CN209548327U - A kind of hand rehabilitation auxiliary implement - Google Patents
A kind of hand rehabilitation auxiliary implement Download PDFInfo
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- CN209548327U CN209548327U CN201821401921.9U CN201821401921U CN209548327U CN 209548327 U CN209548327 U CN 209548327U CN 201821401921 U CN201821401921 U CN 201821401921U CN 209548327 U CN209548327 U CN 209548327U
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- supporting part
- finger
- finger supporting
- metacarpus
- air moving
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Abstract
The utility model discloses a kind of hand rehabilitation auxiliary implements, including metacarpus wearing portion, finger supporting part and flexible air moving part；Finger supporting part is at least provided with multiple；Finger supporting part is detachable to be fixedly connected in metacarpus wearing portion；Metacarpus wearing portion and finger supporting part are respectively used to be worn on palm and finger；At least provided with one for installing the semi-open cavity of flexible air moving part on finger supporting part；Flexible air moving part is for driving finger supporting part to complete bending and stretching movement；Zipper is fixed on the side of finger supporting part, and the zipper of every two adjacent finger supporting part can be intermeshed；Flexible air moving part boring forms gas extrusion chamber；The top surface of flexible air moving part is equipped with the air inlet pipe being connected to gas extrusion chamber.The utility model clever structure is realized and provides power-assisted in rehabilitation period to for hand wounded patient for hand grasping, to realize the adaptive rehabilitation of active, finger supporting part and finger supporting part are modularized design.
Description
Technical field
The utility model relates to a kind of hand rehabilitation auxiliary implements.
Background technique
China is populous nation, every year because the reasons such as traffic accident, fire, industrial injury, grave illness lead to hand function defect
Number accounting in the various crowds with limb defects is larger.Meanwhile as China human mortality structure aging speed is accelerated, hand
The holding and reinforcing of portion's function are also very crucial for the promotion of the elderly's self-care ability and Happiness Index.Therefore, hand health
The research and development of multiple equipment gradually become the important component of medical rehabilitation mechanical investigations and application field.Traditional hand rehabilitation dress
It sets generally using motor driven, which is able to achieve the accurate control of movement, but expensive and device is heavy；Also there is use
It is poor that this mode of Wire driven robot acts flexibility；Increasingly using the product of the drawing of spring back or caoutchouc elasticity gloves at present
It is more, but both modes belong to passive type, can not generate outer power drive, are unsuitable for the rehabilitation instruction of the badly wounded crowd of hand
Practice；Gradually there is scholar that will be applied in the building of restoring gloves using the flexible finger of air pressure driving at present, but is generally used
The gloves of monoblock type, be used for a long time replacement, safeguard it is relatively difficult, and be difficult the finger length according to user, thickness is adjusted
Section, thus have certain limitation in versatility and practicability.Existing hand rehabilitation product is difficult the dynamics to finger tips
It is accurately controlled, and the flexibility of hand is mainly reflected in the independent control of each finger and the adjusting of end dynamics.Therefore,
It is easy for assemble or unload it is necessary to design a kind of modularized design, control hand rehabilitation auxiliary implement with high accuracy.
Utility model content
It is easy for assemble or unload the purpose of the utility model is to provide a kind of modularized design, control hand with high accuracy
Portion's rehabilitation auxiliary implement.
Realizing the technical solution of the utility model aim is: a kind of hand rehabilitation auxiliary implement, including metacarpus wearing portion, hand
Refer to supporting element and flexible air moving part；The finger supporting part is at least provided with multiple；The detachable fixation of finger supporting part is even
It connects in metacarpus wearing portion；Metacarpus wearing portion and finger supporting part are respectively used to be worn on palm and finger；The hand
Refer on supporting element at least provided with one for installing the semi-open cavity of flexible air moving part；The flexible air moving part is for driving
Finger supporting part completes bending and stretching movement；Zipper is fixed on the side of the finger supporting part, and every two is adjacent
The zipper of finger supporting part can be intermeshed；The flexible air moving part boring forms gas extrusion chamber；The flexibility
The top surface of pneumatic member is equipped with the air inlet pipe being connected to gas extrusion chamber.
Metacarpus wearing portion boring, and metacarpus wearing portion is equipped with the entrance and at least one protruded into for hand
A opening stretched out for finger.
