KR101855359B1 - System for rehabilitating fingers - Google Patents

Abstract

A system for rehabilitating fingers is provided. The system for rehabilitating the fingers according to an embodiment of the present invention includes: a driving magnet module mounted on the fingers of a rehabilitation trainee and having a driving magnet showing magnetization direction perpendicular to the longitudinal direction of the fingers; a driving coil module having a circular coil for moving the driving magnet module by applying a magnetic field to the driving magnet; a first auxiliary magnet module mounted on the palm of the rehabilitation trainee and having a first auxiliary magnet showing magnetization direction opposite to the magnetization direction of the driving magnet; and a second auxiliary magnet module located inside the circular coil and having a second auxiliary magnet magnetized in the same direction as the driving magnet.

Description

SYSTEM FOR REHABILITATING FINGERS [0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a finger rehabilitation system, and more particularly, to a finger rehabilitation system capable of performing a rehabilitation exercise by moving a finger by a magnetic force.

Stroke is a rapidly growing and serious disease worldwide. One major symptom of stroke is an abnormality in hand movements. Rehabilitation training is most important for post-stroke treatment, even if the patient's condition improves significantly. A variety of assistive devices have been developed for hand rehabilitation training. Most of these assistive devices are mechanical devices. Most devices for hand rehabilitation have disadvantages such as complicated configuration, difficulty to install on fingers, and large volume.

Such devices for hand rehabilitation are classified as hard type devices or soft type devices. Generally, a hard-type device is composed of an electric motor, a wire, a frame, and various mechanical components, and the hard-type device uses a motor to provide an active external force. The soft type device has a relatively simple configuration, but is difficult to install on a finger. In addition, the hand rehabilitation machine uses pneumatic pressure control using a robot hand or a flexible material. In addition, the wire is controlled by an electric motor to control the wire to move the finger. In this case, it is difficult to wear the hand with a complicated structure.

Korean Registered Patent No. 1638499 (Registered on May 5, 2015) Korean Registered Patent No. 1500483 (Registered on Mar. 3, 2015)

The present invention provides a finger rehabilitation system for generating movement of a finger by a magnetic force and a magnetic torque without a combined driving device such as an electric motor and a wire.

Further, the present invention provides a finger rehabilitation system comprising a drive coil, a magnet provided on a finger and a palm, and a magnet provided inside the coil, and capable of being actively operated by a simple configuration and a magnetic force.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a finger rehabilitation system including: a driving magnet module mounted on a finger of a rehabilitation trainer and having a driving magnet whose magnetization direction is perpendicular to the longitudinal direction of the finger; A drive coil module having a circular coil for applying a magnetic field to the drive magnet to move the drive magnet module; A first auxiliary magnet module mounted on the palm of the rehabilitation trainer and having a first auxiliary magnet whose magnetization direction is opposite to that of the driving magnet; And a second auxiliary magnet module located inside the circular coil and having a second auxiliary magnet whose magnetization direction is the same as that of the driving magnet.

Further, the driving magnet module may be mounted on at least one of the detection, suspension, ring finger, and small finger of the rehabilitation trainee.

In addition, the driving magnet module may be attached to the distal end of the three fingers.

The driving coil module may generate an up direction magnetic field applied in a direction of an upward direction of the circular coil or a downward direction magnetic field applied in a downward direction of the circular coil depending on a direction of a current.

In addition, in the driving magnet module, the driving magnet is rotated in the upward direction by the upward magnetic field, and a repulsive force is generated between the circular coil and the driving magnet, so that the finger on which the driving magnet module is mounted is bent The driving magnet is rotated in the downward direction by the downward magnetic field and a force is generated between the circular coil and the driving magnet so that the finger on which the driving magnet module is mounted is extended Can perform an extension motion.

In addition, in the first auxiliary magnet module, when the bending motion is performed, attraction is generated between the driving magnet and the first auxiliary magnet, thereby enhancing the bending motion.

The second auxiliary magnet module is capable of enhancing the spreading motion by forming attractive force between the driving magnet and the second auxiliary magnet during the spreading motion.

Other specific details of the invention are included in the detailed description and drawings.

According to the present invention, unlike a conventional hand rehabilitation device, it is possible to move a finger by a magnetic torque and a magnetic force without a combined driving device such as an electric motor and a wire.

