire track is reduced, so that the proximal interphalangeal joint flexes, the lower end of the passive tendon (between the second third knuckles and at the outer part of the tendon track) is increased due to the flexing length of the joint, and the length of the upper end of the passive tendon (between the second knuckles and at the outer part of the tendon track) is reduced due to the unchanged total length of the passive tendon, so that the distal interphalangeal joint flexes is pulled. The design ensures that the far-end interphalangeal joint is influenced by the change of the near-end interphalangeal joint, thereby realizing the coupling driving of the two joints, conforming to the phenomenon of human hand kinematics and reducing the driving quantity.
The driving finger sleeve comprises an index finger, a middle finger, a ring finger and a little finger driving finger sleeve, and the extension and buckling movement of the proximal interphalangeal joint of the index finger and the middle finger driving finger sleeve is performed through the matching arrangement of the proximal interphalangeal driving wire and the segmented driving finger sleeve; the metacarpophalangeal joints of the four-finger driving fingerstall extend and flex through the cooperation arrangement of the metacarpophalangeal joint driving wires and the transmission part.
And metacarpophalangeal joint driving line tracks are arranged from two sides of the third knuckle to the dorsum of the fingers, and the metacarpophalangeal joint driving lines penetrate through the metacarpophalangeal joint driving line tracks of the third knuckle.
According to the analysis result of finger kinematics, the movement behaviors of the ring finger and the little finger in the daily actions such as grasping and the like have high synergism, and the abduction and adduction movements are less, so that the ring finger and the little finger only keep the extension and buckling behaviors, are designed into an integrated stay wire fingerstall, and are driven by the same driving tendon; the middle finger and the index finger keep the abduction and adduction movements and the extension and buckling movements of the metacarpophalangeal joints and the extension and buckling movements of the proximal interphalangeal joints so as to meet the richer grabbing behaviors, daily hand movements and smart operation.
Further, a geometric relationship is constructed by the relative positions of adjacent knuckles:
L 1 ＝L-L 3
θ DIP ＝θ 1_initial -θ 1
θ DIP ＝θ 2_initial -θ 2
wherein L is 1 Representing the length of the passive tendon between the upper passive tendon track and the lower passive tendon track, R 1 And theta 1 Respectively representing the distance from the central point of the buckling rotation of the first knuckle relative to the second knuckle to the upper passive tendon track and the lower passive tendon track and the formed angle; l (L) 2 Representing the length of the proximal interphalangeal drive line between the proximal interphalangeal drive line track digits of the second and third knuckles, R 2 And theta 2 Respectively representing the distance from the center point of the second knuckle to the proximal interphalangeal joint driving line track of the second knuckle and the third knuckle and the angle formed by the center point of the second knuckle and the third knuckle; l (L) 3 Representing the length of the lower passive tendon track and the passive tendon fixed between the upper ends of the third knuckle, R 2 And theta 3 Respectively represent the center points based on the rotation of the second knuckle relative to the third knuckleDistance to the lower passive tendon track and the third knuckle and angle formed; θ 2 And theta 3 Correspondingly, the upper and lower parts are respectively theta 5 And theta 4 ，L＝L 1 +L 3 ；
θ DIP Represents the rotation angle of the DIP of the far-end interphalangeal joint, theta PIP Indicating the angle of rotation of the proximal interphalangeal joint PIP; θ 1-initial Represents θ 1 Is the initial angle of theta 1 The angle of change, i.e. the angle of rotation of the DIP, θ 2-initial Represents θ 2 Is the initial angle of theta 2 The angle of change is the angle of rotation of the PIP joint.
The relationship between the distal interphalangeal joint and the proximal interphalangeal joint is established by the geometrical relationship of the glove structure, and the design parameters can be used for optimizing by referring to the data of finger kinematics and the cooperative movement between joints, so that the coupling relationship between the interphalangeal joints better accords with the actual movement condition of the joints.
Further, the connecting joint comprises a connecting piece of corrugated flexible materials which are transversely arranged, one end of the connecting piece is connected with the back of the hand fixing wearing part, and the other end of the connecting piece is connected with the back of the finger of the driving finger stall. The structure has small deformation to the moment vertical to the back of the hand, can generate larger stretching and bending deformation to the longitudinal stretching force, and can restore the original shape after the stretching force is released, so that the structure of the connecting piece has better resistance to the stretching and bending movement of the finger, and can perform better adaptive deformation to the bending movement of the finger, and certain restoring force and supporting force exist, therefore, the flexible connecting piece can be used as a connecting part for fixing the back of the hand of a wearing part and driving the back of the finger of a finger sleeve, can transmit the stretching and bending movement of the back of the hand driving structure, can be passively adapted to the stretching and bending movement of the finger, and does not prevent the palm joints from being driven by the stretching and bending driving lines of the palm.
