CN206809654U - Finger rehabilitation exercise instrument and system - Google Patents
Finger rehabilitation exercise instrument and system Download PDFInfo
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- CN206809654U CN206809654U CN201720458058.XU CN201720458058U CN206809654U CN 206809654 U CN206809654 U CN 206809654U CN 201720458058 U CN201720458058 U CN 201720458058U CN 206809654 U CN206809654 U CN 206809654U
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- finger
- movable contact
- rehabilitation exercise
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- exercise instrument
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Abstract
The utility model provides a kind of finger rehabilitation exercise instrument and system, is related to rehabilitation automatic machinery technical field, including：Arm support portion, finger training portion and main frame；Above-mentioned arm support portion is used for the arm for fixing and supporting user；The drive device that finger training portion includes multiple movable contacts, is connected respectively with each movable contact；Each movable contact is both provided with force sensor and position sensor；Main frame is provided with the first interface being connected with force sensor and position sensor, and the second interface being connected with drive device；Main frame receives the dynamics information and positional information for the movable contact that force sensor and position sensor gather by first interface；After main frame contrasts to dynamics information and positional information, drive device is controlled to drive movable contact to move by second interface.The utility model can provide most suitable auxiliary dynamics and bit shift compensation according to the motion conditions of patient's finger, so as to reach more preferable training effect.
Description
Technical field
Rehabilitation automatic machinery technical field is the utility model is related to, more particularly, to a kind of finger rehabilitation exercise instrument and is
System.
Background technology
The upper limbs and hand dysfunction of the patient of the central lesions such as spinal injury, brain trauma and apoplexy is most normal
The problem of seeing, the recovery for suffering from hand function are related to the quality of life of patient, and rehabilitation intervenes more early, and the possibility of functional rehabilitation is just
It is bigger, and specific functional training is essential in the process.For the rehabilitation training of finger, now generally using base
In rehabilitation physical therapy teacher, manually mode is trained.In order to allow patient independently to carry out rehabilitation training, it is necessary to the training of automation
Machine, the automatic machinery that existing auxiliary Physical Therapist is trained, is only capable of carrying out simple joint motion training, rehabilitation efficacy
Difference.
For above-mentioned physiotherapy automatic machinery rehabilitation efficacy difference the problem of, not yet propose effective solution at present.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of finger rehabilitation exercise instrument and system, to improve finger
The effect of rehabilitation training.
In a first aspect, the utility model embodiment provides a kind of finger rehabilitation exercise instrument, including：Arm support portion, hand
Refer to training department and main frame；Above-mentioned arm support portion is used for the arm for fixing and supporting user；Finger training portion includes multiple work
Moving contact, the drive device being connected respectively with each movable contact；Each movable contact is both provided with force sensor and position
Sensor；Main frame is provided with the first interface being connected with force sensor and position sensor, and be connected with drive device
Second interface；Main frame by first interface receive the movable contact that force sensor and position sensor gather dynamics information and
Positional information；After main frame contrasts to dynamics information and positional information, drive device driving activity is controlled by second interface
Contact moves.
With reference in a first aspect, the utility model embodiment provides the first possible embodiment of first aspect, its
In, drive device includes multiple stepper motors and the multiple high-precision chains matched with stepper motor；Movable contact passes through connection
Part is connected with high-precision chain；High-precision chain-driving movable contact moves back and forth along the finger orientation of user.
With reference in a first aspect, the utility model embodiment provides second of possible embodiment of first aspect, its
In, force sensor and position sensor are arranged at the bottom of movable contact.
With reference to the first possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Three kinds of possible embodiments, wherein, finger training portion also includes finger spacing adjusting device, the regulation of finger spacing adjusting device
Spacing between high-precision chain is to adjust the spacing between movable contact.