Also, since it uses physical phenomenon of magnet and magnetic field, it is possible to realize complete wireless control, simple structure, and easy wearing.

1 is a diagram illustrating a configuration of a finger rehabilitation system according to an embodiment of the present invention.
Fig. 2 is a view showing a configuration of a driving magnet module of the finger rehabilitation system of Fig. 1;
Fig. 3 is a diagram showing a circular coil of the finger rehabilitation system of Fig. 1; Fig.
FIG. 4 is a view showing a configuration of a first auxiliary magnet module of the finger rehabilitation system of FIG. 1;
5 is a view showing a configuration of a second auxiliary magnet module of the finger rehabilitation system of FIG.
6A to 6C are diagrams showing magnetic forces due to the flexion motion and the extension motion of the finger.
7A and 7B are views showing the positions of two magnets for analyzing the magnetic force.
FIG. 8A is a graph showing a simulation result of a drive coil at an applied current of 10 A, and FIG. 8B is a graph showing a result of measuring magnetic intensity according to a change in height and current.
FIG. 9A is a view showing the position of the driving magnet according to the movement of the finger, and FIG. 9B is a diagram showing the magnetic intensity from the driving coil according to the position of the driving magnet.
10 is a view showing a magnetic force analysis result according to the position of a magnet.
Figs. 11A and 11B are diagrams showing changes in finger movement according to a change in current. Fig.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Although the first, second, etc. are used to describe various elements, components and / or sections, it is needless to say that these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish one element, element or section from another element, element or section. Therefore, it goes without saying that the first element, the first element or the first section mentioned below may be the second element, the second element or the second section within the technical spirit of the present invention.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the terms "comprises" and / or "made of" means that a component, step, operation, and / or element may be embodied in one or more other components, steps, operations, and / And does not exclude the presence or addition thereof.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

1 is a diagram illustrating a configuration of a finger rehabilitation system according to an embodiment of the present invention. 2 is a diagram showing a configuration of a driving magnet module of the finger rehabilitation system of Fig. Fig. 3 is a diagram showing a circular coil of the finger rehabilitation system of Fig. 1. Fig. 4 is a diagram showing a configuration of the first auxiliary magnet module of the finger rehabilitation system of FIG. 5 is a diagram showing a configuration of a second sub magnet module of the finger rehabilitation system of FIG.

1 to 5, a finger rehabilitation system 100 according to an embodiment of the present invention includes a driving magnet 112 (refer to FIG. 1) mounted on a finger of a rehabilitation trainer and having a magnetization direction perpendicular to the longitudinal direction of the finger A driving coil module 120 having a circular coil 122 for moving the driving magnet module 110 by applying a magnetic field to the driving magnet 112, A first auxiliary magnet module 130 mounted on the palm of the trainee and having a first auxiliary magnet 132 whose magnetization direction is opposite to that of the driving magnet 112, And a second auxiliary magnet 142 having a magnetization direction identical to that of the driving magnet 112.

The finger rehabilitation system 100 utilizes magnetic attraction and repulsion between the drive coil 122 and the drive magnet 112 and between the drive magnet 112 and the first and second subsidiary magnets 132 and 142. Therefore, mechanical components are not required because of the higher freedom of movement than the robot's glove motion due to the magnetic force direction, and the finger flexively or unfoldingly moves according to the change of the magnetic force direction.

Specifically, the three magnets 112, 132, and 142 and the driving coil 122 generate three magnetic forces for the active operation of the finger. The magnetic force between the driving magnet 112 and the driving coil 122 and the magnetic force between the driving magnet 112 and the first auxiliary magnet 132 and the magnetic force between the driving magnet 112 and the second auxiliary magnet 142. The magnetic attraction force between the driving magnet 112 and the first auxiliary magnet 132 or between the driving magnet 112 and the second auxiliary magnet 142 during the operation of the magnetic force (attracting force or repulsive force) between the driving magnet 112 and the driving coil 122 ) Magnetic attraction enhances the flexion / extension motion of the finger.

The driving magnet module 110 is provided with a driving magnet 112 inside the driving magnet module housing 114 and is provided at one side of the driving magnet module housing 114 with at least one of the detection, A mounting band 116 may be provided so that it can be mounted on one. In order to enhance the effect of the rehabilitation training of the rehabilitation trainee, it is preferable that the driving magnet module 110 is mounted on the distal end of three fingers. The driving magnet module 110 is attracted or repelled by the magnetic field of the driving coil module 120 between the driving magnet 112 and the driving coil 122.