Further, the connecting joint comprises a flexible passive support piece with a transverse paper folding structure, one end of the flexible passive support piece is connected with the palm surface of the hand fixing wearing part, and the other end of the flexible passive support piece is connected with the dactylotheca surface of the driving fingerstall. The flexible connecting piece has better resistance to the abduction and adduction movement of the finger, can perform better adaptive deformation to the flexion behavior of the finger, has certain restoring force and supporting force, and can be passively adapted to the abduction and adduction movement of the finger.
When the metacarpophalangeal joint driving line is pulled downwards by the distal end driving device, the metacarpophalangeal joint is bent forwards, the flexible passive support is compressed, and the flexible connecting joint of the back of the hand is stretched.
Further, the finger belly department of drive dactylotheca is equipped with passive support mounting, the joint includes passive support and lower passive support mounting, all is equipped with the trapezoidal recess of falling on last passive support mounting and the lower passive support mounting, is the trapezoidal cooperation setting of inside little outside big with passive support mounting longitudinal section both ends, and lower passive support mounting is connected with the palm face of the fixed wearing part of hand.
Further, a passive support rotating shaft is arranged on the palm surface of the hand fixing wearing part, the connecting joint comprises a passive support piece, a lower passive support fixing piece, a gasket and a screw, the passive support rotating shaft penetrates through a round hole in the lower passive support fixing piece and is fixed through the gasket and the screw to limit the axial displacement of the lower passive support fixing piece, and the lower passive support fixing piece is connected with the finger belly of the driving fingerstall through the passive support piece.
The invention has the advantages that:
compared with the simple rehabilitation actions of the traditional rehabilitation gloves, the invention increases the abduction and adduction driving of the middle finger of the index finger and the driving of the proximal interphalangeal joint based on the daily actions of the hand, and the coupling relation of the distal interphalangeal joint based on the angle of the finger joints, the coupling driving of the proximal interphalangeal joint is realized by a passive tendon, and the coupling extension and buckling actions of the ring finger and the little finger are realized by only one driving wire; the number of movable joints is increased, more and more complex hand actions can be realized, balance is realized in functionality and driving number, more common and complex finger movements can be assisted and completed by the rehabilitation aid glove, unnecessary joint driving is avoided, driving number is optimized, and device weight is reduced. In addition, the fingerstall of forefinger and middle finger is different from traditional integrative guy type fingerstall, has adopted the design of hinge formula, based on the geometrical relationship of fingerstall model, can control hand joint angle through the change of line length. And a flexible connecting piece capable of resisting bending torque and self-adapting bending, compressing and stretching is added for the metacarpophalangeal joints so as to drive the stretching, buckling and abduction and adduction movements of the metacarpophalangeal joints separately.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a back view of a rehabilitation aid glove according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the overall structure of a palm view of a rehabilitation aid glove according to an embodiment of the present invention.
Fig. 3 is a schematic view of a back view structure of a hand wearable part according to an embodiment of the invention.
Fig. 4 is a schematic diagram of a palm view structure of a hand wearable part according to an embodiment of the invention.
Fig. 5 is a schematic view of a structure of a back view of a flexible joint according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a palm view structure of a flexible joint according to an embodiment of the present invention.
FIG. 7 is a schematic diagram of a finger-operated glove according to an embodiment of the invention.
FIG. 8 is a schematic diagram of a finger-operated sheath according to an embodiment of the present invention.
Fig. 9a is a schematic view of a metacarpophalangeal joint extension/flexion driving line when the index finger abduction/adduction angle is 0 in the embodiment of the present invention.
Fig. 9b is a schematic view of a metacarpophalangeal joint extension/flexion driving line when the index finger abduction/adduction angle is θ in the embodiment of the present invention.
FIG. 10 is a schematic diagram of the relationship between the proximal interphalangeal joint and the distal interphalangeal joint angle of the index finger cuff coupled by the passive tendon in an embodiment of the present invention.