With reference in a first aspect, the utility model embodiment provides the 4th kind of possible embodiment of first aspect, its
In, movable contact includes two the first contacts and four the second contacts；First contact is used for the thumb of regular user, and second touches
The moving direction of head be arranged in parallel, remaining four finger for regular user；The moving direction of first contact and the second contact
Moving direction is vertical.
With reference to the first possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Five kinds of possible embodiments, wherein, finger training portion also includes emergency stop button, and emergency stop button connects with stepper motor
Connect.
With reference in a first aspect, the utility model embodiment provides the 6th kind of possible embodiment of first aspect, also
Including firm banking；Finger training portion is connected by connecting shaft with firm banking；Finger training portion is by angle adjustment valve around even
Spindle rotates.
With reference to the 6th kind of possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Seven kinds of possible embodiments, wherein, firm banking includes lifting column, and connecting shaft is provided with lifting column.
With reference in a first aspect, the utility model embodiment provides the 8th kind of possible embodiment of first aspect, its
In, arm support portion includes half parcel and at least one fixing band, and the both ends of fixing band are connected with half parcel respectively.
Second aspect, the utility model embodiment also provide a kind of finger rehabilitation exercise system, including：Display, input
The finger rehabilitation exercise instrument that one of device and first aspect and its possible embodiment provide, the display and the input unit
It is connected respectively with the main frame.
The utility model embodiment brings following beneficial effect：
Finger rehabilitation exercise instrument provided by the utility model and system, including finger training portion, the finger training portion include
Multiple movable contacts, each movable contact are both provided with force sensor and position sensor, and main frame is received by first interface
The dynamics information and positional information of force sensor and the movable contact of position sensor collection；Main frame is to dynamics information and position
After information is contrasted, drive device is controlled to drive movable contact to move by second interface, can be according to the fortune of patient's finger
Emotionally condition provides most suitable auxiliary dynamics and bit shift compensation when needing, so as to help and encourage patient to complete more instructions
Practice number, so as to reach more preferable training effect.
Other feature and advantage of the present utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages are illustrating
Specifically noted structure is realized and obtained in book, claims and accompanying drawing.
To enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, preferred embodiment cited below particularly, and
Accompanying drawing appended by cooperation, is described in detail below.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those skilled in the art, do not paying creative work
On the premise of, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation for the finger rehabilitation exercise instrument that the utility model embodiment provides；
Fig. 2 is the structural representation in the finger training portion that the utility model embodiment provides；
Fig. 3 is the structural representation for the drive device that the utility model embodiment provides；
Fig. 4 is the auxiliary control flow schematic diagram that the utility model embodiment provides；
Fig. 5 is the structured flowchart based on neutral net self-adapting intelligent control software that the utility model embodiment provides.
Icon：
11- arm supports portion；12- finger trainings portion；The parcels of 111- half；112- fixing bands；The contacts of 122- first；123-
Second contact；21- emergency stop buttons；22- finger spacing adjusting devices；31- driving wheels；32- high accuracy chains；33- is driven
Wheel；34- connectors.
Embodiment
To make the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with accompanying drawing to this
The technical scheme of utility model is clearly and completely described, it is clear that described embodiment is that the utility model part is real
Apply example, rather than whole embodiments.Based on the embodiment in the utility model, those skilled in the art are not making creation
Property work under the premise of the every other embodiment that is obtained, belong to the scope of the utility model protection.
The patient of the central lesion such as spinal injury, brain trauma and apoplexy independently carries out oneself of rehabilitation training at present
Dynamicization training machine, it is only capable of carrying out simple joint motion training, can not be fed back according to the actual motion situation of the finger of patient
It is adjusted, rehabilitation efficacy is poor.Based on this, a kind of finger rehabilitation exercise instrument and system that the utility model embodiment provides can
To improve the effect of finger rehabilitation exercise.
For ease of understanding the present embodiment, a kind of finger gymnastic disclosed in the utility model embodiment is instructed first
Practice instrument to describe in detail.
