CN210812323U - Recovered robot of finger ectoskeleton - Google Patents
Recovered robot of finger ectoskeleton Download PDFInfo
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- CN210812323U CN210812323U CN201921477606.9U CN201921477606U CN210812323U CN 210812323 U CN210812323 U CN 210812323U CN 201921477606 U CN201921477606 U CN 201921477606U CN 210812323 U CN210812323 U CN 210812323U
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Abstract
The utility model discloses a recovered robot of finger ectoskeleton, hold in the palm support module and motor drive module including ectoskeleton forefinger module, ectoskeleton thumb module, fixed plate, palm, ectoskeleton forefinger module with the fixed plate is articulated, the palm hold in the palm the module with motor drive module all with fixed plate fixed connection, motor drive module is fixed in the upside of palm support module can drive ectoskeleton forefinger module rotates, ectoskeleton thumb module set up in on the deflector of palm support module and with deflector sliding connection. The utility model discloses a mode help patient's recovered daily life of the most extensive hand gripping function of application of the crooked forefinger of fixed thumb to improve patient's independent life ability.
Description
Technical Field
The utility model relates to a rehabilitation training device technical field especially relates to a recovered robot of finger ectoskeleton.
Background
Medical theory and practice prove that the limb movement function of a hemiplegic patient caused by stroke can be recovered to a certain degree through a large amount of repetitive function training. The joint nerves of the hand are widely distributed, the blood vessels are more, the blood flow of a brain movement area of 30 percent and a body sensation area of 17 percent can be increased by the movement of the hand, and the nerves can be effectively stimulated to promote the recovery of the upper limb, so the finger movement recovery degree can be used as a mark for recovering the function of the upper limb of a hemiplegic patient, and the finger movement recovery degree has very important significance for the recovery of the whole upper limb.
The exoskeleton is a hard external structure capable of providing configuration, construction and protection for a biological soft internal organ, the finger exoskeleton rehabilitation robot is just a device for strengthening the hand function of a human body inspired by the biological exoskeleton, and a patient wears the robot on the hand to assist the patient in targeted rehabilitation training. Most of the existing finger exoskeleton rehabilitation devices focus on realizing more degrees of freedom of fingers, so that the mechanism complexity is higher, the size is larger, the portability is poorer, the gripping motion with the highest use frequency in daily life does not need to participate in too many degrees of freedom, and the finger exoskeleton rehabilitation robot aims at providing a finger exoskeleton rehabilitation robot for training the gripping motion.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a recovered robot of finger ectoskeleton to solve the problem that above-mentioned prior art exists, the mode through the crooked forefinger of fixed thumb helps using the most extensive hand gripping function among the recovered daily life of patient, thereby improves patient's independent life ability.
In order to achieve the above object, the utility model provides a following scheme:
the utility model provides a recovered robot of finger ectoskeleton, hold in the palm support module and motor drive module including ectoskeleton forefinger module, ectoskeleton thumb module, fixed plate, palm, ectoskeleton forefinger module with the fixed plate is articulated, the palm hold in the palm the module with motor drive module all with fixed plate fixed connection, motor drive module is fixed in the upside of palm support module can drive ectoskeleton forefinger module rotates, ectoskeleton thumb module set up in on the deflector of palm support module and with deflector sliding connection.
Preferably, the exoskeleton forefinger module comprises a far-end phalange connecting plate, a middle phalange connecting plate and a near-end phalange connecting plate which are sequentially connected through a first elastic rope, a far-end phalange connecting plate elastic rope hook is arranged on the far-end phalange connecting plate, a middle phalange connecting plate elastic rope hook is arranged on the middle phalange connecting plate, a near-end phalange connecting plate near-side elastic rope hook is arranged at one end of the near-end phalange connecting plate, a near-end phalange connecting plate far-side elastic rope hook is arranged at the other end of the near-end phalange connecting plate, one end of the first elastic rope is fixed on the near-end phalange connecting plate far-side elastic rope hook, the other end of the first elastic rope winds around the middle phalange connecting plate elastic rope hook and then is fixed on the far-end phalange connecting plate elastic rope hook, steel wire grooves are arranged on the upper, the steel wire groove of the far-end phalanx connecting plate is internally provided with a steel wire hook, the steel wire hook is used for fixing one end of a steel wire, and the other end of the steel wire is fixed on a belt wheel of the motor driving module.