In the figure: 1-driving finger cuff, 110-first knuckle, 111-upper passive tendon track, 120-second knuckle, 121-lower passive tendon track, 122-passive tendon, 123-proximal interphalangeal joint driving wire, 124-proximal interphalangeal joint driving wire track, 130-third knuckle, 131-metacarpophalangeal joint driving wire track, 132-upper metacarpophalangeal joint dorsum linkage member, 133-metacarpophalangeal joint driving wire, 134-upper passive support fixture; 2-connection joint, 210-connection piece, 211-driving shaft, 212-first driving disc, 213-lower metacarpophalangeal joint back of hand linkage member, 220-flexible passive support piece, 221-lower passive support fixing piece, 222-gasket, 223-screw; 3-hand fixing wearing parts, 310-back fixing plates, 311-flexible magic tapes, 312-back wire diameter guiding parts, 313-flexible wire pipes, 314-flexible wire pipe fixing parts, 315-abduction adduction driving wires and 316-rotating bases; 320-palm fixing plate, 321-extension buckling flexible line pipe, 322-passive support rotating shaft, 323-support shaft, 324-second driving disc, 325-disc fixing piece.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
The invention provides a hard-soft coupled line-driven rehabilitation aid glove which comprises a glove wearing mechanism and a far-end driving device.
As shown in fig. 1 and 2, the glove wearing mechanism includes a hand fixing wearing part 3 and four driving finger cuffs 1, which are connected with each other by a flexible connection joint 2 and a string.
As shown in fig. 3 and 4, the hand fixing wearing part 3 includes a back fixing plate 310 located at the back of the hand and a palm fixing plate 320 located at the palm, and a guide part and a transmission part of a driving wire are provided on each fixing plate. The palm and the fixed plate of the back of the hand are connected through flexible magic tape 311 and are worn on the hand of a patient. As shown in fig. 1 and 2, the finger sleeve structure of different fingers is designed differently. The ring finger and the little finger have simple movement modes, the fingerstall adopts the traditional integrated design, only one driving wire is wound, and the two fingers are driven by one driving steering engine. The index finger and the middle finger sleeve adopt hinged finger sleeves, and can independently control the extension and buckling of metacarpophalangeal joints and proximal interphalangeal joints and the abduction and adduction movements of metacarpophalangeal joints.
The remote driving device comprises a driving steering engine and a control board which are arranged on the back.
As shown in fig. 3, the back-of-hand fixation plate 310 is provided with a finger abduction and adduction driving transmission structure. On the back fixation plate 310, the abduction and adduction driving wires 315 of the index finger and the middle finger are wound on the metacarpophalangeal joint abduction (first) driving disc 212 through the flexible wire tube 313, the (first) driving disc 212 is connected with the driving shaft 211 through interference fit, and the driving shaft 211 is connected with the lower metacarpophalangeal joint back linkage member 213 through interference fit; one end of the flexible conduit 313 is connected with the flexible conduit fixing member 314 in an interference fit manner, the flexible conduit fixing member 314 is installed in a screw hole of the back of hand fixing plate through threads, and the other end of the flexible conduit 313 is fixed on the back of hand through the back of hand wire diameter guiding member 312.
As shown in fig. 4, palm rest 320 is provided with a finger extension flex drive structure and corresponding transmission and guide structures. The palm fixing plate 320 is provided with 6 flexible extension and buckling conduits 321 which are integrally manufactured with the palm fixing plate, and drive wires pass through the flexible extension and buckling conduits, wherein 2 drive extension and buckling of ring fingers and little fingers, 2 drive extension and buckling of middle finger and index finger metacarpophalangeal joints, and 2 drive extension and buckling of middle finger and index finger proximal interphalangeal joints; the arrangement of the driving lines is different due to different driving modes of different fingers: the drive wires of the middle finger and the index finger pass through the flexible wire tube 321, are wound on the (second) drive disc 324 with the groove, and then pass upwards through the drive wire track on the fingerstall; the (second) driving disk 324 is fitted over the supporting shaft 323 of the fixed plate and restrained from axial movement by the disk holder 325. When the extension and flexion driving line moves, the two ends of the metacarpophalangeal joint driving line 133 of the index finger move downwards together, the driving disc rotates on the fixed shaft, and the metacarpophalangeal joint is driven to bend by the driving line.