In particular, the magnetic poles of the driving magnet 112 can be disposed so that attraction forces act on the first sub-magnet 132 and the second sub-magnet 142, respectively. That is, the magnetization direction of the driving magnet 112 is opposite to that of the first sub magnet 132, and the magnetization direction of the driving sub magnet 112 is the same as that of the second sub magnet 142. For example, when the driving magnets 112 are arranged in the order of the S pole and the N pole in the vertical upper direction of the fingers, the first auxiliary magnets 132 are arranged in the order of the N pole and the S pole, ) Are arranged in the order of S pole and N pole.

The driving coil module 120 includes a circular coil 122 and a second auxiliary magnet module 140 is disposed at a center portion of the circular coil 122. The driving coil module 120 generates a lower magnetic field applied in a direction of the upper direction of the circular coil 122 or a lower magnetic field applied in the lower direction of the circular coil 122, do. Accordingly, when the magnetic field is generated in the circular coil 122, the driving magnet 112 mounted on the finger rotates in the magnetic field direction by the magnetic torque, and the driving magnet 112 is rotated in the direction of the magnetic field, 122). At this time, the magnetic field generated in the circular coil 122 is generated in a direction perpendicular to the center of the circular coil.

That is, the driving magnet module 110 rotates the driving magnet 112 upward by the upward magnetic field, and repulsive force is generated between the circular coil 122 and the driving magnet 112, And a flexion motion in which the finger on which the finger 110 is mounted is bent. The driving magnet module 110 rotates the driving magnet 112 in a downward direction by the downward magnetic field and generates attraction between the circular coil 122 and the driving magnet 112, 110) is extended with an extension motion.

The first auxiliary magnet module 130 includes a first casing 134 mounted on the palm of the hand and accommodating the first auxiliary magnet 132 in accordance with the length of the palm, The mounting band 136 can be mounted on the palm of the user. Here, a plurality of the first auxiliary magnets 132 can be accommodated in the first casing 134, and the magnetizing direction is opposite to the driving magnet 112 as described above.

The magnetization direction of the first auxiliary magnet module 130 is opposite to that of the driving magnet 112 so that attraction force between the driving magnet 112 and the first auxiliary magnet 132 during a flexion motion of the finger The bending motion can be strengthened. At this time, the flexion motion of the finger occurs due to the repulsive force of the driving magnet 112 and the driving coil 122.

The second auxiliary magnet module 140 may be disposed inside the circular coil 122 and may include a second casing 144 that receives the second auxiliary magnet 142. Here, the second auxiliary magnet 142 can be accommodated in the inside of the second casing 144, and four second subsidiary magnets 142 preferably correspond to four terminals of the four fingers And can be accommodated in the inside of the second casing 144. Further, the shape of the second housing 144 may also be formed so as to correspond to the terminal node of four fingers. As described above, the magnetization direction of the second subsidiary magnet 142 is the same as that of the driving magnet 112.

The second auxiliary magnet module 140 is disposed between the driving magnet 112 and the second auxiliary magnet 142 such that the magnetization direction of the second auxiliary magnet module 140 is the same as that of the driving magnet 112, By forming the attraction force, the spreading motion can be strengthened. At this time, an extension motion of the finger occurs by the attractive force of the driving magnet 112 and the driving coil 122.

Hereinafter, the movement of the finger by the finger rehabilitation system 100 according to an embodiment of the present invention will be analyzed in detail.

<Examples>

The magnetic force is divided into manpower and repulsion. As shown in FIG. 1, the system for analysis uses three magnets and a circular coil. Each magnet is installed inside the fingers, the palm and the coil respectively. For the analysis, the magnet M1 installed on the finger and the magnet M3 installed inside the circular coil are the same magnets. Specifically, the diameter is 20 mm and the thickness is 6 mm. The magnet M2 mounted on the palm of the hand is 10 mm in diameter and 3 mm in thickness. Table 1 below shows the magnetic properties of the installed magnets.

The inner and outer diameters of the drive coil are 10 cm and 15.3 cm, respectively. The number of revolutions (N) of the coil is 250.

6A to 6C are diagrams showing magnetic forces due to the flexion motion and the extension motion of the finger.

