CN213666571U - Exoskeleton rehabilitation glove based on tendon rope transmission - Google Patents
Exoskeleton rehabilitation glove based on tendon rope transmission Download PDFInfo
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- CN213666571U CN213666571U CN202022396774.4U CN202022396774U CN213666571U CN 213666571 U CN213666571 U CN 213666571U CN 202022396774 U CN202022396774 U CN 202022396774U CN 213666571 U CN213666571 U CN 213666571U
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Abstract
The utility model discloses a recovered gloves of ectoskeleton based on tendon rope transmission, including the film sensor of each finger fingertip, the distal end link mechanism of fixed connection in the front of the gloves finger joint department, the middle-end link mechanism of fixed connection in the back joint department of gloves finger fixes at terminal tendon rope actuating mechanism, installs at the terminal wrist joint fixed brace of gloves and fixes the control chip on it to and connect and fix each exoskeleton nylon gloves of finger mechanism. The middle end connecting rod structure at the rear joint is connected with the tendon rope driving mechanism through a near end connecting rod, the tendon rope driving mechanism is controlled by a chip to send signals, the far end connecting rod mechanism at the front joint is connected with the thin film sensor shell, and the near end connecting rod mechanism and the driving sliding block are fixed through a connecting rod fixing block. The utility model discloses simple structure, in the recovered motion process, the film sensor atress in the finger makes the chip obtain the signal and drives tendon rope actuating mechanism operation, and it is crooked to drive the back joint by driving motor shrink tendon rope, reachs certain angle after, the non return cushion blocks to take effect and makes the crooked stopping of back joint and the front joint begin to buckle, stops after reacing certain angle to this realizes the rehabilitation training action of people's hand.
Description
Technical Field
The utility model is used for the recovered field of medical treatment, especially a recovered gloves of ectoskeleton based on tendon rope transmission.
Background
With the rapid development of economy, the number of vehicles is rapidly increasing, the number of people with upper limb injuries caused by traffic accidents is increasing, clinical rehabilitation medicine theories indicate that besides early surgical treatment and necessary drug treatment, a certain physical therapy is correctly and scientifically applied to assist drug treatment, irreplaceable effects are achieved on rehabilitation and consolidation of upper limb motor functions of patients, but patients with limb injuries almost have more or less dyskinesia, the patients cannot recover at home by one person during rehabilitation training, the rehabilitation training can be smoothly carried out by the help of other people, the patients miss the most favorable rehabilitation treatment time and cannot obtain ideal rehabilitation effects, the patients even lose the activity of the upper limbs, and the applicant finds that the pneumatic hand rehabilitation training device RELIVER RL-100 developed by MAREF company, the pressure can be changed, according to different duration, although the finger training occupies a larger volume, the finger training can also be realized by the device, but at present, the price of the device is higher, and a common family does not have the purchasing ability. The ARTROMOT-F finger joint rehabilitative apparatus developed by ORMED of Germany adopts a battery as a driving mode, can be controlled by two hands, and can conveniently train MP and PIP joints, but is inconvenient to train single joints due to complex structure.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, the utility model provides a recovered gloves of ectoskeleton based on tendon rope transmission for the patient also can oneself carry out the rehabilitation training under the help that does not have others, and can go on at any time, thereby makes recovered effect multiplication, moreover the utility model discloses simple structure, the practicality is strong, and application scope is wide, and the price is moderate, and is fit for the patient of various hand types.