As shown in fig. 9a and 9b, when the index finger performs the abduction and adduction movement, the total length of the portion of the metacarpophalangeal joint driving line 133 exposed to the outside of the track is not changed, so that the abduction and adduction movement of the metacarpophalangeal joint does not affect the extension and flexion joint angle of the metacarpophalangeal joint. The ring finger and the little finger only keep stretching and buckling movement, and the driving wire does not pass through the guiding structures such as the disc and the like and directly passes through the driving wire track on the fingerstall upwards. In the embodiment of the present invention, as shown in fig. 9a, when the abduction angle is 0, the lengths of the exposed driving lines on the left and right sides of the metacarpophalangeal joint are L2 and L3 respectively, the lengths of the center lines of the metacarpophalangeal joints corresponding to the two are L1, and the distances between the two and the lower end of the center line are r, at this time, l2+l3=2l1; as shown in fig. 9b, when the adduction θ angle is extended, the driving line on the finger is inclined to one side with respect to the palm, at this time:
L2＝L1-rsin(θ)
L3＝L1+rsin(θ)
L2+L3＝2L1
thus, the total length of the portion of the metacarpophalangeal joint drive line 133 exposed outside the rail is unchanged.
As shown in fig. 3 and 4, the left side and the right side of the back and the palm fixing plate are respectively designed with positioning slots, and each flexible magic tape 311 is worn and fixed on the hand of the patient through the corresponding positioning slots on the back and palm fixing plate. The shape of the back of hand fixed plate and palm fixed plate is designed according to patient's hand shape to accord with patient's hand curve, make the patient wear more comfortablely.
As shown in fig. 5, the back of hand fixing plate 310 and the driving fingerstall 1 are connected by a flexible connection joint 2; the metacarpophalangeal joint abduction adduction (first) drive disk 212 is interference-fitted with the drive shaft 211, and the drive shaft 211 passes through the rotation base 316 on the back of hand fixing plate, interference-fitted with the lower metacarpophalangeal joint back of hand linking member 213. The abduction adduction drive line 315 is wound around the (first) drive disc 212, and when the drive line 315 pulls the (first) drive disc 212, the disc rotates around the (first) drive shaft 211 as a center of a circle, and drives the drive shaft 211 in interference fit with the (first) drive shaft 211, and the drive shaft transmits the rotation to the lower metacarpophalangeal joint back of hand linkage member 213. The two ends of the flexible connector 210 are designed into a trapezoid shape with a small upper part and a big lower part, and are tightly fixedly connected with the lower metacarpophalangeal joint back linkage member 213 and the upper metacarpophalangeal joint back linkage member 132 at the lower end of the driving fingerstall, and grooves which are consistent with the shapes of the two ends of the flexible connector are formed on the two fixing parts.
As shown in fig. 5, the flexible connection unit 210 is elongated and long in shape when seen from the side, is rectangular with a certain width when seen from the front of the back of the hand, and is provided with corrugated flexible components at the upper part, and the flexible components are integrally printed and formed by using softer materials. The structure of the connecting piece has better resistance to the abduction and adduction movements of the finger, can carry out better adaptive deformation on the flexion behaviors of the finger, and has certain restoring force and supporting force; therefore, the flexible connecting piece can be used as a connecting part of the dorsum manus fixing plate and the driving finger sleeve at the metacarpophalangeal joint to transfer the abduction and adduction movement of the dorsum manus driving structure, and meanwhile, the flexible connecting piece is passively adapted to the extension and buckling of fingers, and does not prevent the metacarpophalangeal joint from being driven by the extension and buckling driving line of the palm.
As shown in fig. 6, the palm fixing plate 320 and the driving fingerstall 1 are connected by the flexible joint 2; the passive supporting rotation shaft 322 on the palm fixing plate 320 passes through the round hole of the lower passive supporting fixing piece 221, and the gasket 222 and the self-tapping screw 223 are mounted on the passive supporting rotation shaft 322 to limit the axial displacement of the fixing piece 221; the palm metacarpophalangeal joint flexible passive support 220 is designed to have a trapezoid shape with a small upper part and a large lower part, and is tightly fixedly connected with the lower passive support fixing part 221 and the upper passive support fixing part 134 at the lower end of the fingerstall, and grooves which are consistent with the shapes of the two ends of the flexible passive support are formed on the two fixing parts.