Embodiment 1
The utility model embodiment 1 provides a kind of finger rehabilitation exercise instrument, and the finger rehabilitation exercise instrument includes arm branch
Support part, finger training portion and main frame.
The structural representation of finger rehabilitation exercise instrument shown in Figure 1, illustrated therein is arm support portion 11 and finger
Training department 12, is not shown main frame.Preferably, above-mentioned main frame can be the major body beyond computer removing input-output equipment
Part, preferably include CPU, internal memory, hard disk, power supply and other IOCs and interface.
Wherein arm support portion 11 is used for the arm for fixing and supporting user.Specifically, arm support portion 11 includes half
Parcel and at least one fixing band, the both ends of fixing band are connected with half parcel respectively, and figure 1 illustrates half parcel
111 and three fixing bands 112, wherein the wrist of a regular user of fixing band 112, two regular users of fixing band 112
Arm, ensure user carry out finger training during arm keep stationary state.
The structural representation in finger training portion shown in Figure 2, finger training portion 12 include multiple movable contacts and with
The drive device (in the inside in finger training portion, being not shown) that each movable contact connects respectively.Each movable contact is set
There are a force sensor and a position sensor.Preferably, force sensor and position sensor are arranged at movable contact
Bottom.Also show movable contact in fig. 2 includes two the first contacts 122 and four the second contacts 123；Wherein, two
First contact 122 is respectively used to right-hand man's thumb of immobilized patients, and the second contact 123 is used for remaining four finger of regular user.
In order to meet the actual distribution situation of finger, and combined training is acted, and the moving direction of the second contact of aforementioned four 123 is parallel to be set
Put, the moving direction of the first contact 122 is vertical with the moving direction of the second contact 123.Meanwhile the shifting of above-mentioned second contact 123
Dynamic direction is parallel with the bearing of trend in arm support portion, for train patient in addition to thumb four refer to stretch and flexure operation；
The moving direction of first contact 122 is vertical with the bearing of trend in arm support portion, for training stretching and bending for patient's thumb
Action.
In order to measure the motion conditions of every of patient finger (dynamics and speed of finger), at the bottom of each movable contact
Portion is both provided with a force sensor and a position sensor.Wherein, force sensor detection patient's finger is applied to work
The dynamics value of moving contact, it is to be appreciated that make and stretching or during flexure operation in patient, dynamics value it is in opposite direction；Position
Sensor is used for the current location for detecting movable contact.
Main frame is provided with the first interface being connected with force sensor and position sensor, and be connected with drive device
Second interface；Main frame by first interface receive the movable contact that force sensor and position sensor gather dynamics information and
Positional information；After main frame contrasts to dynamics information and positional information, drive device driving activity is controlled by second interface
Contact moves.
Above-mentioned drive device includes multiple stepper motors and the multiple high-precision chains matched with stepper motor；Movable contact
It is connected by connector with high-precision chain；High-precision chain-driving movable contact moves back and forth along the finger orientation of user.
The structural representation of drive device shown in Figure 3, it illustrated therein is the driving wheel 31 and height of the stepper motor of one group of matching
Precision chain 32, further it is shown that the driven pulley 33 matched with high-precision chain 32.Connector is fixed with high-precision chain 32
34, the connecting portion 34 is used to connect movable contact.Wherein high-precision chain 32 can also be timing belt.
When using finger rehabilitation exercise instrument, the arm of patient is fixed in arm support portion, and finger is fixed on above-mentioned work
On moving contact, specifically, finger can use adhesive tape or magnet to be fixed on movable contact.The finger of patient, which can be made, to be stretched
The actions such as straight and bending, movable contact motion is driven, what force sensor and each finger of position sensor detection patient applied
The current location of strength and movable contact, and dynamics information and positional information are sent to main frame.Main frame is believed according to above-mentioned dynamics
Breath and positional information judge whether patient can not complete current action, and the stepper motor of drive device is controlled according to judged result
Rotate, so as to provide auxiliary dynamics and bit shift compensation when patient needs, help and encourage patient to complete more training time
Number, reaches more preferable training effect.