The utility model provides a recovered gloves of ectoskeleton based on tendon rope transmission, including the fixed brace of wrist joint, control chip, thumb tendon rope actuating mechanism, thumb link mechanism, first response mechanism, four finger tendon rope actuating mechanism, four finger link mechanism, second response mechanism, canceling release mechanical system, stop mechanism and connect and fix each external skeleton nylon gloves of finger mechanism, thumb tendon rope actuating mechanism includes thumb end joint driving motor, thumb end joint motor frame, thumb end motor frame and thumb control cotton rope, thumb link mechanism includes thumb inlet connecting rod one, thumb inlet connecting rod two and thumb distal end connecting rod, first response mechanism includes thumb film sensor shell and film sensor, four finger tendon rope actuating mechanism includes four finger end joint driving motor, four finger end joint frame, four finger end motor frame, four finger end motor frame, The four-finger connecting rod mechanism comprises a first four-finger near-end connecting rod, a second four-finger near-end connecting rod, a first four-finger middle-end connecting rod, a second four-finger middle-end connecting rod and a first four-finger far-end connecting rod, the second sensing mechanism comprises a four-rod film sensor shell and a film sensor, the wrist joint fixing support is arranged at the tail end of the exoskeleton nylon glove, a control chip is fixed in the wrist joint fixing support and is integrally positioned at the tail end of the exoskeleton nylon glove, a thumb end joint driving motor is fixedly connected with a thumb end joint motor frame, the thumb end motor frame is fixed below the thumb end joint motor frame through a sliding chute, the thumb end motor frame base, the thumb control wire rope, the first thumb inlet connecting rod, the second thumb inlet connecting rod, the far thumb connecting rod and the thumb film sensor shell are sequentially in pin connection, the film sensor is fixedly arranged below the thumb film sensor shell, the four-finger end joint driving motor is fixedly connected with a four-finger end joint motor frame, a four-finger end motor frame base is fixed below a thumb end joint motor frame through a sliding groove, a connecting rod fixing block is fixed on the four-finger end motor frame base, a four-thumb control cord is connected with a mechanism consisting of a direction plate and a four-finger proximal end connecting rod I, the four-finger proximal end connecting rod II is connected with the connecting rod fixing block, a four-finger middle end connecting rod I, a four-finger middle end connecting rod II and a four-finger distal end connecting rod I are connected with each other, a four-bar film sensor shell is fixed on the four-finger distal end connecting rod I, a film sensor is fixed below the four-bar film sensor shell, the stop mechanism comprises a check cushion block and a fixing cushion block, the check cushion block is fixedly connected with the four-finger proximal end connecting rod II, the fixing cushion block is fixedly connected with the connecting rod fixing, And the non-return cushion block is pushed by the four-finger proximal end connecting rod II and collides with the fixed cushion block after reaching a rehabilitation angle, and the movement of the middle end connecting rod is stopped and the movement of the far end connecting rod is started after being blocked.
As a further improvement of the utility model, the number of the four-finger tendon rope driving mechanism, the four-finger link mechanism, the second induction mechanism and the reset mechanism is four, and the four-finger tendon rope driving mechanism, the four-finger link mechanism, the second induction mechanism and the reset mechanism are arranged in a whole set.
As a further improvement of the utility model, the stop mechanism is fixed at the inner side of the rear joint of the glove finger.
As a further improvement of the utility model, the film sensor is a response system of piezo-resistor and multiple touch-control.
As a further improvement of the utility model, the rehabilitation angle is preset by a program preset in the control chip.
The utility model has the advantages that: the utility model discloses simple structure, in the recovered motion process, the film sensor atress in the finger, make the chip obtain the signal and drive the operation of tendon rope actuating mechanism, it is crooked to drive the back joint by driving motor shrink tendon rope, after reacing certain angle, the non return cushion blocks to take effect and makes the crooked just preceding joint that stops of back joint begin to bend, it stops after reacing certain angle, thereby realize the rehabilitation training action of people's hand, whole transmission system uses the round pin joint to couple in joint department, make its structure more similar to human hand joint, the transmission precision and the reliability of system have been improved greatly. The power source mainly uses artificial muscles, and the bionic structure of the artificial muscles enables the power to be stronger and the structure to be more exquisite. The novel tendon rope transmission system matched with the artificial muscle can stably and softly output large ground force, and provides additional force on the basis of protecting the safety of users.