As shown in fig. 6, the flexible passive support 220 of the palm portion is elongated and distributed with a paper folding structure, and is rectangular with a certain width when seen from the front of the palm, in order to distinguish the abduction and adduction of the metacarpophalangeal joints from the flexion movement, the structure has small deformation for the moment perpendicular to the palm, can generate large compression deformation for the longitudinal pressure, and can recover the original shape after the pressure is released, so that the flexible connection has better resistance to the abduction and adduction movement of the finger, can perform better adaptive deformation for the flexion action of the finger, and has certain restoring force and supporting force. The flexible passive support can be used as a connecting support part of the palm fixing plate 320 and the driving finger sleeve at the metacarpophalangeal joint, and can be used for passively adapting to the abduction and adduction movements and buckling movements of fingers.
As shown in fig. 1 and 2, each driving finger stall 1 is respectively connected with a palm fixing plate 320 and a back fixing plate 3 through two flexible connection joints 2; the driving wire is driven by a driving structure positioned on the fixed plate and passes through the guide part on the fixed plate and the wire track on the fingerstall, thereby realizing the driving of the fingerstall. According to the kinematics of different fingers, different line driving modes and driving line tracks are correspondingly designed; according to the analysis result of finger kinematics, the movement behaviors of the ring finger and the little finger in the daily actions such as grasping and the like have high synergism, and the movement of abduction and adduction is less, so that the ring finger and the little finger only keep the extension and buckling behaviors, are designed into the traditional integral stay wire fingerstall, and are driven by the same driving tendon. The middle finger and the index finger keep the abduction and adduction movements and the extension and buckling movements of the metacarpophalangeal joints and the extension and buckling movements of the proximal interphalangeal joints so as to meet the richer grabbing behaviors, daily hand movements and smart operation.
As shown in fig. 7 and 8, the index finger and the middle finger of the convalescence assisting glove driven by the rigid-flexible coupling line are composed of a plurality of sections of finger joints, and the direction from the fingertip to the metacarpophalangeal joint is respectively a first finger joint 110, a second finger joint 120 and a third finger joint 130, the third finger joint 130 and a palm back fixing plate are fixed by a flexible connecting piece 210 and a flexible passive supporting piece 220, the second finger joint 120 and the third finger joint 130 are connected through a hinge, and the second finger joint 120 and the first finger joint 110 are also connected through a hinge; the first knuckle and the second knuckle are distributed with upper passive tendon tracks 111 and lower passive tendon tracks 121, the passive tendons 122 penetrate through the tracks, and two ends of the passive tendons 122 are fixed at the upper end of the third knuckle 130; proximal interphalangeal joint driving wire tracks 124 are distributed on the second knuckle 120 and the third knuckle 130, and proximal interphalangeal joint driving wires 123 are fixed on the second knuckle 120 through the wire tracks 124; the third knuckle 130 has a metacarpophalangeal joint drive line rail 131 disposed thereon, and the metacarpophalangeal joint drive line 133 extends from the palm fixing plate 320 through the line rail on the third knuckle, and the third knuckle has an upper metacarpophalangeal joint back-hand linkage member 132 and an upper passive support fixture 134 disposed thereon.
As shown in fig. 7, when the metacarpophalangeal joint drive line 133 is pulled downward by the distal end driving means, the metacarpophalangeal joint is flexed forward, the flexible passive support 220 is compressed, and the flexible connection joint 210 of the back of the hand is stretched; when the proximal interphalangeal joint driving wire 123 is pulled by the distal driving device, the distance between the two ends of the wire track 124 is reduced, so that the proximal interphalangeal joint flexes, the lower end of the passive tendon 122 (between the second and third knuckles and at the outer portion of the tendon track) is increased due to the flexing length of the joint, and the length of the upper end of the passive tendon 122 (between the first knuckle and the second knuckle and at the outer portion of the tendon track) is reduced due to the constant total length of the passive tendon, so that the distal interphalangeal joint flexes is pulled. The design ensures that the far-end interphalangeal joint is influenced by the change of the near-end interphalangeal joint, thereby realizing the coupling driving of the two joints, conforming to the phenomenon of human hand kinematics and reducing the driving quantity.