Preferred technical solution is that the technical program further includes connector；The finger supporting part is fixed by screw piece
On connector；The connector is equipped with the link slot through two sides；Being equipped with for metacarpus wearing portion can reversely roll over
Folded and through-connections the link slots foldable cut water fixed by velcro and metacarpus wearing portion.
The finger supporting part is equipped with interconnecting piece close to the one end in metacarpus wearing portion；The interconnecting piece passes through with connector
Screw piece is fixed.
Another preferred technical solution is that metacarpus wearing portion is equipped with the connection sheet of integral type；The connection sheet
It is fixed by screw piece and finger supporting part.
The finger supporting part is equipped with the bandage for fixed finger.
The bandage of the finger supporting part is elastic bands or velcro bandage.
The finger supporting part is equipped with fingertip far from the one end in metacarpus wearing portion.
Micro- power sensing flexible electrode of ellipse is packaged on the outer wall of the fingertip of the finger supporting part；The metacarpus
Wearing portion is equipped with the data acquisition module being electrically connected with micro- power sensing flexible electrode.
The finger supporting part is equipped with the arc-shaped fitting groove in section towards an end face of finger.
The semi-open cavity of the finger supporting part is set on the end face of finger；Flexible air moving part bottom envelope
In semi-open cavity；The section of the semi-open cavity side wall is in T shape.
The bottom margin of the flexible air moving part is equipped with the bottom of chamber edge mate with the semi-open cavity of finger supporting part
Edge.
The regulating valve of rotation connection is equipped in the middle part of the bottom of chamber of the semi-open cavity of the finger supporting part；The flexible air
The middle part of moving part, which is equipped with, to be run through up and down, the channel protruded into for regulating valve；The regulating valve is rotatable to force channel to be expanded to two sides
Greatly, the bottom in channel is equipped with the location structure of positioning regulating valve.
The section in the channel of the flexible air moving part is square or ellipse；The top of the regulating valve is in flat.
The width of the flexible air moving part reduces along one end close to metacarpus wearing portion to one end far from metacarpus wearing portion.
The bottom end in the channel of the flexible air moving part is in crosswise.
Using above-mentioned technical proposal, the utility model has below the utility model has the advantages that (1) the utility model structure is skilful
It is wonderful, it drives finger supporting part to complete bending and stretching movement by flexible air moving part, realizes to being hand wounded patient in rehabilitation
Period grasps hand and provides power-assisted, to realize the adaptive rehabilitation of active, so as to shorten rehabilitation duration, is convenient for hand function
Recovery, finger supporting part and finger supporting part are modularized design, each finger supporting part can self-movement, versatility
By force, there is preferable maintainability, every two adjacent finger supporting part is connected by zipper, increases the work of finger supporting part
Firmly, when needing the higher patient's use of intensity or initial stage to need intensity low conducive to the middle and later periods, it is thus only necessary to the hand lacked
Refer to that supporting element just can drive multiple finger supporting parts to move synchronously, gas is squeezed or reduced by external pressure device input air
Body extrusion chamber makes flexible air moving part distorted movement, and operation precision is high, and bending amplitude is applicable in the recovery of hand.
(2) the utility model further includes connector, and finger supporting part is fixed on connector by screw piece, and connector is logical
It crosses link slot and the foldable cut water in metacarpus wearing portion is fixed, installed using gluing fastener-type, installation is more convenient, and can adjust
Fixation position of the connector in metacarpus wearing portion is worn with being applicable in the different people of finger length.
(3) finger supporting part of the utility model is equipped with interconnecting piece, interconnecting piece and company close to the one end in metacarpus wearing portion
Fitting is fixed by screw piece, and installing and dismounting is extremely convenient.
(4) the metacarpus wearing portion of the utility model is equipped with the connection sheet of integral type, and connection sheet passes through screw piece and finger
Supporting element is fixed, and installing and dismounting is extremely convenient.
(5) width of the finger supporting part of the utility model is along one end close to metacarpus wearing portion to far from metacarpus wearing portion
One end reduce, the more conducively bending of distal end.
(6) finger supporting part of the utility model is equipped with the bandage for fixed finger, easy to use, can be good
Fixed finger.
(7) bandage of the finger supporting part of the utility model is elastic bands or velcro bandage, can be applicable in different thick
Thin finger.