Drawings
Fig. 1 is a schematic view of the whole structure of the exoskeleton rehabilitation glove of the present invention;
fig. 2 is a schematic view of the structure of four fingers of the exoskeleton rehabilitation glove of the present invention;
FIG. 3-1 is a front view of FIG. 2;
FIG. 3-2 is a top view of FIG. 2;
3-3 are bottom views of FIG. 2;
fig. 4 is a schematic view of the thumb structure of the exoskeleton rehabilitation glove of the present invention;
FIG. 5-1 is a front view of FIG. 4;
FIG. 5-2 is a top view of FIG. 4;
FIG. 5-3 are bottom views of FIG. 4;
fig. 6 is a schematic view of the structure of the exoskeleton rehabilitation glove motor of the present invention;
the reference signs are: 1. the exoskeleton nylon glove comprises an exoskeleton nylon glove, a wrist joint fixing support, a control chip, a wrist joint fixing support, a control chip, a thumb end joint driving motor, a thumb end joint motor frame, a thumb end motor frame, a thumb control cord, a thumb input end connecting rod I, a thumb input end connecting rod II, a thumb distal end connecting rod I, a thumb thin film sensor shell, a four-finger end joint driving motor, a thumb control cord, a thumb input end connecting rod I, a thumb input end connecting rod II, a thumb distal end connecting rod II, a thumb thin film sensor shell, a four-finger thin film sensor shell, a, A winding inner fixing ring 28 and a winding outer fixing ring.
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 of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
As shown in fig. 1 to 6, the utility model provides an exoskeleton rehabilitation glove based on tendon rope transmission, which comprises a wrist joint fixing brace 2, a control chip 3, a thumb tendon rope driving mechanism, a thumb link mechanism, a first sensing mechanism, a four-finger tendon rope driving mechanism, a four-finger link mechanism, a second sensing mechanism, a resetting mechanism and an exoskeleton nylon glove 1 connected with and fixing each finger mechanism, wherein the thumb tendon rope driving mechanism comprises a thumb end joint driving motor 4, a thumb end joint motor frame 5, a thumb end frame base 6 and a thumb control rope 7, the thumb link mechanism comprises a thumb end connecting rod I8, a thumb end connecting rod II 9 and a thumb distal end connecting rod 10, the first sensing mechanism comprises a thumb thin film sensor shell 11 and a tendon thin film sensor 24, and the four-finger tendon rope driving mechanism comprises a four-finger end joint driving motor 12, The four-finger joint comprises a four-finger end joint motor frame 13, a four-finger end motor frame base 14, a four-thumb control cord 15, a connecting rod fixing block 16 and a direction plate 17, wherein the four-finger connecting rod mechanism comprises a four-finger proximal end connecting rod I18, a four-finger proximal end connecting rod II 19, a four-finger middle end connecting rod I20, a four-finger middle end connecting rod II 21 and a four-finger distal end connecting rod I22, the second induction mechanism comprises a four-bar film sensor shell 23 and a film sensor 24, the wrist joint fixing support 2 is arranged at the tail end of the exoskeleton nylon glove 1, the control chip 3 is fixed in the wrist joint fixing support 2 and is integrally positioned at the tail end of the exoskeleton nylon glove 1, the thumb end joint driving motor 4 and the thumb end joint motor frame 5 are fixedly connected, the thumb end motor frame base 6 is fixed below the thumb end joint motor frame 5 through a sliding chute, the thumb end motor frame base 6, the thumb control cord 7 and the, a thumb inlet end connecting rod II 9, a thumb far-end connecting rod 10 and a thumb thin-film sensor shell 11 are sequentially connected through pins, a thin-film sensor 24 is fixedly arranged below the thumb thin-film sensor shell 11, a four-finger end joint driving motor 12 and a four-finger end joint motor frame 13 are fixedly connected, the four-finger end motor frame base 14 is fixedly connected with the four-finger end joint motor frame 13 through a sliding chute, a connecting rod fixing block 16 is fixedly arranged on the four-finger end motor frame base 14, a four-thumb control cord 15 is connected with a mechanism consisting of a direction plate 17 and a four-finger near-end connecting rod I18, the four-finger near-end connecting rod II 19 is connected with the connecting rod fixing block 16, a four-finger middle-end connecting rod I20, a four-finger middle-end connecting rod II 21 and a four-finger far-end connecting rod I22 are mutually connected, a four-finger thin-film sensor shell 23 is fixed on the four-finger far-end connecting rod, the non-return cushion block 25 is fixedly connected with the second four-finger proximal end connecting rod 19, the fixed cushion block 26 is fixedly connected with the connecting rod fixed block 16, the winding inner fixed ring 27 and the winding outer fixed ring 28 are respectively sleeved on the end shafts of the thumb end joint driving motor 4 and the four-finger end joint driving motor 12, the non-return cushion block 25 is pushed by the second four-finger proximal end connecting rod 19, collides with the fixed cushion block 26 after reaching a rehabilitation angle, and stops the movement of the middle end connecting rod and enables the movement of the far end connecting rod after being blocked. The structure is simple, and simultaneously, the complete rehabilitation process can be completed quickly and accurately.