Preferably, a first limiting block and a second limiting block are obliquely arranged on the inner side of the fixing plate from top to bottom, the lower end of the near-end phalange connecting plate is arranged between the first limiting block and the second limiting block, and the first limiting block and the second limiting block are used for limiting the rotation angle of the exoskeleton forefinger module relative to the fixing plate.
Preferably, the fixing plate is further provided with a fixing plate elastic rope hook, and the fixing plate elastic rope hook is connected with the near-side elastic rope hook of the near-end phalanx connecting plate through a second elastic rope.
Preferably, the upper sides of the far-end phalanx connecting plate, the middle phalanx connecting plate and the near-end phalanx connecting plate are respectively provided with a transverse fixing plate, and the transverse fixing plates are provided with first notches.
Preferably, a first angle sensor is arranged at the hook of the elastic rope of the far-end phalange connecting plate, a second angle sensor is arranged at the hook of the elastic rope at the far side of the near-end phalange connecting plate, a gasket is arranged at the hook of the elastic rope at the near side of the near-end phalange connecting plate, the far-end phalange connecting plate and the near-end phalange connecting plate are of a double-layer structure, and the first angle sensor, the second angle sensor, the gasket, the steel wire groove and the steel wire hook are all arranged inside the double-layer structure.
Preferably, the motor driving module includes a first cover plate, a cylindrical housing, a second cover plate, a motor fixing plate, a motor and the pulley, the first cover plate is fixed to one end of the cylindrical housing, the second cover plate is fixed to the other end of the cylindrical housing, the motor fixing plate, the motor and the pulley are all disposed inside the cylindrical housing, the motor fixing plate is fixedly connected to the first cover plate, the motor is fixed to the motor fixing plate, an output shaft of the motor penetrates through a circular hole formed in the inner side of the motor fixing plate and is fixedly connected to the pulley through a flat key, a circular hole is formed in one side of the cylindrical housing, which is close to the index finger exoskeleton module, and the circular hole is used for penetrating through the steel wire.
Preferably, the palm support module includes the palm layer board with the deflector, motor drive module is fixed in the palm layer board with between the deflector, the downside of palm layer board is equipped with the inward radian that can hold the palm of patient, the deflector with fixed plate fixed connection, the embedded guide rail of a vertical setting is seted up to the downside of deflector, ectoskeleton thumb module can slide from top to bottom in the embedded guide rail and can for the deflector rotates.
Preferably, the exoskeleton thumb module comprises an embedded slider and an exoskeleton thumb fixing plate which are fixedly connected, the exoskeleton thumb module can slide up and down along the embedded guide rail through the embedded slider, and the embedded slider can rotate in the embedded guide rail.
Preferably, the exoskeleton thumb fixing plate is an arc-shaped plate, and a second notch is formed in the exoskeleton thumb fixing plate.
The utility model discloses for prior art gain following technological effect:
1. the mode of fixing the thumb to bend the index finger helps the patient to recover the most widely applied hand gripping function in daily life, thereby improving the independent living ability of the patient.
2. The device is developed according to the rehabilitation medical concept of joint function exercise and by combining the actual rehabilitation requirements of patients, is simple and light, effectively solves the problem of complex mechanism of the existing finger exoskeleton rehabilitation robot, and better performs rehabilitation training aiming at the grabbing motion with the highest use frequency in daily life, so that the rehabilitation motion is more effective, and the rehabilitation process is shorter.
