DE102014004508A1 - Device for supporting gripping functions of a hand for training gripping functions - Google Patents

Abstract

The device is intended to support movements of two or more fingers of one hand and for use in the controlled training of grasping functions of individual fingers. For this purpose, the device has a motor (2), which is set up for power transmission to a transfer case (1). Next, the transfer case is designed as a so-called differential gear and has a drive shaft and two independently movable output shafts. Each of the output shafts is connected to a respective spindle, the body limbs are connected by means of connecting elements with the spindles.

Description

The invention relates to a device for supporting gripping functions of one hand and for training / practicing gripping functions of individual fingers.

The main application for the device according to the invention is that of a supportive, technical aid in patients with disorders of the gripping function on the hand, the z. B. triggered by a stroke. Statistical studies (from 2005) have shown that every year in Germany alone, about 250,000 people suffer a stroke. The effects on the body vary according to the location of the stroke, with the most frequent lasting consequences being a malfunction of the hand function.

The central role of the hand with its 14 grip types allows for a combination of precision grips and / or force grips, without limiting the mobility of individual fingers, with the simultaneous ability to adjust the grip forces to the object to be gripped and the requirements of the gripping task. A limitation or even the omission of this functionality means a great loss of quality of life and a noticeable impairment of daily life.

Usually, a lengthy rehabilitation is necessary to at least reduce the dysfunction. Such rehabilitation measures are usually performed by therapists without the assistance of technical aids.

In the prior art but also mechanical or passive systems to complex, intricately constructed robotic systems are known with which the gripping functions of the hand can be trained.

An example of a simple mechanical system shows the DE 10 2011 009 399 A1 with a movement therapy device that rolls or slides an easily slidable palm rest on a pad as the movement of the hand is trained.

Another example of a mechanical system shows a bracer of the company Saebo, which is known under the name SaeboFlex (see. Internet Company Script Saebo: 19 Years Ago A Stroke Paralyzed My Hand, 30/01/2009, 2725 Water Ridge Parkway, Charlotte, NC 28217, http://www.saebo.com/pdf/SaeboOrthosisFinal0408.pdf ). The mechanical system uses individual springs for each finger, which must be adapted to the user.

There are also known pure measuring systems for determining the severity of the impairments and for logging the progress.

Furthermore, systems for determining mobility and joint angle of the upper and lower extremities as well as for measuring the gripping force of a hand are known (cf. http://www.orthoaktiv.de/index.php?page=hand ). However, these systems are used to document a status and do not allow rehabilitation training.

Known as cybergrasp, the system, which was developed for haptic applications, but is also used for stroke rehabilitation, belongs to the group of well-known complex, intricately designed robotic systems with independent motorization of the individual fingers, thus allowing an individual application of force targeted strengthens individual fingers (cf. CyberGlove Systems: CyberGrasp System v2.0 User Guide, 12/2007, CyberGlove Systems LLC, 2355 Paragon Drive, San Jose, CA 05131, http://www.upc.edu/sct/es/documents_equipament/d_184_id-485. pdf ).

A similar complex and intricately constructed robotic system shows the font EP 2 436 358 A1 with a robot-type gripper arm, in which a single motor-driven hinge joint is placed on each finger of a hand to support a rehabilitation procedure. Such systems are complicated by the use of each motorized unit for each individual finger of a hand and the consequent complexity of construction and control, and thus expensive in the manufacture and adaptation to the individual needs and tasks.

The object of the invention is to provide an improved device for the support and controlled training of movements of the human hand and one or more fingers and in particular to improve their mobility and strength.

This object is achieved by the subject matter of claim 1. Preferred developments of the invention are the subject of the dependent claims.

The invention provides a simple, inexpensive and reliable device for the controlled training of movements of the human hand and one or more fingers. It can be used in particular in the fine motor force control of a hand, but also beyond - with appropriate design, the inventive device for Measurement data acquisition via sensors, their storage and evaluation suitable. A monitoring and control of gripping functions is thus possible directly through the device.