(8) finger supporting part of the utility model is equipped with fingertip far from the one end in metacarpus wearing portion, supports finger
The distal end of part can be good at fixing with finger, while also have good comfort level.
(9) finger supporting part of the utility model is equipped with the arc-shaped fitting groove in section towards an end face of finger, more
It is bonded finger, improves the comfort level of wearing.
(10) the semi-open cavity of the finger supporting part of the utility model is set on the end face of finger, flexible pneumatic
For part bottom package in semi-open cavity, the section of semi-open cavity side wall is in T shape, and installation is more convenient.
(11) bottom margin of the flexible air moving part of the utility model is equipped with and the semi-open cavity of finger supporting part
The edge of bottom of chamber edge mate, fixed effect more preferably, prevent flexible air moving part from falling off.
(12) adjusting of rotation connection is equipped in the middle part of the bottom of chamber of the semi-open cavity of the finger supporting part of the utility model
Valve is squeezed the channel of flexible air moving part by rotating regulation valve, reduces the central space of gas extrusion chamber, and the pressure at middle part is increased
Power reduces the pressure of flexible air moving part distal end, improves comfort and specific aim.
(13) width of the flexible air moving part of the utility model is worn along one end close to metacarpus wearing portion to far from metacarpus
The one end in portion reduces, and keeps remote pressure bigger, convenient for the bending of distal end.
(14) bottom end in the channel of the flexible air moving part of the utility model is in crosswise, and clever structure passes through the bottom in channel
End being capable of good positioning regulating valve.
Detailed description of the invention
In order to make the content of the utility model be easier to be clearly understood, below according to specific embodiment and combine attached
Figure, is described in further detail the utility model, wherein
Fig. 1 is the positive structure schematic of the utility model.
Fig. 2 is the structural scheme of mechanism at the utility model back side.
Fig. 3 is the structural schematic diagram in the metacarpus wearing portion of the utility model.
Fig. 4 is the structural schematic diagram of the connector of the utility model.
Fig. 5 is the cross-sectional view of the finger supporting part of the utility model.
Fig. 6 is the top view of the flexible air moving part of the utility model.
Fig. 7 is the A-A cross-sectional view of Fig. 6.
Label in attached drawing are as follows:
Metacarpus wearing portion 1, foldable cut water 1-1, connection sheet 1-2, fixinig plate 1-3, data acquisition module 1-4；
Finger supporting part 2, micro- power sensing flexible electrode 2-2, fitting groove 2-3, semi-open cavity 2-4, is determined bandage 2-1
Position slot 2-4-1, regulating valve 2-5, interconnecting piece 2-6, mounting groove 2-7, fingertip 2-8；
Flexible air moving part 3, extrusion chamber 3-1, air inlet pipe 3-2, edge 3-3, channel 3-4, positioning column 3-5；
Connector 4, link slot 4-1, zipper 5, c-type performance on compliant wrist support 6.
Specific embodiment
(embodiment 1)
See Fig. 1 to Fig. 6, the hand rehabilitation auxiliary implement of the present embodiment, including metacarpus wearing portion 1, finger supporting part 2 and soft
Property pneumatic member 3.There are five finger supporting parts 2.Finger supporting part 2 is detachable to be fixedly connected in metacarpus wearing portion 1.Metacarpus is worn
It wears portion 1 and finger supporting part 2 is respectively used to be worn on palm and finger.At least provided with one for pacifying on finger supporting part 2
Fill the semi-open cavity 2-4 of flexible air moving part 3.Flexible air moving part 3 is dynamic for driving finger supporting part 2 to complete bending and stretching
Make.
1 boring of metacarpus wearing portion, and metacarpus wearing portion 1 is equipped with the entrance protruded into for hand and corresponding confession
The opening that finger stretches out.Metacarpus wearing portion 1 is equipped with the connection sheet 1-2 of integral type.The entrance in metacarpus wearing portion 1 is equipped with opposite direction
The two fixinig plate 1-3 extended.Two fixinig plate 1-3 are fixed by velcro.
Preferably, in order to improve the comfort level in metacarpus wearing portion 1.The present embodiment further includes c-type performance on compliant wrist support 6.C-type is flexible
6 sets of wrist support on the entrance outer wall in metacarpus wearing portion 1.
For the ease of installation, finger supporting part 2 is equipped with interconnecting piece 2-6 close to the one end in metacarpus wearing portion 1.