3. The near-end phalanx connecting plate of ectoskeleton forefinger module, middle phalanx connecting plate, distal end phalanx connecting plate all set up in forefinger side and near-end phalanx connecting plate, middle phalanx connecting plate, distal end phalanx connecting plate passes through the nylon ribbon with the forefinger and is mutual, can realize the accurate alignment of forefinger exoskeleton joint rotation center and forefinger joint rotation center, and ensure that the effort is perpendicular to phalanx all the time, thereby avoided causing secondary injuries such as extrusion, wearing and tearing to the forefinger.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the finger exoskeleton rehabilitation robot of the present invention;
fig. 2 is a schematic structural view of the exoskeleton forefinger module of the present invention;
fig. 3 is a schematic structural diagram of the motor driving module of the present invention;
wherein: 1-a fixing plate, 2-a first stopper, 3-a second stopper, 4-a fixing plate elastic cord hook, 5-a first elastic cord, 6-a distal phalanx web, 7-a middle phalanx web, 8-a proximal phalanx web, 9-a distal phalanx web elastic cord hook, 10-a middle phalanx web elastic cord hook, 11-a proximal phalanx web elastic cord hook, 12-a proximal phalanx web distal elastic cord hook, 13-a second elastic cord, 14-a steel wire groove, 15-a steel wire hook, 16-a steel wire, 17-a transverse fixing plate, 18-a first notch, 19-a first angle sensor, 20-a second angle sensor, 21-a spacer, 22-a first cover, 23-a second cover, 24-column type shell, 25-motor fixing plate, 26-motor, 27-belt wheel, 28-flat key, 29-round hole, 30-palm supporting plate, 31-guide plate, 32-embedded guide rail, 33-embedded sliding block, 34-exoskeleton thumb fixing plate and 35-second notch.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it should be understood that the terms "upper", "lower", "left" and "right" indicate orientations or positional relationships based on the orientations and positional relationships shown in the drawings, and are only for convenience of description of the structure and the operation manner, but do not indicate or imply that the portions indicated must have specific orientations to operate in specific orientations, and thus, should not be construed as limiting the present invention.
The utility model aims at providing a recovered robot of finger ectoskeleton to solve the problem that prior art exists, help the patient to use the most extensive hand gripping function among the recovered daily life through the mode of the crooked forefinger of fixed thumb, thereby improve patient's independent life ability.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
As shown in fig. 1-3: the embodiment provides a recovered robot of finger ectoskeleton, including ectoskeleton forefinger module, ectoskeleton thumb module, fixed plate 1, palm support module and motor drive module, ectoskeleton forefinger module is articulated with fixed plate 1, and palm support module and motor drive module all with fixed plate 1 fixed connection, motor drive module is fixed in the upside that palm supported the module and can drive ectoskeleton forefinger module and rotate, and ectoskeleton thumb module sets up on palm support module's deflector 31 and with deflector 31 sliding connection.
Specifically, the exoskeleton forefinger module comprises a far-end phalange connecting plate 6, a middle phalange connecting plate 7 and a near-end phalange connecting plate 8 which are sequentially connected through hinges, preferably first elastic ropes 5, so that the rotation of each joint of the forefinger of the exoskeleton forefinger module is realized, and the passive bending of each joint of the forefinger is realized. Specifically, a far-end phalange connecting plate elastic rope hook 9 is arranged on the far-end phalange connecting plate 6, a middle phalange connecting plate elastic rope hook 10 is arranged on the middle phalange connecting plate 7, a near-end phalange connecting plate near-side elastic rope hook 11 is arranged at one end of the near-end phalange connecting plate 8, a near-end phalange connecting plate far-side elastic rope hook 12 is arranged at the other end of the near-end phalange connecting plate 8, one end of the first elastic rope 5 is fixed on the near-end phalange connecting plate far-side elastic rope hook 12, and the other end of the first elastic rope 5 is fixed on the far-end phalange connecting plate elastic rope hook 9 after being wound by the middle. The upper sides of the far-end phalanx connecting plate 6 and the near-end phalanx connecting plate 7 are provided with steel wire grooves 14, steel wire hooks 15 are arranged in the steel wire grooves 14 of the far-end phalanx connecting plate 6, the steel wire hooks 15 are used for fixing one ends of steel wires 16, the other ends of the steel wires 16 are fixed on belt pulleys 27 of the motor driving module, the belt pulleys 27 are driven to rotate through a motor 26, and therefore the steel wires 16 are pulled to achieve passive extension of joints of the forefingers. Distal end phalanx connecting plate 6, the upside of middle phalanx connecting plate 7 and near-end phalanx connecting plate 8 all is equipped with a transverse fixing plate 17, has seted up first notch 18 on the transverse fixing plate 17, and the nylon ribbon passes first notch 18 with the near-end phalanx of fixed forefinger, middle phalanx and distal end phalanx for patient's forefinger can follow ectoskeleton forefinger module and move, can promote patient's use travelling comfort through nylon ribbon and forefinger interaction.