The device according to the invention thus provides a technical aid accompanying the rehabilitation, which relieves the time of the therapist and makes it possible for the affected person to carry out a controlled training of gripping functions even without therapists and at any time. The device allows easy and safe handling, which can be done by the user himself without special training or service forces.

In particular, the device can be used in smaller rehabilitation centers and for home rehabilitation.

It is advantageous that the device preferably can be expanded modularly with sensors and / or actuators and thus a further adaptability of support and training can be possible and an objectively measurable assessment of rehabilitation progress becomes possible.

In another preferred embodiment of the invention, a stand-alone device as a compact device using robotic elements for rehabilitation of hand functions, which allows each individual finger of a hand to train independently and is designed in terms of dimensions and weight so that the Device can be placed on the hand or can be included, provided.

For the purposes of the invention, a motor is understood to mean any device which has a motor drive shaft which rotates at a substantially constant or a variable rotational speed and at the same time emits a torque which is also constant or variable to a transmission device connected to the motor drive shaft , Preferably, the motor is an electric motor, but there are also other drive principles, such. B. a pneumatic motor in question.

The term "transmission device" according to the invention means a device in which a force applied to the transmission input shaft rotational movement with respect to the rotational speed and / or the torque is converted. A transfer case according to the invention is a transmission in which a rotational movement is divided into at least two rotational movements.

Preferably, the transfer case is a three-shaft gear and preferably a planetary gear. In these transmissions, wheels are used for the motion transmission, which have a cylindrical or a conical shape at the sections provided for the movement transmission and are designed as conical, front or ring gears. The wheels can be designed both as a friction gear or preferably as gears. Such epicyclic gearboxes are often referred to as differential or differential gear and as bevel or planetary gear (spur gear) executable. In this case, a gear train, preferably a gear transmission, is to be understood by a three-shaft gear, which has at least three shafts.

According to the invention, a connecting element is to be understood as meaning a component which is set up to indirectly or directly connect at least one body member to a spindle for power transmission.

For the purposes of the invention, a spindle is to be understood as a component on which the connecting element can be wound up. Preferably, the spindle is rotatably mounted and rotationally fixed or at least torque-conducting connected to one of the output shafts of the three-shaft transmission. Further preferably, the spindle is an at least substantially rotationally symmetrical roller, spool or drum. The connecting element is preferably designed as a traction means and in particular as a wire, rope, cord, thread, tape or braid. Preferably, the connecting element comprises as one component nylon or carbon fibers, more preferably the connecting element consists of nylon or carbon fibers.

Preferably, a first and a second spindle are each coupled to a first and a second output shaft of the transfer case, preferably, the third shaft of the transfer case is designed as a drive shaft. Preferably, a torque and / or a rotational speed can be specified on this drive shaft. The torque input can be done by means of a brake or clutch, preferably the speed and / or torque specification is made on this drive shaft but by means of the motor. When using an electric motor this is preferably operable in several operating quadrants, d. H. in engine and brake operation.

Preferably, at least one, preferably several, shafts of the three-shaft transmission with a sensor, in particular for speed and torque or torque monitoring, equipped. Vorzugseise the speed and / or torque of at least two, preferably of several, and more preferably of all, spindles is added, each with at least one sensor. The measured values of at least one sensor are preferably used to control the device. The Sensor values are preferably stored in a data memory.

As sensors optical, magnetic, inductive or capacitive measuring sensors can be used. Preferably, measuring sensors are provided which operate according to a non-contact principle. With such sensors, a particularly reliable measured value transmission and a robust construction is possible. Further preferably, measuring sensors are provided which operate by means of a non-contact measuring principle. With such sensors, a particularly low-friction system can be achieved.

Through the use of sensors, it is possible to monitor the device and to control the training with it and preferably it is possible to regulate the device speed / torque-dependent and so to improve the training and adapt.

In a preferred embodiment, the transfer case is configured as a bevel gear differential, preferably this bevel gear differential has at least two bevel and at least one crown wheel. Preferably, the bevel gear connected to the first output shaft meshes with the ring gear. Further preferably, a bevel gear connected to the second output shaft meshes with the same ring gear. Further preferably, these bevel gears are mounted with this ring gear in a rotatably mounted differential carrier. Preferably, the differential carrier is axially parallel to the first and second output shaft rotatable, preferably mounted concentrically to these rotatable and further preferably has a drive gear, preferably rotates this drive gear with this differential carrier and allows the power transmission to this. In particular, by using a bevel gear differential, a simple construction of a transfer case is possible.