The number of the four-finger tendon rope driving mechanisms, the four-finger connecting rod mechanisms, the second sensing mechanisms and the reset mechanisms is four, and the four-finger tendon rope driving mechanisms, the four-finger connecting rod mechanisms, the second sensing mechanisms and the reset mechanisms are arranged in a set. The mechanism that four fingers set up is the same, convenient operation, and save material, easy manufacturing, the outward appearance has the aesthetic feeling.
The stopping mechanism is fixed on the inner side of the rear joint of the glove finger. The first joint is arranged at the inner side, so that the first joint is not bent any more after being bent to a certain angle, and the normal movement of other joints is ensured.
The thin film sensor 24 is a piezoresistive and multi-touch response system.
The exoskeleton nylon glove 1 is high in material strength, good in toughness, outstanding in fatigue resistance, smooth in surface and wear-resistant.
A control method of exoskeleton rehabilitation gloves based on tendon rope transmission comprises the following steps,
s1, the patient wears the exoskeleton nylon glove 1, and the four fingers apply pressure to the four-bar thin-film sensor shell 23;
s2, the film sensor 24 obtains the pressure signal and transmits the pressure signal to the control chip 3;
s3, the control chip 3 provides power for the four-finger joint driving motor 12 after being analyzed through preset programming;
s4, the four-finger end joint driving motor 12 pulls the four-thumb control cord 15 to drive the direction board 17, the first four-finger near-end connecting rod 18 and the second four-finger near-end connecting rod 19 to move under stress to drive the first finger joint to bend;
s5, when the fingers are bent to the rehabilitation angle, the second four-finger proximal connecting rod 19 pushes the non-return cushion block 25 to be close to the fixed cushion block 26, and the first rehabilitation stage is finished;
s6, the four-finger middle end connecting rod I20, the four-finger middle end connecting rod II 21 and the four-finger far end connecting rod I22 continue to move to drive the second joint and the third joint of the finger to bend, when the front part of the finger bends to a rehabilitation angle, the control chip 3 sends a signal, the movement stops, and the rehabilitation process is completed.
The rehabilitation angle is preset by a preset program in the control chip 3.
The working principle is as follows:
after a rehabilitation person wears the exoskeleton nylon glove 1, the four fingers apply pressure to the four-bar film sensor shell 23 to enable the film sensor 24 to obtain pressure signals and transmit the pressure signals to the control chip 3, the control chip 3 drives the four-finger end joint driving motor 12 to drive the four-thumb control cord 15 to move through analysis and programming, the direction plate 17, the four-finger proximal end connecting rod I18 and the four-finger proximal end connecting rod II 19 are in stressed motion to drive the first finger joint to bend, when the fingers are bent to a rehabilitation angle integrally, the four-finger proximal end connecting rod II 19 pushes the check cushion block 25 to be close to the fixed cushion block 26, and the first rehabilitation stage is completed. And then, the middle end connecting rod mechanism transmits power, the four-finger middle end connecting rod I20, the four-finger middle end connecting rod II 21 and the four-finger distal end connecting rod I22 move to drive the second joint and the third joint of the finger to bend, and after the front part of the finger bends to a rehabilitation angle, the control chip 3 sends a signal, the movement stops and the rehabilitation process is completed.