In view of patient's finger stretch and bending is occurred over just in certain limit, maximum mobile model be present in movable contact
Enclose, both ends in the direction of movement are stopped by the housing in finger training portion.Further, in order to prevent accident, above-mentioned hand
Referring to training department also includes emergency stop button, and as shown in Figure 2, the emergency stop button 21 is connected with stepper motor.When urgent
When stop button is pressed, control stepper motor stops immediately.
In order to adapt to the different patient of different hand sizes, finger training portion also includes finger spacing adjusting device,
As shown in Figure 2, finger spacing adjusting device 22 can adjust the spacing between high-precision chain to adjust between movable contact
Horizontal spacing.
Further, above-mentioned finger rehabilitation exercise instrument, in addition to firm banking.Finger training portion passes through connecting shaft and fixed bottom
Seat connection；Finger training portion is rotated by angle adjustment valve around connecting shaft.Above-mentioned firm banking also includes lifting column, the lifting
Connecting shaft is provided with column.By the said structure of firm banking, allow finger training portion and arm support portion relative to
Horizontal plane rotates and rise, reduction height, more comfortable using process so as to adapt to the position of different patient's arms.
Finger rehabilitation exercise instrument carries out above-mentioned judgement and provides the flow of auxiliary dynamics and bit shift compensation referring specifically to Fig. 4 institutes
The auxiliary control flow schematic diagram shown, comprises the following steps：
Step S41, gather the data of force sensor and position sensor.
When finger rehabilitation exercise instrument starts, movable contact is in free state.Above-mentioned collection can take timing acquiring
Mode, be preferably acquired with 100HZ sample frequency；Above-mentioned data include dynamics information and positional information, dynamics information
Including dynamics value and dynamics direction, positional information includes shift value and direction of displacement.It is accurate that the sensor can provide finger
Exercise data, so as to be laid the foundation for the follow-up feedback that becomes more meticulous.
Step S42, when detecting dynamics value and displacement changes, then keep free state.
The power that now finger of patient applies can overcome the resistance of finger training portion in itself, it is not necessary to provide auxiliary dynamics
Or displacement.Now stepper motor does not rotate, and movable contact does not exert a force.
Step S43, when detecting dynamics value but displacement is unchanged, there is provided auxiliary displacement.
When strong angle value but unchanged displacement, represent that patient can apply certain strength by finger to contact, still
Strength dynamics intensity is not enough to overcome resistance.Now then along detect dynamics direction driving contact move 1/100 finger
The displacement of scope of activities, by controlling stepper motor to realize.Therefore feedback can be provided according to the actual motion situation of patient,
Auxiliary dynamics and bit shift compensation are carried out, so as to help and encourage patient to complete to train more times, reaches more preferable training effect.Together
When the change of continuous test position and dynamics, enter if change in displacement caused by patient's positive force is detected according to step S41
Row state acquisition.
Step S44, acted when detecting dynamics direction with direction of displacement on the contrary, stopping stepper motor immediately.
Under normal circumstances, the direction of displacement and dynamics direction that finger drives are identicals, when detecting dynamics direction and position
When moving in opposite direction, show that finger training portion breaks down and acted, it is necessary to stop stepper motor immediately, and then contact of stopping action
Action, avoids bringing injury to patient.
The utility model embodiment additionally provides supporting based on the adaptive of neutral net with above-mentioned finger rehabilitation exercise instrument
Software is answered, the software can provide what is be best suitable for according to the motion conditions (dynamics and speed) of patient's finger when needing
Auxiliary dynamics and bit shift compensation, so as to help and encourage patient to complete more frequency of training, so as to reach more preferable training effect.