In a preferred embodiment, by means of the drive gear, a torque on the drive shaft of the transfer case can be applied, which is preferably independent of a speed. The transfer case described are in particular designed such that upon specification of a speed on the drive shaft, in particular by a braking device or by the engine, and when specifying a speed at the first / second output shaft, in particular by a Körpergliedmaß and the connecting element, the speed the second / first output shaft inevitably results. In particular, this special kinematics of the transfer case, an efficient training of the fingers is possible.

In a preferred embodiment, the exercise device comprises a motor control device. Preferably, the controller evaluates the speed / torque signals from at least one of the sensors and controls the motor using at least one of the sensor values. Further preferably, the control device has a data memory for storing at least one of the sensor values, preferably a plurality, particularly preferably all sensor values, are stored.

In a preferred embodiment, the drive / braking power is applied by a motor by means of a motor pinion on this drive gear. In a further preferred embodiment, the differential cage or a rotatably connected to the differential carrier shaft is designed as a drive shaft of a motor. In particular, in the transmission of the drive power by means of a drive gear practically any gear ratio (speed ratio) can be specified.

In a further preferred embodiment, in addition to this first transfer case, a second transfer case and another so-called coupling three-shaft transmission are available. Preferably, the two transfer cases are designed as a three-shaft gear. These three gears are connected together in a torque-conducting manner in such a way that four output shafts and one drive shaft result, the gears are preferably cascaded. Preferably, this second transfer case, at least substantially, identical in construction to this first transfer case. Preferably, the coupling three-shaft transmission has a first coupling output shaft, a second coupling output shaft and a coupling drive shaft, preferably, the first and second transfer case by the coupling output shafts are driven, in particular each of the transfer case by means of one of the coupling output shafts. The coupled three-shaft transmission is in particular set up so that it has no spindles.

Preferably, the drive gear of the first and second transfer case meshes with one, with the coupling output shafts rotatably connected, coupling output gear of the coupling three-shaft transmission. In particular, by this embodiment, there is the advantage that four spindles with the drive / braking power from a motor can be acted upon and against each other.

In a preferred embodiment, the power consumed by the engine is monitored by means of a sensor. Preferably, a sensor for current measurement and preferably an additional sensor for voltage measurement is provided for monitoring the performance of the motor. The Measuring the recorded power is usually very easy to represent, therefore, a particularly simple assessment of the exercise intensity is possible with this measurement method.

In a preferred embodiment, the rotational angle position of the motor shaft of the motor, which is provided for driving the exercise device, with a sensor, in particular a so-called motor encoder monitors. A motor encoder is a sensor that detects the angular position by means of an incremental encoder or by means of a potentiometer. Thus, the total path change, ie the movement of all limbs which are in communication with the device, is detected on the motor shaft and thus a particularly simple monitoring of the overall intensity of the exercises performed is possible.

It is also possible that individual limbs, in particular by the proposed kinematics of the exercise device, are moved individually and all other limbs are stopped. In this use of the exercise device, it is possible to measure the exercises for each individual limb in serial order with only one sensor on the motor shaft of the motor.

In a preferred embodiment, the movements of at least two, preferably of all spindles, or of the spindles rotatably in communication with the output shafts of the transfer case with at least one sensor are measured.

In a preferred embodiment, sensors for measuring the acceleration (acceleration sensors) are arranged on at least one or preferably on a plurality of transmission shafts, spindles or limbs. It is known that by summing or integrating the accelerations on the speed and the distance traveled can be concluded. Further preferably, the acceleration sensors are arranged directly or indirectly on the body limbs, which are in communication with the exercise device by means of the connecting elements. Preferably, an acceleration sensor of the exercise device according to the invention operates according to the gyroscopic measuring principle.

In this case, the indirect arranging means that these sensors are arranged on a connecting element connected to the limbs, so that the acceleration sensor necessarily carries along the movements of the limbs and thus experiences the substantially same acceleration as the latter.