The utility model discloses thumb simple structure obtains the chip signal after, thumb end joint driving motor 4 drives thumb control cotton rope 7 and stretches out and draws back, advance end connecting rod 8 by the thumb, thumb advances end connecting rod two 9, 10 link mechanism transmission power of thumb distal end connecting rod, realize the crooked recovered process of accomplishing of thumb, thumb end joint motor frame 5 and four-finger end joint motor frame 13 are owing to adopting the spout structure simultaneously, can be at thumb end motor frame 6 and the horizontal regulation on four-finger end motor frame 14 to adapt to user's different hand types.
The utility model has the advantages that: the utility model discloses simple structure, in the recovered motion process, the film sensor in the finger is stressed, make control chip obtain the operation of signal drive tendon rope actuating mechanism, it is crooked to drive the back joint by driving motor shrink tendon rope, after reacing certain angle, the non return cushion blocks to take effect and makes the crooked just preceding joint of stopping of back joint begin to buckle, it stops after reacing certain angle, thereby realize the rehabilitation training action of people's hand, whole transmission system uses the round pin joint to couple in joint department, make its structure more similar to human hand joint, the transmission precision and the reliability of system have been improved greatly. The power source mainly uses artificial muscles, and the bionic structure of the artificial muscles enables the power to be stronger and the structure to be more exquisite. The novel tendon rope transmission system matched with the artificial muscle can stably and softly output large ground force, and provides additional force on the basis of protecting the safety of users.
The above detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings is only for the purpose of illustrating preferred embodiments of the present invention and is not intended to limit the present invention in any way, but it is intended to cover any modifications or equivalent arrangements included within the spirit and scope of the present invention.
Claims (5)
1. An exoskeleton rehabilitation glove based on tendon rope transmission is characterized by comprising a wrist joint fixing support (2), a control chip (3), a thumb tendon rope driving mechanism, a thumb connecting rod mechanism, a first sensing mechanism, a four-finger tendon rope driving mechanism, a four-finger connecting rod mechanism, a second sensing mechanism, a resetting mechanism, a stop mechanism and an exoskeleton nylon glove (1) connected with and fixing various finger mechanisms, wherein the thumb tendon rope driving mechanism comprises a thumb end joint driving motor (4), a thumb end joint motor frame (5), a thumb end motor frame base (6) and a thumb control rope (7), the thumb connecting rod mechanism comprises a thumb inlet connecting rod I (8), a thumb inlet connecting rod II (9) and a thumb distal connecting rod (10), the first sensing mechanism comprises a thumb film sensor shell (11) and a film sensor (24), the four-finger tendon rope driving mechanism comprises a four-finger joint driving motor (12), a four-finger joint motor frame (13), a four-finger motor frame base (14), a four-thumb control rope (15), a connecting rod fixing block (16) and a direction plate (17), the four-finger connecting rod mechanism comprises a four-finger near-end connecting rod I (18), a four-finger near-end connecting rod II (19), a four-finger middle-end connecting rod I (20), a four-finger middle-end connecting rod II (21) and a four-finger far-end connecting rod I (22), the second sensing mechanism comprises a four-rod film sensor shell (23) and a film sensor (24), the wrist joint fixing support (2) is arranged at the tail end of the exoskeleton nylon glove (1), the control chip (3) is fixed in the wrist joint fixing support (2) and is integrally positioned at the tail end of the exoskeleton nylon glove (1), and the thumb end joint driving motor (4) and the thumb end joint motor frame (5) are fixedly connected, the thumb end motor frame base (6) is fixed below a thumb end joint motor frame (5) through a sliding groove, the thumb end motor frame base (6), a thumb control cord (7), a thumb inlet connecting rod I (8), a thumb inlet connecting rod II (9), a thumb far end connecting