The inner side of the fixing plate 1 is obliquely provided with a first limiting block 2 and a second limiting block 3 from top to bottom, the lower end of a near-end phalanx connecting plate of the exoskeleton forefinger module is arranged between the first limiting block 1 and the second limiting block 2, the first limiting block 1 and the second limiting block 2 are used for limiting the excessive bending and extension of each joint of the exoskeleton forefinger module, specifically, the first limiting block 1 and the second limiting block 2 are used for limiting the rotation angle of the exoskeleton forefinger module relative to the fixing plate 1, and the rotation angle is preferably +/-15 degrees. The fixing plate 1 is further provided with a fixing plate elastic rope hook 4, and the fixing plate elastic rope hook 4 is connected with a near-side elastic rope hook 11 of a near-end phalanx connecting plate of the exoskeleton forefinger module through a second elastic rope 13. The first elastic rope 5 and the second elastic rope 13 are both preferably rubber ropes, and the passive bending strength of each joint of the exoskeleton forefinger module can be controlled by replacing the first elastic rope 5 and the second elastic rope 13 with different elastic coefficients so as to adapt to each rehabilitation stage of the same patient or rehabilitation states of different patients.
The far-end phalanx connecting plate elastic rope hook 9 is fixedly connected with a first angle sensor 19 through a screw, and the near-end phalanx connecting plate far-end elastic rope hook 12 is fixedly connected with a second angle sensor 20 through a screw, so that the angle change of finger joints can be detected, and whether an object is grabbed or not can be judged. The position of the elastic rope hook 11 near the proximal phalanx connecting plate is fixedly connected with a gasket 21 through a screw, and the proximal phalanx connecting plate 8 is hinged with the fixing plate 1 through the gasket 21 and the screw. Distal end phalanx connecting plate 6 and near-end phalanx connecting plate 8 are bilayer structure, and the effect lies in keeping apart forefinger and steel wire 16, first elasticity rope 5 and second elasticity rope 13, prevents that recovered in-process steel wire 16, first elasticity rope 5 and second elasticity rope 13 from producing secondary harm such as friction with the forefinger. First angle sensor 19, second angle sensor 20, gasket 21, steel wire groove 14 and steel wire couple 15 all set up in bilayer structure's inside, and bilayer structure's nexine has all been beaten the round hole in first angle sensor 19, second angle sensor 20 and steel wire couple 15 department to conveniently fix first angle sensor 19, second angle sensor 20 and steel wire 16.
The motor driving module is an overhead motor driving module, and specifically comprises a first cover plate 22, a second cover plate 23, a cylindrical shell 24, a motor fixing plate 25, a motor 26 and a belt wheel 27. The first cover plate 22 is fixed to one end of the cylindrical housing 24 by screws, and the second cover plate 23 is fixed to the other end of the cylindrical housing 24 by screws, so as to ensure that the position of the motor 26 with respect to the cylindrical housing 24 is constant. The column-shaped housing 24 is fixedly connected between the palm rest plate 30 and the guide plate 31 of the palm rest module by screws. The motor fixing plate 25, the motor 26 and the belt pulley 27 are all arranged inside the cylindrical shell 24, the motor fixing plate 25 is fixedly connected with the inner side of the first cover plate 22 through screws, the motor 26 is fixed on the motor fixing plate 25, an output shaft of the motor 26 penetrates through a round hole formed in the inner side of the motor fixing plate 25 to enable the motor 26 to be attached to the inner side of the motor fixing plate 25 and fixed through screws, and the output shaft of the motor 26 is fixedly connected with the belt pulley 27 through a flat key 28. A round hole 29 is formed on one side of the cylindrical shell 24 close to the exoskeleton forefinger module, and the round hole 29 is used for penetrating the steel wire 16.