Preferably, a connection element on which the acceleration sensor is arranged is to be understood as a ring-like or glove-like element which preferably surrounds at least one finger at least in sections. Further preferably, the acceleration sensor is in close proximity to a point of articulation of the connecting element on this connecting element. For the purposes of the invention, "in the immediate vicinity" in this context means that the acceleration sensor is preferably not further than 30 mm, preferably not more than 20 mm and particularly preferably not more than 10 mm away from this point of articulation. Further preferably, the sensor, in particular the acceleration sensor, arranged at the end of the limbs, preferably at the fingertip.

Preferably, to monitor the movement of the body limbs bend sensor strips are to be understood, such sensors change their electrical resistance with a deformation of the strip, while the bending sensor strip is arranged on the limbs that this is deformed upon movement of the limbs. Preferably, such strips are arranged starting from the fingertip and communicate with the connection element. In particular, with such bending sensor strips, it is possible to accommodate the movement of the limbs, in particular the fingers, without moving parts in a particularly simple and precise way, thereby an improved exercise device can be achieved.

Preferably, elastic strain sensors are provided for receiving the movement of the limbs. For the purposes of the invention, such sensors are to be understood as sensors which release a voltage due to stretching (piezoelectric effect) or else change their electrical resistance. Strain sensors are preferably arranged on the side of the limbs facing away from the connection element, particularly preferably on the back of the hand or the back of the finger.

Preferably, for monitoring the movement of the limbs, in particular the hand, preferably the fingers, optical waveguides are used as strain sensors, such sensors are for example made Nishiyama, M., and Watanabe, K .; Wearable Sensing Glove With Embedded Hetero-Core Fiber-Optic Nerves For Unconstrained Hand Motion Capture known. In particular, by such wearable sensors, a particularly simple attachment of the sensors to the limbs is possible.

Preferably, the above-mentioned sensors may be attached to articulations of the limb dimensions from which motion is monitored. Further preferably, these sensors can also be arranged at the substantially rigid areas between or behind joints. In particular, by the arrangement of the sensors on the joints a particularly accurate detection of the movement of the joints is possible, in particular by attaching the sensors on the substantially rigid areas of the limbs, a particularly simple attachment of these sensors is possible.

In a preferred embodiment, the movements of the limbs, which are associated with the exercise device for movement, non-contact, so in particular without sensors monitored. For monitoring, at least one camera device is used in this embodiment. Preferably, so-called markers are arranged on the limb. During a movement of the limb, the camera device takes at least one image in the first state and at least one second image, these at least two images are evaluated and calculated from a movement. Such motion detection methods are known in the art. Further preferably, a camera device can be advantageously combined with other sensor devices, such systems are known for example as Microsoft Kinect. In particular, this well-proven type of motion detection on the one hand, a particularly precise and cost-effective way of detecting movement is possible.

In a preferred embodiment, the tensile / compressive load of the connecting elements is measured. Preferably, for such a measurement, the torque of the drive motor is monitored, preferably the electrical current to / from the motor for driving the device. Further preferably, the cable tension, which is caused by the force exerted on the connecting element tensile forces detected. For such a measurement sensors of the types described above can be used.

In a preferred embodiment, the device prevents the limbs from being drawn in by the device in a safety-endangering manner. In this case, it is to be understood that the risk of contracting in the sense of the invention is that a violation of the moving limbs, in particular of the joints is prevented by the device, in particular by stopping the movement of the device. Preferably, this is done on the basis of the measurement of the tensile force, which are transmitted to the limbs to be moved by means of the connecting element. Further preferably, a reference value can be predetermined for this tensile force, this reference value is preferably oriented to the limb dimensions, in particular type, geometry, pre-damage, current state, etc. Preferably, the reference value is selected from a range, wherein the range is preferably greater than 0 Newton, preferably greater than 0.5 Newton and more preferably greater than 5 Newton, and more preferably the range is less than 30 Newton, preferably less than 15 Newton, and more preferably less than 10 Newton.