rod (10) and a thumb thin film sensor shell (11) are sequentially connected through a pin, a thin film sensor (24) is fixedly installed below the thumb thin film sensor shell (11), a four-finger end joint driving motor (12) and a four-finger end joint motor frame (13) are fixedly connected, the four-finger end motor frame base (14) is fixed below the four-finger end joint motor frame (13) through the sliding groove, a connecting rod fixing block (16) is fixed on the four-finger end motor frame base (14), the four-thumb control cord (15) is connected with a mechanism consisting of a direction plate (17) and the four-finger near end connecting rod I (18), and the four-finger near end connecting rod II (19) is connected with the fixing block (16), a four-finger middle end connecting rod I (20), a four-finger middle end connecting rod II (21) and a four-finger far end connecting rod I (22) are mutually connected, a four-bar film sensor shell (23) is fixed on the four-finger far end connecting rod I (22), a film sensor (24) is fixed below the four-bar film sensor shell (23), the stopping mechanism comprises a non-return cushion block (25) and a fixed cushion block (26), the non-return cushion block (25) is fixedly connected with a second four-finger near-end connecting rod (19), the fixed cushion block (26) is fixedly connected with a connecting rod fixed block (16), the end shafts of the thumb end joint driving motor (4) and the four-finger end joint driving motor (12) are respectively sleeved with a winding inner fixed ring (27) and a winding outer fixed ring (28), the non-return cushion block (25) is pushed by the four-finger proximal end connecting rod II (19), collides with the fixed cushion block (26) after reaching a rehabilitation angle, stops the movement of the middle end connecting rod after being blocked and enables the distal end connecting rod to start to move.
2. The exoskeleton rehabilitation glove based on tendon rope transmission as claimed in claim 1, wherein the number of the four-finger tendon rope driving mechanism, the four-finger link mechanism, the second sensing mechanism and the resetting mechanism is four, and the four mechanisms are arranged in a set.
3. The exoskeleton rehabilitation glove based on tendon rope transmission as claimed in claim 2, wherein the stop mechanism is fixed inside the posterior joint of the glove finger.
4. The exoskeleton rehabilitation glove based on tendon rope transmission as claimed in claim 3, wherein the thin film sensor (24) is a piezoresistor and multi-touch response system.
5. A tendon rope transmission based exoskeleton rehabilitation glove as claimed in claim 4 wherein the rehabilitation angle is preset by a preset programming in the control chip (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022396774.4U CN213666571U (en) | 2020-10-26 | 2020-10-26 | Exoskeleton rehabilitation glove based on tendon rope transmission |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022396774.4U CN213666571U (en) | 2020-10-26 | 2020-10-26 | Exoskeleton rehabilitation glove based on tendon rope transmission |
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| CN213666571U true CN213666571U (en) | 2021-07-13 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113814962A (en) * | 2021-09-27 | 2021-12-21 | 国网江苏省电力有限公司扬州供电分公司 | Intelligent climbing exoskeleton system |
| CN114177003A (en) * | 2021-12-22 | 2022-03-15 | 河海大学常州校区 | Novel rigid-flexible coupling type exoskeleton hand rehabilitation mechanism and working method thereof |
| CN115317314A (en) * | 2022-08-19 | 2022-11-11 | 浙江工业大学 | Exoskeleton rehabilitation glove based on flexible driver and interaction method thereof |
-
2020
- 2020-10-26 CN CN202022396774.4U patent/CN213666571U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113814962A (en) * | 2021-09-27 | 2021-12-21 | 国网江苏省电力有限公司扬州供电分公司 | Intelligent climbing exoskeleton system |
| CN114177003A (en) * | 2021-12-22 | 2022-03-15 | 河海大学常州校区 | Novel rigid-flexible coupling type exoskeleton hand rehabilitation mechanism and working method thereof |
| CN115317314A (en) * | 2022-08-19 | 2022-11-11 | 浙江工业大学 | Exoskeleton rehabilitation glove based on flexible driver and interaction method thereof |
| CN115317314B (en) * | 2022-08-19 | 2024-08-09 | 浙江工业大学 | Exoskeleton rehabilitation glove based on flexible driver and interaction method thereof |
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