Structured flowchart based on neutral net self-adapting intelligent control software shown in Figure 5, wherein r (t) are that position and speed are defeated
Enter signal；Y (t) is the dynamics and position signalling of output；Up (t) is the output signal of PID controller；Ur (t) is neutral net
The output signal of controller；NN is Neural Network.In actual use, nerve network controller needs online learn
The use data of patient are practised, so as to realize Self Adaptive Control.Above-mentioned control software combines advanced ANN Control and warp
Allusion quotation PID control, it is achieved thereby that the high reliability and adaptivity of control system.
Finger rehabilitation exercise instrument provided by the utility model, including finger training portion, the finger training portion include multiple work
Moving contact, each movable contact are both provided with force sensor and position sensor, and main frame receives dynamics by first interface and passed
The dynamics information and positional information of sensor and the movable contact of position sensor collection；Main frame enters to dynamics information and positional information
After row contrast, drive device is controlled to drive movable contact to move by second interface, can be according to the motion conditions of patient's finger
Most suitable auxiliary dynamics and bit shift compensation are provided when needing, so as to help and encourage patient to complete more training time
Number, so as to reach more preferable training effect.
Embodiment 2
The utility model embodiment 2 provides a kind of finger rehabilitation exercise system, including display, input unit and implementation
The finger rehabilitation exercise instrument that example 1 provides, the main frame of display and input unit respectively with finger rehabilitation exercise instrument are connected.
The finger rehabilitation exercise system that the utility model embodiment provides, the finger rehabilitation exercise provided with above-described embodiment
Instrument has identical technical characteristic, so can also solve identical technical problem, reaches identical technique effect.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
With the specific work process of device, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In addition, in the description of the utility model embodiment, unless otherwise clearly defined and limited, term " installation ",
" connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integratedly be connected
Connect；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can
To be the connection of two element internals.To those skilled in the art, with concrete condition above-mentioned term can be understood in this reality
With the concrete meaning in new.
If above-mentioned function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, the technical solution of the utility model substantially or
Person says that the part of the part to be contributed to prior art or the technical scheme can be embodied in the form of software product,
The computer software product is stored in a storage medium, including some instructions are causing a computer equipment (can be with
Personal computer, server, or network equipment etc.) perform each embodiment of the utility model method all or part
Step.And foregoing storage medium includes：It is USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random
Access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with Jie of store program codes
Matter.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Above example, only specific embodiment of the present utility model, to illustrate this practicality
New technical scheme, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to foregoing implementation
The utility model is described in detail example, it should be understood by those skilled in the art that：Any skill for being familiar with the art
In the technical scope that the utility model discloses, it can still be carried out art personnel to the technical scheme described in previous embodiment
Modification can readily occur in change, or carry out equivalent substitution to which part technical characteristic；And these are changed, change or replace
Change, the essence of appropriate technical solution is departed from the spirit and scope of the utility model embodiment technical scheme, should all cover
Within the scope of protection of the utility model.Therefore, the scope of protection of the utility model should using scope of the claims as
It is accurate.
Claims (10)
- A kind of 1. finger rehabilitation exercise instrument, it is characterised in that including：Arm support portion, finger training portion and main frame；The arm support portion is used for the arm for fixing and supporting user；The finger training portion includes multiple movable contacts, the drive device being connected respectively with each movable contact；Each The movable contact is both provided with force sensor and position sensor；The main frame is provided with the first interface being connected with the force sensor and the position sensor, and with the drive The second interface of dynamic device connection；The main frame receives the activity that the force sensor and the position sensor gather by the first interface The dynamics information and positional information of contact；After the main frame contrasts to the dynamics information and the positional information, the drive is controlled by the second interface Dynamic device drives the movable contact movement.
- 2. finger rehabilitation exercise instrument according to claim 1, it is characterised in that the drive device includes multiple steppings electricity Machine and the multiple high-precision chains matched with the stepper motor；The movable contact passes through connector and the high-precision chain Connection；Finger orientation of the movable contact along the user moves back and forth described in the high-precision chain-driving.