The present embodiment further includes connector 4.The interconnecting piece 2-6 of four finger supporting parts 2 passes through screw piece and is fixed on company
On fitting 4, and four finger supporting parts 2 are respectively used to be worn in index finger, middle finger, ring finger and little finger.Remaining next hand
Refer to that the interconnecting piece 2-6 of supporting element 2 is fixed by screw piece and connection sheet 1-2, which is worn on thumb.
Preferably, more convenient in order to install, the interconnecting piece 2-6 of finger supporting part 2 is equipped with screw hole.Connector 4 is equipped with
Screw hole.Connection sheet 1-2 is equipped with through-hole.
Preferably, it in order to install more convenient and be applicable in the different people of finger length and wear, is set on connector 4
There is the link slot 4-1 through two sides.Being equipped with for metacarpus wearing portion 1 being capable of reverse folded and through-connections 4 link slot 4-1
Pass through the foldable cut water 1-1 that velcro and metacarpus wearing portion 1 are fixed.
Preferably, in order to increase the active force of finger supporting part, it is fixed with zipper 5 on the side of finger supporting part 2, and
The zipper 5 of every two adjacent finger supporting part 2 can be intermeshed.Zipper 5 modes such as can be used gluing, inlay and being fixed on hand
On the side for referring to supporting element 2.
Preferably, for ease of use, can good fixed finger, finger supporting part 2 be equipped be used for fixed finger
Bandage 2-1.Finger supporting part 2 is equipped with the mounting groove 2-7 through two sides.Bandage 2-1 is threaded through on mounting groove 2-7.
Preferably, in order to the finger of different thicknesses can be applicable in, the bandage 2-1 of finger supporting part 2 is elastic bands or evil spirit
Art pastes bandage.
Preferably, in order to make the distal end of finger supporting part can be good at fixing with finger, while also there is good relax
Appropriateness, finger supporting part 2 are equipped with fingertip 2-8 far from the one end in metacarpus wearing portion 1.
Preferably, in order to more be bonded finger, the comfort level of wearing is improved, finger supporting part 2 is towards on an end face of finger
Equipped with the arc-shaped fitting groove 2-3 in section.
3 boring of flexible air moving part forms gas extrusion chamber 3-1.The top surface of flexible air moving part 3 is equipped with and extrusion chamber
The air inlet pipe 3-2 of body 3-1 connection.
Preferably, in order to keep installation more convenient, the semi-open cavity 2-4 of finger supporting part 2 is set to away from the end of finger
On face.The bottom package of flexible air moving part 3 is in semi-open cavity 2-4.The section of semi-open cavity 2-4 side wall is in T word
Shape.
Preferably, more preferably for fixed effect, prevent flexible air moving part from falling off, the bottom margin of flexible air moving part 3 is equipped with
With the edge 3-3 of the bottom of chamber edge mate of the semi-open cavity 2-4 of finger supporting part 2.
Preferably, the edge 3-3 of 3 end of flexible air moving part is equipped with positioning column 3-5.The semi-open type of finger supporting part 2
The locating slot 2-4-1 with positioning column 3-5 location fit is equipped in cavity 2-4.
It is finely adjusted in order to the remote pressure to flexible air moving part, the semi-open cavity 2-4's of finger supporting part 2
The regulating valve 2-5 of rotation connection is equipped in the middle part of bottom of chamber.The top of regulating valve 2-5 is in flat.The middle part of flexible air moving part 3 is equipped with
Through channel 3-4 that is upper and lower, being protruded into for regulating valve 2-5.Regulating valve 2-5 is rotatable to force channel 3-4 to expand to two sides, channel
The bottom of 3-4 is equipped with the location structure of positioning regulating valve 2-5.
Preferably, the section of the channel 3-4 of flexible air moving part 3 be square or ellipse.The top of regulating valve 2-5 is in flat
Shape.The bottom of chamber of semi-open cavity 2-4 is equipped with clamping groove.The bottom of regulating valve 2-5 is equipped with the annular being rotatablely connected with clamping groove
Clamping boss.
Preferably, flexible air moving part 3 width along close to metacarpus wearing portion 1 one end to far from metacarpus wearing portion 1 one
End reduces.
Preferably, in order to preferably position regulating valve, the bottom end of the channel 3-4 of flexible air moving part 3 is in crosswise.