In addition, as shown in fig. 10, the relationship between the distal interphalangeal joint and the proximal interphalangeal joint is established by the geometric relationship of the hinged finger cuff structure, and the design parameters can be optimized with reference to the data of finger kinematics and the cooperative movement between the joints, so that the coupling relationship between the finger cuff joints more conforms to the actual movement condition of the joints. In the embodiment of the invention, the relationship between the distal fingers of the first and second knuckles is constructed, and the length of the passive tendon 122 between the upper passive tendon rail 111 and the lower passive tendon rail 121 is L 1 Based on the rotation center point of the first knuckle 110 relative to the second knuckle 120, the distances from the center point to the upper passive tendon rail 111 and the lower passive tendon rail 121 are all R 1 Angle is theta 1 The method comprises the steps of carrying out a first treatment on the surface of the Similarly, the proximal interphalangeal relationship of the second and third knuckles is constructed such that the proximal interphalangeal drive line track 124 has a length of the proximal interphalangeal drive line 123 between the digitsL 2 And based on the center point of rotation of the second knuckle 120 relative to the third knuckle 130, the distances from the center point to the proximal interphalangeal joint driving line tracks 124 of the second and third knuckles are all R 2 Angle is theta 2 The method comprises the steps of carrying out a first treatment on the surface of the Similarly, a length L of the lower passive tendon rail 121 and the passive tendon 122 fixed between the upper ends of the third knuckle 130 is constructed 3 Based on the rotation center point of the second knuckle 120 relative to the third knuckle 130, the distance from the center point to the lower passive tendon track 121 and the upper end of the third knuckle 130 is R 2 Angle is theta 3 The method comprises the steps of carrying out a first treatment on the surface of the Correspondingly, θ 2 And theta 3 Between them are respectively theta 5 And theta 4 Setting l=l 1 +L 3 Then:
L 1 ＝L-L 3
θ DIP ＝θ 1_initial -θ 1
θ DIP ＝θ 2_initial -θ 2
wherein θ DIP Represents the angle of rotation, θ, of the distal interphalangeal joint (DIP, distal interphalangeal joints) PIP Indicating the angle of rotation of the proximal interphalangeal joint (PIP, proximal interphalangeal joints); θ 1-initial Represents θ 1 Is the initial angle of theta 1 The angle of change, i.e. the angle of rotation of the DIP joint, θ 2-initial Represents θ 2 Is the initial angle of theta 2 The angle of change is the angle of rotation of the PIP joint.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the technical solutions according to the embodiments of the present invention.
Claims (10)
1. The utility model provides a line drive rehabilitation helping hand gloves of rigid-flexible coupling, includes glove wearing mechanism and distal end drive arrangement, its characterized in that: the glove wearing mechanism comprises a driving fingerstall (1), a connecting joint (2), a hand fixing wearing part (3) and a driving wire, wherein the driving fingerstall (1) is connected with the hand fixing wearing part (3) through the connecting joint (2), and the driving wire is wound on the driving fingerstall (1) and driven by a far-end driving device to control the movement of the driving fingerstall (1).
2. The hard-soft coupled line-driven rehabilitation aid glove according to claim 1, wherein: the driving wire comprises an abduction adduction driving wire (315), the back of the hand fixing wearing part (3) is provided with a rotating base (316), the connecting joint (2) comprises a connecting piece (210), a lower metacarpophalangeal joint back of hand linkage member (213), a first driving disc (212) and a driving shaft (211), one side of the lower metacarpophalangeal joint back of hand linkage member (213) is connected with the driving fingerstall (1) through the connecting piece (210), the other side is matched with the rotating base (316) and the first driving disc (212), the driving shaft (211) is sleeved with the sleeve, the lower metacarpophalangeal joint back of hand linkage member (213) and the first driving disc (212) are in interference connection with the driving shaft (211), the abduction adduction driving wire (315) is wound on the first driving disc (212), and two ends of the abduction adduction driving wire (315) are connected with a far-end driving device.
3. A rigid-flexible coupled line-driven rehabilitation assistance glove according to claim 2, wherein: the back of the finger of the driving knuckle (1) is provided with a metacarpophalangeal joint back of hand linkage member (132), the metacarpophalangeal joint back of hand linkage member (132) and the metacarpophalangeal joint back of hand linkage member (213) are provided with inverted trapezoidal grooves which are matched with the two ends of the longitudinal section of the connecting piece (210) in a trapezoid shape with the inner part smaller than the outer part larger than the inner part.