As shown in Fig. 6A, the reference posture of the finger is 55 degrees (? E =? 1 +? 2 +? 3). As described above, the magnetic force is classified into three types. First, F _M1,2 and F _M1,3 are _engagements between M1 and M2, and between M1 and M3, respectively. F _{M1 and EM} are the magnetic forces between M1 and the drive coil. F _{M1, EM} are either attraction or repulsion depending on the direction of the current in the drive coil, while F _M1,2 and F _M1,3 are always attractive due to the magnetization structure of the magnet.

When a current signal from 0 to 10 A is applied in the reference position, F _{M1, EM} becomes a repulsive force causing flexion motion. Further, when M1 is closed by M2, F _M1,2 becomes gravity and F _{M1, EM} are converted from repulsive force to gravity.

When a current signal from 0 to -10A is applied in the reference position, F _{M1, EM} become gravitational force, and F _M1,3 improves the extension motion as gravitational force. In the maximum bending and spreading motion, even though a larger attraction is applied, it is not possible to create a larger movement of the finger structure. Thus, the gap between M1 and M2 is limited to a gap of 1.9 cm, and the gap between M1 and M3 is 4.5 cm.

That is, F _{M1 and EM} cause bending and _spreading motions according to the direction of the magnetic field, and F _M1,2 and F _M1,3 improve bending and _spreading motions, respectively.

7A and 7B are views showing the positions of two magnets for analyzing the magnetic force.

The general magnetic force between the cylindrical magnets was analyzed using the Gilbert model (Gilbert model). In this method, when the cylindrical magnets are apart from each other, the magnetic interaction force is expressed by the following equation (1).

Referring to FIG. 7A, M _S is the magnetization, R is the radius of the magnet, x is the distance between the magnets, t is the thickness of the magnet, and r is the lateral displacement.

If t1 = t2 = t and r = 0, then F is expressed by the following equation (2).

When T < &gt; x, the above Equation (2) is expressed by the following Equation (3).

The above equations (1) and (2) can be used for the linear distance.

On the other hand, if there is no linear distance of the magnet, in Figure 7b, the interaction force can be analyzed by magnetic dipole-dipole interaction. The interaction force in the global coordinate system can be expressed by the following Equation (4).

Here, μ ₀ is the permeability of free space. m ₁ and m ₂ are dipole moments, and r is a distance vector between m ₁ and m ₂ . The positions of the magnetic dipole moments (m ₁ and m ₂ ) can be observed by motion analysis of the fingers. The magnets M2 and M3 and the drive coil have fixed positions, and M1 denotes movement due to an external magnetic field.

으로 표현할 수 있다. The position of M1 is

.

Fingers can consist of three joints and links. In this case, the position of M1 serving as the end effector can be expressed by the following equation (5).

Here, the lengths of the finger links are l ₁ , l ₂ , l ₃ , and θ ₁ , θ ₂ , and θ ₃ are joint angles, and x _e and y _e are the x and y positions of the end effector M1. Therefore, all magnetic forces can be applied to the above equations (1) to (5) for the flexion motion and the extension motion of the finger.

FIG. 8A is a graph showing a simulation result of a drive coil at an applied current of 10 A, and FIG. 8B is a graph showing a result of measuring magnetic intensity according to a change in height and current.

A current of up to +/- 10A was applied to the drive coil to create a flexion motion and an extension motion.

8A shows simulation results of the drive coil at an applied current of 10A. At the heights of 4.5 cm and 8.5 cm respectively, the drive coils produced an average field of 11 kA / m and 7.2 kA / m. FIG. 8B shows measurement results according to changes in height and current. The height of 4.5 cm represents the maximum extension point of the index finger of the system, and the height of 8.5 cm represents the maximum point during the bending movement. When comparing the magnetic field strength between the simulation and the measurement, the measurement result was lower than the simulation at the high current because the field strength decreases at high current as the temperature of the drive coil increases. Therefore, the fields measured at 4.5 cm and 8.5 cm were averaged at 9.6 kA / m and 6.2 kA / m, respectively.

FIG. 9A is a view showing the position of the driving magnet according to the movement of the finger, and FIG. 9B is a diagram showing the magnetic intensity from the driving coil according to the position of the driving magnet.