Preferably, metacarpus wearing portion 1 is made by elastic fiber material.Finger supporting part 2 can be by natural polymer
Material and/or the polymeric material of synthesis form, and isoprene, butadiene-styrene material, styrene preferably can be used
Block copolymer is (such as: styrene/isoprene/styrene (SIS), styrene/butadiene/styrene (SBS), styrene
(SEBS) block copolymer), olefin elastomer, polyether ester or polyurethane is made.Flexible air moving part 3 is by rubber or silica gel material
Material is made.
In use, the interconnecting piece 2-6 of four finger supporting parts 2 is fixed on connector 4 by bolt respectively, pass through spiral shell
The interconnecting piece 2-6 of remaining next finger supporting part 2 is fixed on the connection sheet 1-2 in metacarpus wearing portion 1 by bolt, and metacarpus is worn portion
1 direction foldable cut water 1-1 folds, then the link slot 4-1 of through-connections 4, and fixed position, passes through magic as required
Patch is fixed with metacarpus wearing portion 1, and hand is protruded by the entrance in metacarpus wearing portion 1, stretches finger from the opening in metacarpus wearing portion 1
Out, the bandage 2-1 of each finger five finger supporting parts 2 respectively is fixed, and finger tip is protruded into the fingertip of finger supporting part 2
In 2-8, the air inlet pipe 3-2 of flexible air moving part 3 is connected to external pneumatic driving device, makes squeezing for flexible air moving part 3 by inflating
It presses cavity 3-1 to expand, is bent flexible air moving part 3 and 2 deformation of finger supporting part, the extruding of flexible air moving part 3 is made by being evacuated
Cavity 3-1 resets, and stretches flexible air moving part 3 and finger supporting part 2 and resets, achievees the purpose that hand resumes training.
(embodiment 2)
Micro- power sensing flexible electrode 2-2 of ellipse is packaged on the outer wall of the fingertip 2-8 of finger supporting part 2, preferably
Using the treasure core interdigital electrode of the vast lucky sensing Science and Technology Ltd. production in Guangzhou.Metacarpus wearing portion 1 is equipped with data acquisition module
1-4.Micro- power sensing flexible electrode 2-2 is electrically connected by electric wire and data acquisition module 1-4.Micro- power senses flexible electrode 2-2
It is collected for measuring finger tip electromyography signal and grasp force, and by data transfer to data acquisition module 1-4.
(embodiment 3)
The present embodiment is substantially the same manner as Example 1, the difference is that:
The interconnecting piece 2-6 of five finger supporting parts 2 passes through screw piece and is fixed on connector 4, and five finger branch
Support member 2 is respectively used to be worn on thumb, in index finger, middle finger, ring finger and little finger.
(embodiment 4)
The present embodiment is substantially the same manner as Example 1, the difference is that:
The connection sheet 1-2 there are five integral type is set in metacarpus wearing portion 1.The interconnecting piece 2-6 of five finger supporting parts 2 leads to respectively
Screw piece is crossed to be fixed on five connection sheet 1-2, and five finger supporting parts 2 be respectively used to be worn on thumb, index finger, in
Refer to, on nameless, little finger of toe.
(embodiment 5)
The present embodiment is substantially the same manner as Example 1, the difference is that:
There are five connector 4 is set.The interconnecting piece 2-6 of five finger supporting parts 2 passes through screw piece respectively and five connectors 4 are solid
It is fixed, and five finger supporting parts 2 are respectively used to be worn on thumb, in index finger, middle finger, ring finger and little finger.Metacarpus wearing portion
Set on 1 there are five can link slot 4-1 that is reverse folded and extending through five connectors 4 worn by velcro and metacarpus
The fixed foldable cut water 1-1 in portion 1.
Particular embodiments described above has carried out into one the purpose of this utility model, technical scheme and beneficial effects
Step is described in detail, it should be understood that being not limited to this foregoing is merely specific embodiment of the utility model
Utility model, within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done should all wrap
Containing being within the protection scope of the utility model.