If this reference value is exceeded, at least the retraction of the limbs is stopped. Further preferably, the device can record a reference value itself, in which the device, especially in a teaching operating mode, performs the movement once. For the purposes of the invention, a teaching operating mode is to be understood as an operating mode of the device in which at least one reference variable is determined, in particular tensile forces and movement distances for the limbs. If this reference value is exceeded during the training mode subsequent to the teaching operating mode, ie the training of the limbs, the retraction is stopped. Further preferably, the gradient of the force used to retract the limbs is monitored. If the gradient exceeds a certain value, limb retraction is stopped.

Further preferably, a safety-hazarding retraction is prevented by a Wegvorgabe. Preferably, a certain Einzugsweg (path between the end positions between which the limbs are moved) predetermined for the connecting element. Preferably, the device does not retract the connector further than defined by this path default. Preferably, this path specification can also be determined in the teaching mode of the device. By this is meant, in particular, that at least once the range of motion is not hazardous to safety, is traversed and the device takes up this path and the limbs are then moved only in this safe as defined area. More preferably, several of the aforementioned methods, to prevent a security-risking pulling, combined with each other.

In particular, by preventing a security-threatening retraction a particularly safe and thus improved device is provided.

In a preferred embodiment, an acceleration resistance for the device can be regulated. For the purposes of the invention, an acceleration resistance means that an acceleration of the movement of the limbs counteracts a resistance, ie an additional force. Preferably, this force can be applied by the motor to drive the device. This force, which counteracts the acceleration of the limbs, is adjustable in particular with regard to their size. Preferably, the force is adjustable so that by means of the acceleration resistance, a moment of inertia, at least one of the spindles, ie in particular by the motor for driving the device, is virtually increased. Preferably, a large acceleration of the limbs counteract a large force and thus a great acceleration resistance. Further preferably, a small acceleration, a small acceleration resistance. The acceleration resistance is preferably adjustable as a function of the path, the speed, the duration or the number of movements of the limbs.

Particularly by regulating the acceleration resistance, a particularly efficient exercising / exercising of the limbs is made possible, and thus an improved device for exercising is provided.

The figures show by way of example in a partially schematic representation of embodiments of the inventive device, which serve to explain the operation and the structure of the device.

Showing:

1 , an innovative device with motor ( 2 ) and transmission unit ( 1 ) with the hand placed on the lid ( 13 ) of the housing ( 12 . 13 ) for functionality assistive closing or resistive opening of the individual fingers of a hand,

2 , an innovative device with motor ( 2 ) and transmission unit ( 1 ) with placement of the floor group ( 12 ) on hand for functionality assistive opening or resistive closing of the individual fingers of a hand,

3a , shows the internal structure of a lid ( 14 ) with cover-side bearing supports ( 6 ) for the output shafts ( 8th ) of the differential gear ( 3 . 4 ) with spacers that cover the lid ( 14 ) on the floor group ( 13 ).

3b , shows the structure of the transmission unit ( 1 ) with drive wheel ( 7 ) for the engine, with the differential gear of the first stage ( 3 ) and the differential gear second stage.

4 , shows the structure of the transmission unit ( 1 ) in a closed housing with floor assembly ( 13 ) and lid ( 14 ) with an externally mounted motor ( 2 ).

All the fingers of one hand become an engine using only one actuator 2 , trained (cf. 1 . 2 . 4 ). The motorization makes it possible to adjust the training intensity, to measure the deflection and the force z. B. derive via the measurement of the motor current. When using only a single output shaft of a motor for the movement of the fingers of a hand problems arise because the finger paths are different lengths. Using only one output shaft of different diameters, this problem can be somewhat reduced, but the fingers can not be moved independently. In therapy, a user would thus predominantly use the strongest finger with such a restriction and thus relieve the other fingers unintentionally.

In order to counteract this one-sided interpretation, in the inventive device ( 2 ) multi-stage differential gear 3 . 4 as a gear unit 1 used. Through the use of at least two stages, the distribution of the torque of a single actuator, here a motor 2 the via a drive wheel 7 on the gear unit 1 acts on four output shafts 8th possible. At these output shafts 8th become the cables 10 on spindles 9 attached, the forces on the fingers each have a finger mount 12 transfer.