4. The hard-soft coupled line-driven rehabilitation aid glove according to claim 1, wherein: the driving wire comprises a metacarpophalangeal joint driving wire (133), a pair of transmission parts are arranged on the palm surface of the hand fixing wearing part (3) in a matched mode for a single driving fingerstall (1), the transmission parts comprise a supporting shaft (323), a second driving disc (324) and a disc fixing piece (325), the supporting shaft (323) is fixedly connected with the palm surface, the second driving disc (324) is sleeved on the supporting shaft (323) and limits axial movement of the supporting shaft through the disc fixing piece (325), after the metacarpophalangeal joint driving wire (133) winds the second driving disc (324) of one transmission part, the second driving disc (324) of the other transmission part is wound around the back surface of the driving fingerstall (1), and two ends of the metacarpophalangeal joint driving wire (133) are connected with a far-end driving device.
5. The hard and soft coupled line driven rehabilitation aid glove according to claim 4, wherein: the driving wire also comprises a near-end interphalangeal driving wire (123), the driving fingerstall (1) is a first knuckle (110) which is movably connected in sequence from a fingertip to a metacarpophalangeal joint, a second knuckle (120) and a third knuckle (130), upper and lower passive tendon tracks (111) and lower passive tendon tracks (121) are correspondingly arranged on the first knuckle (110) and the second knuckle (120), and a corresponding near-end interphalangeal joint driving wire track (124) is arranged on the second knuckle (120) and the third knuckle (130); the passive tendon (122) winds the first knuckle (110) and the second knuckle (120) through the upper passive tendon track (111) and the lower passive tendon track (121), two ends of the passive tendon (122) are fixed on the third knuckle (130), one end of a proximal interphalangeal joint driving line (123) penetrates through the proximal interphalangeal joint driving line track (124) to be connected with the second knuckle (120), the other end of the proximal interphalangeal joint driving line is connected with the distal driving device, and the third knuckle (130) is connected with the hand fixing wearing part (3) through the connecting joint (2).
6. The hard and soft coupled line driven rehabilitation aid glove according to claim 5, wherein: building a geometric relationship by the relative positions of adjacent knuckles:
L 1 ＝L-L 3
θ DIP ＝θ 1_initial -θ 1
θ PIP ＝θ 2_initial -θ 2
wherein L is 1 Represents the length of the passive tendon (122) between the upper passive tendon track (111) and the lower passive tendon track (121), R 1 And theta 1 Respectively representing the distance from the center point of the buckling rotation of the first knuckle (110) relative to the second knuckle (120) to the upper passive tendon rail (111) and the lower passive tendon rail (121) and the formed angle; l (L) 2 Indicating the length of the proximal interphalangeal drive line (123) between the proximal interphalangeal joint drive line track (124) of the second and third knuckles, R 2 And theta 2 Representing the distance and angle formed based on the center point of rotation of the second knuckle (120) relative to the third knuckle (130) to the proximal interphalangeal joint driving line trajectory (124) of the second and third knuckles, respectively; l (L) 3 Represents the length of the lower passive tendon track (121) and the passive tendon (122) fixed between the upper ends of the third knuckle (130), R 2 And theta 3 Respectively representing the distance and the angle formed between the lower passive tendon orbit (121) and the third knuckle (130) based on the center point of rotation of the second knuckle (120) relative to the third knuckle (130); θ 2 And theta 3 Correspondingly, the upper and lower parts are respectively theta 5 And theta 4 ，L＝L 1 +L 3 ；
θ DIP Represents the rotation angle of the DIP of the far-end interphalangeal joint, theta PIP Indicating the angle of rotation of the proximal interphalangeal joint PIP; θ 1-initial Represents θ 1 Is the initial angle of theta 1 The angle of change, i.e. the angle of rotation of the DIP, θ 2-initial Represents θ 2 Is the initial angle of theta 2 The angle of change is the angle of rotation of the PIP joint.
7. The hard-soft coupled line-driven rehabilitation aid glove according to claim 1, wherein: the connecting joint (2) comprises connecting pieces (210) of corrugated flexible materials which are transversely arranged, one ends of the connecting pieces (210) are connected with the back sides of the hands of the hand fixing and wearing parts (3), and the other ends of the connecting pieces are connected with the back sides of the fingers of the driving finger cots (1).
8. The hard-soft coupled line-driven rehabilitation aid glove according to claim 1, wherein: the connecting joint (2) comprises a flexible passive support piece (220) with a transverse paper folding structure, one end of the flexible passive support piece (220) is connected with the palm surface of the hand fixing wearing part (3), and the other end of the flexible passive support piece is connected with the dactylotheca surface of the driving dactylotheca (1).