Claims (10)
1. a kind of hand rehabilitation auxiliary implement, it is characterised in that: including metacarpus wearing portion (1), finger supporting part (2) and flexible air
Moving part (3)；The finger supporting part (2) is at least provided with multiple；The finger supporting part (2) is detachable to be fixedly connected on metacarpus
In wearing portion (1)；Metacarpus wearing portion (1) and finger supporting part (2) are respectively used to be worn on palm and finger；The hand
Refer on supporting element (2) at least provided with one for installing the semi-open cavity (2-4) of flexible air moving part (3)；The flexible air
Moving part (3) is for driving finger supporting part (2) to complete bending and stretching movement；It is fixed on the side of the finger supporting part (2)
Have zipper (5), and the zipper (5) of every two adjacent finger supporting part (2) can be intermeshed；The flexible air moving part
(3) boring forms gas extrusion chamber (3-1)；The top surface of the flexible air moving part (3) is equipped with and gas extrusion chamber (3-1)
The air inlet pipe (3-2) of connection.
2. a kind of hand rehabilitation auxiliary implement according to claim 1, it is characterised in that: in metacarpus wearing portion (1)
Portion is hollow, and metacarpus wearing portion (1) is equipped with the entrance protruded into for hand and at least one opening stretched out for finger.
3. a kind of hand rehabilitation auxiliary implement according to claim 1, it is characterised in that: further include connector (4)；It is described
Finger supporting part (2) is fixed on connector (4) by screw piece；The connector (4) is equipped with the link slot through two sides
(4-1)；Metacarpus wearing portion (1) passes through evil spirit equipped with the link slot (4-1) for capableing of reverse folded and through-connections (4)
The art patch foldable cut water (1-1) fixed with metacarpus wearing portion (1).
4. a kind of hand rehabilitation auxiliary implement according to claim 1, it is characterised in that: on the finger supporting part (2)
Equipped with the bandage (2-1) for fixed finger.
5. a kind of hand rehabilitation auxiliary implement according to claim 1, it is characterised in that: the finger supporting part (2) is remote
One end from metacarpus wearing portion (1) is equipped with fingertip (2-8).
6. a kind of hand rehabilitation auxiliary implement according to claim 1, it is characterised in that: finger supporting part (2) court
The arc-shaped fitting groove (2-3) in section is equipped with to an end face of finger.
7. a kind of hand rehabilitation auxiliary implement according to claim 1, it is characterised in that: the finger supporting part (2)
Semi-open cavity (2-4) is set on the end face of finger；Flexible air moving part (3) bottom package is in semi-open cavity
In (2-4)；The section of semi-open cavity (2-4) side wall is in T shape.
8. a kind of hand rehabilitation auxiliary implement according to claim 7, it is characterised in that: the flexible air moving part (3)
Bottom margin is equipped with the edge (3-3) with the bottom of chamber edge mate of the semi-open cavity (2-4) of finger supporting part (2).
9. a kind of hand rehabilitation auxiliary implement according to claim 7, it is characterised in that: the finger supporting part (2)
The regulating valve (2-5) of rotation connection is equipped in the middle part of the bottom of chamber of semi-open cavity (2-4)；The top of the regulating valve (2-5) is in
It is flat；The middle part of the flexible air moving part (3), which is equipped with, to be run through up and down, the channel (3-4) protruded into for regulating valve (2-5)；Institute
State that regulating valve (2-5) is rotatable to force channel (3-4) to expand to two sides, the bottom of channel (3-4) is equipped with positioning regulating valve (2-5)
Location structure.
10. a kind of hand rehabilitation auxiliary implement according to claim 9, it is characterised in that: the flexible air moving part (3)
The section in channel (3-4) is square or ellipse.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821401921.9U CN209548327U (en) | 2018-08-27 | 2018-08-27 | A kind of hand rehabilitation auxiliary implement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821401921.9U CN209548327U (en) | 2018-08-27 | 2018-08-27 | A kind of hand rehabilitation auxiliary implement |
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| CN209548327U true CN209548327U (en) | 2019-10-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318489A (en) * | 2020-11-30 | 2021-02-05 | 延边大学 | Wearable flexible joint exoskeleton power assisting device |
-
2018
- 2018-08-27 CN CN201821401921.9U patent/CN209548327U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318489A (en) * | 2020-11-30 | 2021-02-05 | 延边大学 | Wearable flexible joint exoskeleton power assisting device |
| CN112318489B (en) * | 2020-11-30 | 2021-12-31 | 延边大学 | Wearable flexible joint exoskeleton power assisting device |
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