The palm support module comprises a palm support plate 30 and a guide plate 31, an inward radian capable of supporting the palm of a patient is arranged on the lower side of the palm support plate 30, and the guide plate 31 is fixedly connected with the fixing plate 1 through screws and used for supporting the palm to keep the proper relative position of the finger exoskeleton rehabilitation robot and the hand of the patient. An embedded guide rail 32 which is vertically arranged is arranged at the lower side of the guide plate 31, and the exoskeleton thumb module can slide up and down in the embedded guide rail 32 and can rotate relative to the guide plate 31. Specifically, the exoskeleton thumb module comprises an embedded sliding block 33 and an exoskeleton thumb fixing plate 34 which are fixedly connected through screws, the exoskeleton thumb fixing plate 34 is used for fixing the thumb of a patient, the exoskeleton thumb module can slide up and down along an embedded guide rail 32 through the embedded sliding block 33, the embedded sliding block 33 is preferably circular, and the embedded sliding block 33 can rotate in the embedded guide rail 32. The position of the embedded slider 33 is adjusted to adapt to different hand sizes. The exoskeleton thumb fixing plate 34 is an arc-shaped plate, the arc-shaped plate can ensure that a thumb of a patient passes through the arc-shaped plate, a second notch 35 is formed in the exoskeleton thumb fixing plate 34, and the thumb passes through the second notch 35 through a nylon binding belt to be fixed with the exoskeleton thumb fixing plate 34 so as to ensure that the position of the thumb, which is relatively gripped by an object, is unchanged.
The finger exoskeleton rehabilitation robot in the embodiment is developed according to the rehabilitation medical concept of joint function exercise and by combining the actual rehabilitation requirements of a patient, and helps the patient to apply the most extensive hand gripping function in the rehabilitation daily life by fixing the mode that the thumb bends the index finger, so that the independent living capacity of the patient is improved; the device is simple and light, effectively solves the problem of complex mechanism of the existing finger exoskeleton rehabilitation robot, and better performs rehabilitation training aiming at the gripping movement with the highest use frequency in daily life, so that the rehabilitation movement is more effective and the rehabilitation process is shorter; the near-end phalanx connecting plate 8 of ectoskeleton forefinger module, middle phalanx connecting plate 7, distal end phalanx connecting plate 6 all sets up in forefinger side and near-end phalanx connecting plate 8, middle phalanx connecting plate 7, distal end phalanx connecting plate 6 passes through the nylon ribbon with the forefinger and interacts, can realize the accurate alignment of forefinger exoskeleton joint rotation center and forefinger joint rotation center, and ensure that the effort is perpendicular to phalanx all the time, thereby avoided causing secondary injuries such as extrusion, wearing and tearing to the forefinger.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (10)
1. A finger exoskeleton rehabilitation robot, characterized in that: including ectoskeleton forefinger module, ectoskeleton thumb module, fixed plate, palm support module and motor drive module, ectoskeleton forefinger module with the fixed plate is articulated, palm support module with motor drive module all with fixed plate fixed connection, motor drive module is fixed in the upside of palm support module can drive ectoskeleton forefinger module rotates, ectoskeleton thumb module set up in on the deflector of palm support module and with deflector sliding connection.
2. The finger exoskeleton rehabilitation robot of claim 1, wherein: the exoskeleton forefinger module comprises a far-end phalange connecting plate, a middle phalange connecting plate and a near-end phalange connecting plate which are sequentially connected through a first elastic rope, wherein a far-end phalange connecting plate elastic rope hook is arranged on the far-end phalange connecting plate, a middle phalange connecting plate elastic rope hook is arranged on the middle phalange connecting plate, a near-end phalange connecting plate near-side elastic rope hook is arranged at one end of the near-end phalange connecting plate, a near-end phalange connecting plate far-side elastic rope hook is arranged at the other end of the near-end phalange connecting plate, one end of the first elastic rope is fixed on the near-end phalange connecting plate far-side elastic rope hook, the other end of the first elastic rope winds around the middle phalange connecting plate elastic rope hook and then is fixed on the far-end phalange connecting plate elastic rope hook, and steel wire grooves are arranged, the steel wire groove of the far-end phalanx connecting plate is internally provided with a steel wire hook, the steel wire hook is used for fixing one end of a steel wire, and the other end of the steel wire is fixed on a belt wheel of the motor driving module.