- 3. finger rehabilitation exercise instrument according to claim 1, it is characterised in that the force sensor and the position pass Sensor is arranged at the bottom of the movable contact.
- 4. finger rehabilitation exercise instrument according to claim 2, it is characterised in that the finger training portion is also included between finger Away from adjusting means, the finger spacing adjusting device adjusts the spacing between the high-precision chain to adjust the movable contact Between spacing.
- 5. finger rehabilitation exercise instrument according to claim 1, it is characterised in that the movable contact includes two first and touched Head and four the second contacts；First contact is used for the thumb for fixing the user, and the moving direction of second contact be arranged in parallel, is used for Remaining four finger of the fixed user；The moving direction of first contact is vertical with the moving direction of second contact.
- 6. finger rehabilitation exercise instrument according to claim 2, it is characterised in that the finger training portion also includes promptly stopping Only button, the emergency stop button are connected with the stepper motor.
- 7. finger rehabilitation exercise instrument according to claim 1, it is characterised in that also including firm banking；The finger instruction White silk portion is connected by connecting shaft with the firm banking；Revolved by angle adjustment valve around the connecting shaft in the finger training portion Turn.
- 8. finger rehabilitation exercise instrument according to claim 7, it is characterised in that the firm banking includes lifting column, The connecting shaft is provided with the lifting column.
- 9. finger rehabilitation exercise instrument according to claim 1, it is characterised in that the arm support portion includes half parcel With at least one fixing band, the both ends of the fixing band are connected with half parcel respectively.
- A kind of 10. finger rehabilitation exercise system, it is characterised in that including：Appoint in display, input unit and claim 1-9 Finger rehabilitation exercise instrument described in one, the display and the input unit are connected with the main frame respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720458058.XU CN206809654U (en) | 2017-04-27 | 2017-04-27 | Finger rehabilitation exercise instrument and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720458058.XU CN206809654U (en) | 2017-04-27 | 2017-04-27 | Finger rehabilitation exercise instrument and system |
Publications (1)
| Publication Number | Publication Date |
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| CN206809654U true CN206809654U (en) | 2017-12-29 |
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| CN201720458058.XU Expired - Fee Related CN206809654U (en) | 2017-04-27 | 2017-04-27 | Finger rehabilitation exercise instrument and system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108143590A (en) * | 2018-02-11 | 2018-06-12 | 上海金矢机器人科技有限公司 | A kind of novel and multifunctional finger rehabilitation training robot |
| CN108186290A (en) * | 2018-02-24 | 2018-06-22 | 安阳市翔宇医疗设备有限责任公司 | A kind of passive finger recovering training device of master |
| CN109260671A (en) * | 2018-08-24 | 2019-01-25 | 东南大学 | A kind of passive hand device for healing and training of master |
| CN110269780A (en) * | 2019-07-18 | 2019-09-24 | 河南师范大学新联学院 | Finger joint recovery training institution |
-
2017
- 2017-04-27 CN CN201720458058.XU patent/CN206809654U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108143590A (en) * | 2018-02-11 | 2018-06-12 | 上海金矢机器人科技有限公司 | A kind of novel and multifunctional finger rehabilitation training robot |
| CN108186290A (en) * | 2018-02-24 | 2018-06-22 | 安阳市翔宇医疗设备有限责任公司 | A kind of passive finger recovering training device of master |
| CN108186290B (en) * | 2018-02-24 | 2024-02-06 | 河南翔宇医疗设备股份有限公司 | Active and passive finger rehabilitation training device |
| CN109260671A (en) * | 2018-08-24 | 2019-01-25 | 东南大学 | A kind of passive hand device for healing and training of master |
| CN110269780A (en) * | 2019-07-18 | 2019-09-24 | 河南师范大学新联学院 | Finger joint recovery training institution |
| CN110269780B (en) * | 2019-07-18 | 2021-04-06 | 河南师范大学新联学院 | Finger joint rehabilitation training mechanism |
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Granted publication date: 20171229 |