9A and 9B show the trajectory of the human body and the magnetic field intensity from the drive coil. At point H, the point A is the change of the spreading motion, and the point O at H is the change of the bending motion. Since the point H is the reference, the magnetic field strength at point H becomes zero. The magnetic field strength of 2.3 kA / m was required to initiate the bending motion, while the minimum motion field strength of -5.08 kA / m was required. Because of the musculoskeletal characteristics, it can be seen that the spreading motion requires higher force than the bending motion. When the forefinger reached the maximum spreading point A and the maximum bending point O, the magnetic field strengths were -9.13 kA / m and 5.56 kA / m, respectively.

10 is a view showing a magnetic force analysis result according to the position of a magnet.

In Fig. 10, the plus sign (+) of the force represents the attraction force, and the minus sign (-) represents the repulsive force. The total force is expressed as the sum of all magnetic forces. In the case of the _spreading motion, F _{M1, EM} and F _M1,3 become attractive forces. Therefore, the point from H (start point) to A represents the action that the finger spreads. Point A becomes the maximum expansion point. In this case, the applied magnetic field is -9.13 kA / m, and F _{M1, EM} is 0.315 N. In order to reach the maximum point, the magnetic field and F _{M1, EM} gradually increased.

In the case of the bending motion, F _{M1, EM} in FIG. 10 (a) represents two forces of attraction and repulsion. The repulsive forces of F _{M1, EM} pushed M1 and caused rotation of the finger joints. When M1 reaches point M, the S pole of M1 faces the N pole of the electromagnet (drive coil). So the points from M to O generated manpower. The maximum value of F _{M1, EM} was 0.159 N in bending motion at point O.

10 (b) shows the magnetic forces F _M1,2 and F _M1,3 between the magnets. The point from H to A is affected by the attraction of F _M1,3 between M1 and M3 during the _spreading motion. The points from I to O show the force of F _M1,2 during bending motion. Since the distance between M1 and M3 is longer than the distance between M1 and M2 can be confirmed that the F _{M1,2 M1,3} greater than F. The distance between M1 and M3 at point A is 4.5 cm and the distance between M1 and M2 is 1.9 cm at point O. The maximum values of F _M1,3 and F _M1,2 are _{0.119 N} and _{0.36 N} , respectively. F _M1,3 and F _{M1,2 improved the spreading} and bending motions based on the two _motions of F _{M1 and EM} , respectively.

Figure 10 (c) shows the total force. The total points of repulsion (repulsion) in bending motion are F _M1,2 , F _{M1, EM} Because of the sum of forces between I and K. The starting and maximum forces were 0.094 N and 0.438 N at G and A, respectively. During bending, the starting force was -0.019 N at I point and 0.474 N at maximum.

As described above, in general, the generation of the spreading motion is more difficult as compared with the bending motion of a stroke patient. Thus, the spreading motion requires a higher critical force than the bending motion. When comparing the forces from E to G (spreading motion) and from I to K (bending motion), the force of spreading motion was 6 times higher than that of bending motion.

Figs. 11A and 11B are diagrams showing changes in finger movement according to a change in current. Fig.

The effects of F _M1,3 and F _M1,2 on finger motions were compared. 11A shows a change in finger motion according to a change in the input current signal. The dashed lines show the results including the effects on F _M1,3 and F _M1,2 (Type 2), and the solid lines indicate the results of F _{M1, EM} without M2 and M3 (Type 1). The driving current was controlled by three conditions of 0 to 10 A, 0 to -10 A and -10 to 10 A.

Under these conditions, finger motion caused hysteresis movements. Since Type 1 (Type 1) uses only F _{M1 and EM} , it can be confirmed that the driving force is weaker than Type 2 (Type 2). Therefore, the angle change of the finger is lower than that of Type 1 and Type 2. In Type 2, the magnetic forces of F _M1,3 and F _M1,2 also maintained the maximum _expansion and bending motion. In particular, the sustained stretching movement (ⓘ to ⓛ) provided a stretching effect.

Referring to FIG. 11B, in Type 1, the maximum bending angle was 134 degrees (the angle change was 79 degrees), the minimum spread angle was 49 degrees (the angle change was 6 degrees) 96 DEG), and the minimum spreading angle was 6 DEG (angle change 49 DEG). This difference between Type 1 and Type 2 is due to F _M1,3 and F _M1,2 . In particular, it was confirmed that F _M1,3 significantly improved the _spreading motion.