3. The finger exoskeleton rehabilitation robot of claim 2, wherein: the exoskeleton finger joint is characterized in that a first limiting block and a second limiting block are obliquely arranged on the inner side of the fixing plate from top to bottom, the lower end of the near-end finger joint plate is arranged between the first limiting block and the second limiting block, and the first limiting block and the second limiting block are used for limiting the rotation angle of the exoskeleton finger joint relative to the fixing plate.
4. The finger exoskeleton rehabilitation robot of claim 2, wherein: the fixing plate is also provided with a fixing plate elastic rope hook, and the fixing plate elastic rope hook is connected with the near-side elastic rope hook of the near-end phalanx connecting plate through a second elastic rope.
5. The finger exoskeleton rehabilitation robot of claim 2, wherein: the upper sides of the far-end phalanx connecting plate, the middle phalanx connecting plate and the near-end phalanx connecting plate are respectively provided with a transverse fixing plate, and a first notch is formed in each transverse fixing plate.
6. The finger exoskeleton rehabilitation robot of claim 2, wherein: the finger bone connecting plate is characterized in that a first angle sensor is arranged at the elastic rope hook of the far-end finger bone connecting plate, a second angle sensor is arranged at the elastic rope hook of the far-end finger bone connecting plate, a gasket is arranged at the elastic rope hook of the near-end finger bone connecting plate, the far-end finger bone connecting plate and the near-end finger bone connecting plate are of a double-layer structure, and the first angle sensor, the second angle sensor, the gasket, the steel wire groove and the steel wire hook are all arranged in the double-layer structure.
7. The finger exoskeleton rehabilitation robot of claim 2, wherein: the motor driving module comprises a first cover plate, a cylindrical shell, a second cover plate, a motor fixing plate, a motor and a belt wheel, the first cover plate is fixed at one end of the cylindrical shell, the second cover plate is fixed at the other end of the cylindrical shell, the motor fixing plate, the motor and the belt wheel are arranged in the cylindrical shell, the motor fixing plate is fixedly connected with the first cover plate, the motor is fixed on the motor fixing plate, an output shaft of the motor penetrates through a round hole formed in the inner side of the motor fixing plate and is fixedly connected with the belt wheel through a flat key, a round hole is formed in one side, close to the exoskeleton forefinger module, of the cylindrical shell, and the round hole is used for penetrating through the steel wire.
8. The finger exoskeleton rehabilitation robot of claim 1, wherein: the palm holds in the palm the module include the palm layer board with the deflector, motor drive module is fixed in the palm layer board with between the deflector, the downside of palm layer board is equipped with the inward radian that can hold patient's palm, the deflector with fixed plate fixed connection, the embedded guide rail of a vertical setting is seted up to the downside of deflector, ectoskeleton thumb module can slide from top to bottom in the embedded guide rail and can for the deflector rotates.
9. The finger exoskeleton rehabilitation robot of claim 8, wherein: the exoskeleton thumb module comprises an embedded sliding block and an exoskeleton thumb fixing plate which are fixedly connected, the exoskeleton thumb module can slide up and down along the embedded guide rail through the embedded sliding block, and the embedded sliding block can rotate in the embedded guide rail.
10. The finger exoskeleton rehabilitation robot of claim 9, wherein: the exoskeleton thumb fixing plate is an arc-shaped plate, and a second notch is formed in the exoskeleton thumb fixing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921477606.9U CN210812323U (en) | 2019-09-06 | 2019-09-06 | Recovered robot of finger ectoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921477606.9U CN210812323U (en) | 2019-09-06 | 2019-09-06 | Recovered robot of finger ectoskeleton |
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| CN210812323U true CN210812323U (en) | 2020-06-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110464603A (en) * | 2019-09-06 | 2019-11-19 | 上海金矢机器人科技有限公司 | A kind of finger exoskeleton rehabilitation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110464603A (en) * | 2019-09-06 | 2019-11-19 | 上海金矢机器人科技有限公司 | A kind of finger exoskeleton rehabilitation robot |
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