In the first stage ( 2 ) distributes a differential gear 3 the torque first on two output shafts 8a , In this way, however, only two fingers could be moved independently. With the use of two differential gears 4 second stage is the distribution of torque on four fingers possible, so that all can be moved independently of each other. Thus, by the two output shafts 8a the differential gear of the first stage 3 two more, in particular identical differential second stage 4 driven. These divide the torque back on two more output shafts 8th on. This results in four output shafts 8th on which spindles ( 9 ), which are the respective cable pull 10 to the finger-mounted respective finger mounts 12 lead (see also 1 ).

The 2 serves to explain the design principle, without being limiting on the type of attachment of the device to the hand. The differential gear 3 . 4 are as gear unit 1 designed to be one unit with the engine 2 to be able to form and thus together in a housing (not shown) can be integrated. This integrated Combination of all components makes it possible to provide a simple compact unit, which adapts modularly the exchange and / or adaptation to different preselected force ranges, in particular by matching preselected components and components to each other, exactly to the requirements of the respective hand. Furthermore, this type of construction is easier to miniaturize and to be integrated sensors 16 (not shown), measuring / evaluation units 17 (not shown) with microcontrollers 18 (not shown) and adapt interfaces to data storage and / or data transmission, such as WLAN, Bluetooth or the like.

The output or visualization of data or information via a display or a display directly on the device or communication media, such as commercially available smartphones or the like form a further embodiment variant.

The motor 2 can with an amplifier circuit 19 Be provided (not shown), through which the engine power via buttons / controller, in particular continuously, is regulated. This can be done by one or more buttons or one or more controllers z. B. a difficulty level and / or a training mode are determined. Conceivable modes are z. B. also a purely passive training, so the mobilization of the fingers alone by engine power.

For the application of the device on a back of the hand ( 2 ), becomes the respective rope 11 the individual cables 10 guided or deflected so that the tendon does not run over the back of the finger. This can be done with a glove 22 (not shown) be wrapped with finger holders, which has guides and / or deflection or the finger holders have such guides on or on the bottom group such guides or deflections are attached. In a further embodiment, the device can also be linked to a commercial exoskeleton instead of a glove or a finger holder.

As soon as independent finger movements are detected and made possible by the user, the support can be reduced to such an extent that resistive forces act at a certain point. Thereafter, by increasing the engine torque, the drag or the degree of difficulty can be adjusted. Training modes are also conceivable, whereby the actuation is adjusted on the basis of the current force.

The motor is equipped with an encoder to measure the deflection, which on the one hand expands the training possibilities and can also be used as a means of evaluating the rehabilitation progress. Here, in addition to the motor, which also functions as a sensor, additional sensors for individual fingers or finger areas can be used, which allow an extended evaluation.

When placing the system on the back of the hand a simple and secure fixation on a Velcro is possible, the z. B. is closed on the inside of the hand. An associated attachment to the system is easy on the floor assembly 13 Attach. When placing the system under the hand, the hand does not need to be fixed, but can only be hung up. For the extension of the fingers against the engine, the palm serves as a support. As materials are suitable here z. B. polyamide. Neoprene, as a support, can also be used, for example, as cushioning for better comfort. The power supply of the motor can be connected via a light cable connection or z. B. inductive coupling or batteries / rechargeable batteries. The data interface, z. B. USB, can be used for communication and power supply. The engine can be combined as a structurally external or internal component with the gearbox.

3a shows a perspective view of the lid 14 with spacers 15 , In the lid 14 are storage vehicles 6 provided, the bearings / bearings 5 can directly into the bearing carrier 6 be integrated or it may be in the bearing carrier a plain bearing or rolling bearing for supporting the shafts 8th and 8a (not shown) are used.

3b shows the floor group 13 with the gears 3 . 4 in a perspective view. At the output shafts 8th are four spindles 9 arranged. The transfer case 4 the second stage are from the coupling gear of the first stage 3 driven. The driving force of the engine 2 (not shown) is by means of the drive gear 7 on the coupling gear 3 transfer.

4 shows the device in assembled condition of floor assembly 13 and lid 14 , Between lid 14 and floor group 13 are the gears 3 . 4 integrated. The motor 2 is in this embodiment geometrically outside the floor group 13 and the lid 14 arranged. Between the floor group 13 and the lid 14 extend several spacers for secure connection. The individual ropes 11 of the cable 10 be on the spindles 9 added.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102011009399 A1 [0006]
• EP 2436358 A1 [0011]

Cited non-patent literature

• internet company publication Saebo: 19 Years Ago A Stroke Paralyzed My Hand, 30.01.2009, 2725 Water Ridge Parkway, Charlotte, NC 28217, http://www.saebo.com/pdf/SaeboOrthosisFinal0408.pdf [0007]
• http://www.orthoaktiv.de/index.php?page=hand [0009]
• CyberGlove Systems: CyberGrasp System v2.0 User Guide, 12/2007, CyberGlove Systems LLC, 2355 Paragon Drive, San Jose, CA 05131, http://www.upc.edu/sct/es/documents_equipament/d_184_id-485. pdf [0010]
• Nishiyama, M., and Watanabe, K .; Wearable Sensing Glove With Embedded Hetero-Core Fiber Optic Nerve For Unconstrained Hand Motion Capture [0043]

Claims (11)

Device for the support and controlled training of movements of the human hand and of one or more fingers and in particular for improving their mobility and power with an engine ( 2 ) adapted to apply torque to a transmission device ( 3 ), which is designed as a transfer case and in particular as a differential gear, wherein the transmission device at least one drive shaft and at least two output shafts ( 8a ), each with at least one spindle ( 9 ) and the limbs to be trained by means of connecting elements ( 11 ) are connectable to the spindles. Apparatus according to claim 1, characterized in that the transmission device at least a first transfer case ( 4 ), and at least a second, in particular substantially identical, transfer case ( 4 ) and at least one coupling gear ( 3 ), that each coupling gear ( 3 ) at least a first and a second coupling output shaft ( 8a ), each for driving a transfer case ( 4 ) are arranged, and that each coupling gear ( 3 ) by the engine ( 2 ) on the coupling drive shaft ( 7 ) is drivable. Device according to one of the preceding claims, characterized in that at least the rotational speed and / or at least the torque of a spindle ( 9 ) is monitored indirectly or directly by means of a sensor. Device according to one of the preceding claims, characterized in that the mechanical connection between a body limb and a spindle via a connecting element ( 12 ), in particular a finger holder ( 12 ) takes place indirectly on the phalanx, directly or via a glove-like element. Device according to one of the preceding claims, characterized in that a motor control device, in particular an amplifier circuit, is provided, which for controlling the motor ( 2 ) is set up, and which in particular has at least one switch and / or controller and that by means of this switch and / or regulator, the motor torque, in particular stepless, is variable. Device according to one of the preceding claims, characterized in that the engine ( 2 ) and at least one transfer case ( 3 . 4 ) on a support element, in particular a floor assembly ( 13 ) are attached. Apparatus according to claim 6, characterized in that the carrier element ( 13 ) with fixing agents ( 21 ), preferably a rope, preferably a band and particularly preferably a Velcro bandage, on a limb, in particular on the hand, directly or indirectly fixed. Device according to one of the preceding claims, characterized in that a lid ( 14 ) is formed as a, in particular ergonomic, hand rest, which causes tensile forces from a suitable direction on the fingers attack and which avoids an excessive, safety-endangering retraction of the limbs, in particular at least one finger. Device according to one of the preceding claims 4 to 8, characterized in that the respective connection element, in particular the respective finger holder ( 12 ), via the respective connecting element, in particular the respective cable ( 10 ), both in dorsal, especially directed away from the back of the respective limbs, as well as palmarer, in particular in the opposite direction can be attached. Device according to one of the preceding claims, characterized in that the engine ( 2 ) externally to the transmission unit ( 3 . 4 ) or internally in the gear unit, in particular in the space between the floor group ( 13 ) and the lid ( 14 ), is integrable. Apparatus according to claim 5, characterized in that an acceleration resistance is adjustable.

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