을 나타내고, ⓒ에서 ⓕ는 유지된 최대 구부림 운동

을 나타낸다. 여기에서, Freact는 tendon(힘줄)의 반력이다.In Type 2, the points from ⓐ to ⓒ are bending motion

, Where 에서 is the maximum sustained bending motion

. Here, Freact is the reaction force of the tendon.

및

으로 나뉘어진다.In Type 2, ⓕ to ⓘ show the motion transition from bending motion to spreading motion,

And

Respectively.

이고, ⓛ에서 ⓒ는 펴짐 운동에서 구부림 운동으로 급격하게 전환되는 모션을 나타낸다. 여기에서, 구동 조건은

및

로 나뉘어진다. tendon(힘줄)으로부터 반력은 전체 힘에 작용했으나, 전체 힘 분석에서 반력을 무시했다.In type 2, from ⓘ to ⓛ represents the expansion movement, where

And ⓛ in 을 represents the motion that is suddenly switched from the inflating motion to the bending motion. Here, the driving condition is

And

Respectively. The reaction from the tendon worked on the whole force, but ignored the reaction force in the whole force analysis.

In the above-described embodiment, the magnetic forces F _{M1, EM} between M1 and the drive coil caused a weak extension motion. Spreading exercise in finger rehabilitation is important and it is not easy to generate exercise for stroke patients. To solve this problem, by mounting an M3 magnet on the drive coil, the additional force F _M1,3 increased the extension force up to 9.8 times the force. Further, the magnet M2 improved the bending motion by F _M1,2 .

As described above, a nonmechanical finger rehabilitation system using magnetic force is specifically implemented and analyzed. Most hand rehabilitation devices rely on mechanical systems such as robotic hands. Due to mechanical components, the configuration is very complex and difficult to install on the hand. The finger rehabilitation system according to an embodiment of the present invention can be applied to a finger rehabilitation system in which a magnet is simply placed on a finger without using a mechanical element and a magnetic field strength and a direction of a driving coil Can be controlled. By using a simple structure magnetic system, it is possible to improve the finger rehabilitation ability by facilitating the spreading motion and the bending motion of the finger.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100: Finger rehabilitation system
110: driving magnet module 120: driving coil module
130: first auxiliary magnet module 140: second auxiliary magnet module

Claims (7)

A driving magnet module mounted on the finger of the rehabilitation trainer and having a driving magnet whose magnetization direction is perpendicular to the longitudinal direction of the finger;
A drive coil module having a circular coil for applying a magnetic field to the drive magnet to move the drive magnet module;
A first auxiliary magnet module mounted on the palm of the rehabilitation trainer and having a first auxiliary magnet whose magnetization direction is opposite to that of the driving magnet; And
And a second auxiliary magnet module located inside the circular coil and having a second auxiliary magnet whose magnetization direction is the same as that of the driving magnet. The method according to claim 1,
The driving magnet module includes:
Wherein the finger rehabilitation system is mounted on at least one of an index finger, a stop finger, a ring finger, and a small finger of the rehabilitation trainer. 3. The method of claim 2,
The driving magnet module includes:
Wherein the finger is attached to the distal end of the three fingers. The method according to claim 1,
The drive coil module includes:
And generates a downward magnetic field applied in a downward direction of the circular coil or in an upward magnetic field in which a magnetic field is applied in an upward direction of the circular coil depending on the direction of the current. 5. The method of claim 4,
The driving magnet module includes:
The driving magnet is rotated in the upward direction by the upward magnetic field and a repulsive force is generated between the circular coil and the driving magnet to thereby perform a flexion motion in which the finger on which the driving magnet module is mounted is flexed ,
The driving magnet is rotated in the downward direction by the lower magnetic field, and an attraction force is formed between the circular coil and the driving magnet, thereby causing an extension motion of the finger on which the driving magnet module is mounted , A finger rehabilitation system. 6. The method of claim 5,
The first auxiliary magnet module includes:
Wherein during the bending movement, attraction is generated between the driving magnet and the first auxiliary magnet to thereby enhance the bending motion. 6. The method of claim 5,
The second auxiliary magnet module includes:
Wherein attraction force is formed between the driving magnet and the second auxiliary magnet to enhance the spreading motion during the spreading motion.

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