9. The hard-soft coupled line-driven rehabilitation aid glove according to claim 1, wherein: the finger belly department of drive dactylotheca (1) is equipped with passive support mounting (134), connect joint (2) including passive support piece (220) and lower passive support mounting (221), all be equipped with down trapezoidal recess on passive support mounting (134) and the lower passive support mounting (221), be interior little big trapezoidal cooperation setting outside with passive support piece longitudinal section both ends, lower passive support mounting (221) are connected with the palm face of fixed wearing part (3) of hand.
10. The hard-soft coupled line-driven rehabilitation aid glove according to claim 1, wherein: the hand fixing and wearing part (3) is characterized in that a passive supporting rotating shaft (322) is arranged on the palm surface of the hand fixing and wearing part (3), the connecting joint (2) comprises a passive supporting piece (220), a lower passive supporting fixing piece (221), a gasket (222) and a screw (223), the passive supporting rotating shaft (322) penetrates through a round hole in the lower passive supporting fixing piece (221) and is fixed through the gasket (222) and the screw (223), and the lower passive supporting fixing piece (221) is connected with the finger belly of the driving finger sleeve (1) through the passive supporting piece (220).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310053502.XA CN116138991A (en) | 2023-02-03 | 2023-02-03 | Hard-soft coupled line-driven rehabilitation assistance glove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310053502.XA CN116138991A (en) | 2023-02-03 | 2023-02-03 | Hard-soft coupled line-driven rehabilitation assistance glove |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116138991A true CN116138991A (en) | 2023-05-23 |
Family
ID=86361377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310053502.XA Pending CN116138991A (en) | 2023-02-03 | 2023-02-03 | Hard-soft coupled line-driven rehabilitation assistance glove |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116138991A (en) |
-
2023
- 2023-02-03 CN CN202310053502.XA patent/CN116138991A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110711110B (en) | Push-down under-actuated finger rehabilitation training device | |
| CN111643315B (en) | Flexible hand function rehabilitation device based on rope drive | |
| CN106943279B (en) | Hand exoskeleton and two-hand follow-up rehabilitation device | |
| KR101126637B1 (en) | Upper-limb rehabilitation robot and parallel link mechanism therefor | |
| CN110731880B (en) | Flexible rehabilitation exoskeleton glove | |
| CN104970949A (en) | Wearable type pneumatic muscle and knuckle active/passive rehabilitation training device | |
| CN207605121U (en) | Wearable restoring gloves | |
| CN110037890B (en) | Hand function rehabilitation exoskeleton robot based on double four-bar mechanism | |
| CN109907939B (en) | Finger movement rehabilitation training robot based on lasso driving and myoelectricity control | |
| WO2019007314A1 (en) | Knuckle rehabilitation exercise aid | |
| CN111888184B (en) | Hand exoskeleton for rehabilitation robot | |
| CN106580634A (en) | Portable hand hemiplegia rehabilitation exercise assisting device | |
| CN111789740A (en) | Joint rehabilitation manipulator | |
| Ertas et al. | Finger exoskeleton for treatment of tendon injuries | |
| CN214318519U (en) | Rigid-flexible exoskeleton glove device based on line driving | |
| CN211244396U (en) | Connecting rod gear transmission's recovered ectoskeleton hand device | |
| CN116138991A (en) | Hard-soft coupled line-driven rehabilitation assistance glove | |
| CN108272597B (en) | Wearable hand rehabilitation training and auxiliary movement equipment | |
| CN212880062U (en) | Joint rehabilitation manipulator | |
| CN206934297U (en) | Portable hand hemiparalysis recovery exercise aid device | |
| CN110101541A (en) | A kind of portable auxiliary exercising apparatus for recovery of upper limb | |
| CN114432091A (en) | Seven-degree-of-freedom linkage multi-joint wearable rehabilitation mechanical glove | |
| CN209933408U (en) | Finger bending and stretching movement mechanism for exoskeleton hand rehabilitation robot | |
| CN210145017U (en) | Wearable hand mechanical exoskeleton with auxiliary grasping and rehabilitation training functions | |
| JP2022531082A (en) | A therapeutic device equipped with a finger movement rail for performing continuous, passive, and / or actively assisting the movement of the patient's finger and / or thumb, as well as this type of finger movement rail. |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |