KR20170106039A - Rehabilitation device for hand and virtual reality rehabilitation training system comprising the same - Google Patents
Rehabilitation device for hand and virtual reality rehabilitation training system comprising the same Download PDFInfo
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- KR20170106039A KR20170106039A KR1020160029655A KR20160029655A KR20170106039A KR 20170106039 A KR20170106039 A KR 20170106039A KR 1020160029655 A KR1020160029655 A KR 1020160029655A KR 20160029655 A KR20160029655 A KR 20160029655A KR 20170106039 A KR20170106039 A KR 20170106039A
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- Prior art keywords
- rehabilitation
- hand
- patient
- finger
- hand rehabilitation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5038—Interfaces to the user freely programmable by the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
Abstract
The present invention relates to a hand rehabilitation apparatus and a virtual reality rehabilitation training system including the same. A hand rehabilitation apparatus according to an embodiment of the present invention includes a ring-shaped support ring worn on the hands of a patient and worn on the first and second fingers of the patient's fingers, A driver positioned on the wrist side of the patient to control the first finger and the second finger; And first and second connection cables, one end of which is coupled to the support ring, which is worn on the first finger and the second finger respectively, and the other end, which is coupled to the driver, so as to match the first finger and the second finger one- The driving unit may include first and second gears having different sizes according to finger lengths and respectively coupled to the first and second connection cables.
Description
The present invention relates to a hand rehabilitation apparatus and a virtual reality rehabilitation training system including the same.
Body damage caused by industrial accidents, traffic accidents, or complications can cause various functional disabilities in life. Especially, when hand function which is most used in everyday life is deteriorated, there is a great inconvenience. The patient is rehabilitated to prevent the deterioration of the hand function.
More specifically, 'rehabilitation therapy' refers to the treatment of patients who have paralysis in their hands due to stroke, or patients whose broken bones of the fingers have a significant rehabilitation that repeatedly exercises the joints as much as possible, It is a cure.
It aims to restore the physical function by improving the function of the damaged area and strengthening the function of the healthy area.
Currently, rehabilitation treatment uses various equipment. Among them, there is CPM (Continuous Passive Motion) which is an articulation therapy device.
CPM equipment is a fitness device developed to minimize the side effects that may occur due to the movement of the joints, such as stiffness or adhesion, by allowing passive exercise to be initiated from the patient immediately after the surgery, . This rehabilitation treatment equipment can be helpful for the recovery of function by helping the patient to rehabilitate the patient manually when the patient can not actively perform, but it is difficult when the patient is not motivated, which is an important part of the rehabilitation treatment many.
In addition, rehabilitation equipment is provided at a high price mainly in hospitals and specialists, so it can be used only when visiting a hospital. In addition, there should be an obstacle-free place for treatment and the therapist and rehabilitation therapist must accompany the equipment.
Due to such limitations as space constraints and expensive equipment, it is difficult for individual patients to have rehabilitation treatment system. It is most important to repeatedly perform exercise therapy and occupational therapy, and it is the goal of rehabilitation therapy to improve the performance of the treatment. Therefore, there is a need to develop techniques for rehabilitation systems that can provide treatment with active activities to improve and restore the function of the injured hand.
An embodiment of the present invention relates to a hand rehabilitation device capable of actively performing a hand rehabilitation exercise by a patient himself / herself, and a virtual reality rehabilitation training system including the same.
According to an aspect of the present invention, there is provided a method of operating a patient's finger which is worn on a patient's hand so as to move the finger of the patient, Support ring; A driver positioned on the wrist side of the patient to control the first finger and the second finger; And first and second connection cables, one end of which is coupled to the support ring, which is worn on the first finger and the second finger respectively, and the other end, which is coupled to the driver, so as to match the first finger and the second finger one- The driving unit includes first and second gears having different sizes according to finger lengths and respectively coupled to the first and second connection cables.
The driving unit may include a driving motor for coupling the first and second gears to one rotation axis and driving the first and second gears; A control unit for controlling the driving motor; And a power supply member for applying power to the driving motor and the control unit.
The first and second gears may have different gear ratios or may have different diameters such that the first and second connection cables have different lengths depending on the lengths of the first and second fingers, .
The driving unit may further include a housing having the first and second gears, the driving motor, and the control unit incorporated therein. On both sides of the housing, a fastening band for detachably attaching the housing to the wrist of the patient is provided .
Further, it may further comprise an armor body made of a double structure of an outer shell and an inner shell, and the support ring and the connection cable may be installed between the outer shell and the inner shell.
In addition, at least one connection hole may be formed in the support ring, through which the connection cable is inserted.
The portable terminal may further include a cover member coupled to one end of the connection cable and worn at the distal end of the finger.
The lid member may include a magnetic member disposed on the same surface as the palm of the patient or on the entire surface of the patient, and a rehabilitation assist member mounted on the palm of the patient to form a magnetic force with the magnetic member, The bending force can be applied to the finger of the patient by the magnetic force between the magnetic member and the rehabilitation assistant member when the finger is bent.
The apparatus may further include a support ring and a connection cable which are respectively coupled to the third to fifth fingers of the patient.
Meanwhile, the present invention relates to a hand rehabilitation apparatus as described above, which is worn on the side of the patient and on the side of the patient, respectively. A contents providing unit for storing necessary rehabilitation contents in accordance with the state of the patient; An integrated control unit operable to control the driving of the both the hand side hand rehabilitation apparatus and the hand side hand rehabilitation apparatus according to the contents selected by the patient, And a display unit for displaying the state of the rehabilitation training to be visually confirmed by the patient. The present invention also provides a virtual reality rehabilitation training system including the hand rehabilitation apparatus.
In addition, the integrated control unit may transmit the motion signal of the hand side hand rehabilitation apparatus moving along the provided rehabilitation contents to the hand side hand rehabilitation apparatus to drive the hand side hand rehabilitation apparatus.
The mode selection unit may further include a mode selection unit for selecting a rehabilitation training mode of the hand rehabilitation apparatus, wherein the mode selection unit selects a normal mode in which the affected hand rehabilitation apparatus is driven according to the provided rehabilitation content, And a symmetric training mode in which the hand side hand rehabilitation device is driven.
The apparatus may further include a storage unit for storing the history of the hand side hand rehabilitation apparatus and the hand side hand rehabilitation apparatus, information of the hand side hand rehabilitation apparatus and the hand side hand rehabilitation apparatus.
According to another aspect of the present invention, there is provided a method of operating a hand rehabilitation apparatus, comprising the steps of: (A) (B) selecting difficulty levels of the rehabilitation training contents and the rehabilitation training contents according to the state of the patient; (C) controlling driving of the one-side hand rehabilitation device and the one-way hand rehabilitation device according to the contents selected by the patient; And (D) displaying the rehabilitation training state on the display unit so that the patient can visually confirm the state of rehabilitation training.
The hand rehabilitation apparatus according to an embodiment of the present invention is characterized in that a plurality of gears having different gear ratios or different diameters are coupled to a single drive motor and a plurality of gears are driven by a single drive motor, have.
In addition, since the support ring, the connection cable, and the driving unit are provided in a general glove shape and the volume of the device is smaller than that of the rehabilitation device according to the prior art, .
In addition, the virtual reality rehabilitation training system enables the hand rehabilitation exercise of the patient by connecting the gloved hand rehabilitation device to the generally used output device, so that the hand rehabilitation exercise of the patient can be possible anytime and anywhere without restriction of space .
In addition, the rehabilitation training system incorporates a rehabilitation training program based on virtual reality, so that the patient can actively rehabilitate with interest in rehabilitation therapy.
In addition, it is possible to set the difficulty of rehabilitation operation according to the patient's hand condition, and it is possible to motivate the rehabilitation treatment of the patient and to provide psychological stable rehabilitation.
1 is a schematic view of a hand rehabilitation apparatus according to an embodiment of the present invention.
2 is a sectional view taken along the line A-A 'in Fig.
3 is a view showing a support ring of a hand rehabilitation apparatus according to an embodiment of the present invention.
4 is a view illustrating a driving unit of a hand rehabilitation apparatus according to an embodiment of the present invention.
5 is a rear view of a hand rehabilitation apparatus according to an embodiment of the present invention.
FIG. 6 is a view illustrating a state in which the hand rehabilitation apparatus according to an embodiment of the present invention is closed.
7 is a view showing a virtual reality rehabilitation training system including a hand rehabilitation apparatus according to an embodiment of the present invention.
8 is a block diagram of a virtual reality rehabilitation training system including a hand rehabilitation apparatus according to an embodiment of the present invention.
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.
The
1, the
The
At this time, a certain space may be formed between the
The
In addition, the finger has one or more nodes, and the
The
The
At this time, the
The supporting
At this time, the
The driving
Alternatively, when five fingers in one hand require rehabilitation, the
In order to facilitate the description of the present invention, a detailed description and drawings of the present invention will be described and illustrated as an example in which five fingers need rehabilitation.
Specifically, as shown in FIG. 1, at least one
The
The first to
Here, the
The first to
The driving
4, the driving
The
At this time,
The
At this time, the
The first to fifth connecting
At this time, the first to
More specifically, when the first through
For example, the index finger and the stop finger have different lengths, and most people have a stop finger longer than the index finger. At this time, in order to bend or straighten the index finger and the stop finger at the same time, the
Therefore, the
In particular, since the third connecting
When the first to
When the first to
The first to
The first to
The
The
The power supply member 144 may be generally used as a battery and supplies power to the
On the other hand, when the patient's hand is rehabilitated, the hand of the patient is insufficient, so that the fingers may not be all pinched. At this time, the
As shown in FIG. 5, the
Specifically, the
The first to fifth
That is, one surface of the first to
Although the first to fifth
The
Here, the
At this time, the
6, when the fingers of the patient are pinched, a magnetic force formed between the magnetic member of the
Accordingly, the
In addition, since the support ring, the connection cable, and the driving unit are provided in a general glove shape and the volume of the device is smaller than that of the rehabilitation device according to the prior art, .
The
8, the virtual reality
Here, the content providing unit 210 and the
The
Here, the wireless communication method may be short range wireless communication (NFC), wireless USB, Wi-Fi, Bluetooth, ZigBee, and radio frequency communication.
The contents providing unit 210 stores various rehabilitation contents required according to a state of a hand requiring rehabilitation of the patient.
At this time, the content providing unit 210 can change the difficulty level according to various types of rehabilitation contents to be stored. That is, if a desired rehabilitation content is selected from among various rehabilitation training contents, the patient can set the difficulty level of the selected rehabilitation training contents according to the state of the hand of the patient.
The
Specifically, the
The
Here, the
The
The
At this time, the rehabilitation contents displayed on the
The virtual reality
When the patient selects the
At this time, the
When the rehabilitation contents are displayed on the
That is, the
If necessary, the hand side
On the other hand, when the patient selects the symmetric training mode 223, the patient selects the desired rehabilitation contents in the contents providing unit 210, and selects the degree of difficulty of the selected rehabilitation contents, that is, the degree of difficulty with respect to the rehabilitation operation.
At this time, the
When the rehabilitation contents are displayed on the
At this time, the storage unit 240 stores the movement information of the hand side
The
The state of the present hand side
In the virtual reality rehabilitation training system having the above-described configuration, the hand rehabilitation apparatus in the form of a glove is connected to a commonly used output apparatus to enable the hand rehabilitation exercise of the patient, It can be possible.
In addition, the rehabilitation training system incorporates a rehabilitation training program based on virtual reality, so that the patient can actively rehabilitate with interest in rehabilitation therapy.
In addition, it is possible to set the difficulty of rehabilitation operation according to the patient's hand condition, and it is possible to motivate the rehabilitation treatment of the patient and to provide psychological stable rehabilitation.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
100: hand rehabilitation device 110: glove body
120: support ring 130: connecting cable
140: driving part 141: housing
142: Driving motor 143:
144:
150: lid member 160: rehabilitation assistance member
200: rehabilitation training system 210: content storage unit
220: integrated control unit 230: display unit
240:
Claims (14)
A ring-shaped support ring worn on the first and second fingers of the patient's fingers, respectively;
A driver positioned on the wrist side of the patient to control the first finger and the second finger; And
And first and second connection cables, one end of which is coupled to the support ring, which is worn on the first finger and the second finger respectively, and the other end, which is coupled to the driver, so as to match the first finger and the second finger one- In addition,
Wherein the driving unit includes first and second gears having different sizes according to finger lengths and respectively coupled to the first and second connection cables.
The driving unit
A driving motor for coupling and rotating the first and second gears to one rotary shaft;
A control unit for controlling the driving motor; And
And a power supply member for applying power to the driving motor and the control unit.
Wherein the first and second gears have different gear ratios so that the first and second connecting cables are different in the length of the first and second connecting cables from each other depending on the length of the first and second fingers, Device.
The driving unit may further include a housing in which the first and second gears, the driving motor, and the control unit are incorporated,
Wherein both sides of the housing are provided with fastening bands for detachably attaching the housing to the wrist of the patient.
And a glove body made of a double structure of an outer shell and an inner shell,
Wherein the support ring and the connection cable are embedded between the outer shell and the inner shell.
Wherein at least one connection hole is formed in the support ring so that the connection cable is inserted into the support ring.
And a lid member coupled to one end of the connection cable and worn at an end of the finger.
Wherein the lid member comprises a magnetic member in a region or on the entire surface of the same side as the palm of the patient,
And a rehabilitation assistant member mounted on the palm of the patient to form a magnetic force with the magnetic member,
Wherein the bending force is applied to the finger of the patient by the magnetic force between the magnetic member and the rehabilitation assistant member when the patient bends the finger.
Further comprising a support ring and a connection cable respectively coupled to the third to fifth fingers of the patient.
A contents providing unit for storing necessary rehabilitation contents in accordance with the state of the patient;
An integrated control unit operable to control the driving of the both the hand side hand rehabilitation apparatus and the hand side hand rehabilitation apparatus according to the contents selected by the patient, And
And a display unit for displaying the state of the rehabilitation training to be visually confirmed by the patient.
Wherein the integrated control unit includes a hand rehabilitation apparatus for delivering a motion signal of the hand side hand rehabilitation apparatus moving along the provided rehabilitation contents to the hand side hand rehabilitation apparatus to drive the hand side hand rehabilitation apparatus.
Further comprising a mode selection unit for selecting a rehabilitation training mode of the hand rehabilitation apparatus,
The mode selection unit includes a hand rehabilitation device including a normal mode in which the hand side hand rehabilitation device is driven according to the provided rehabilitation content and a symmetrical training mode in which the hand side hand rehabilitation device is driven in accordance with the motion of the hand side hand rehabilitation device Virtual reality rehabilitation training system.
And a hand rehabilitation system including the hand rehabilitation device, wherein the hand rehabilitation device further comprises a hand history rehabilitation device, a movement history of the hand side hand rehabilitation device, and a storage unit for storing information of the hand side hand rehabilitation device and the hand side hand rehabilitation device.
(B) selecting difficulty levels of the rehabilitation training contents and the rehabilitation training contents according to the state of the patient;
(C) controlling driving of the one-side hand rehabilitation device and the one-way hand rehabilitation device according to the contents selected by the patient; And
And displaying the rehabilitation training state on the display unit so that the patient can visually confirm the state of rehabilitation training.
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KR1020160029655A KR101915238B1 (en) | 2016-03-11 | 2016-03-11 | Rehabilitation device for hand and virtual reality rehabilitation training system comprising the same |
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KR1020160029655A KR101915238B1 (en) | 2016-03-11 | 2016-03-11 | Rehabilitation device for hand and virtual reality rehabilitation training system comprising the same |
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Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20180065388A (en) * | 2016-12-07 | 2018-06-18 | 연세대학교 원주산학협력단 | Hemiparesis rehabilitation training system and method for driving the same |
CN108652600A (en) * | 2018-05-17 | 2018-10-16 | 朱建国 | A kind of Intelligent bracelet of monitoring health |
KR20190090206A (en) * | 2018-01-24 | 2019-08-01 | 원광대학교산학협력단 | Apparatus of Hand Rehabilitation |
KR20190107482A (en) * | 2018-03-12 | 2019-09-20 | 한동대학교 산학협력단 | Air-expanding rehabilitation device for voluntary finger exercise of stroke patients |
WO2019203732A1 (en) * | 2018-04-20 | 2019-10-24 | Roceso Technologies Private Limited | Wearable hand assistive device and system |
CN111110982A (en) * | 2019-12-02 | 2020-05-08 | 燕山大学 | Hand rehabilitation training method based on motor imagery |
WO2020124837A1 (en) * | 2018-12-20 | 2020-06-25 | 东南大学 | Exoskeleton finger rehabilitation training device |
CN111658428A (en) * | 2020-06-12 | 2020-09-15 | 南通市第二人民医院 | A hand rehabilitation device for post-stroke hand spasm patient |
KR20200131502A (en) * | 2019-05-14 | 2020-11-24 | 한국광기술원 | Brain training apparatus through compound stimulus |
CN112843625A (en) * | 2021-01-26 | 2021-05-28 | 燕山大学里仁学院 | Hand, wrist integral type training gloves |
CN112912040A (en) * | 2018-10-22 | 2021-06-04 | 艾比力泰克医疗公司 | Auxiliary hand corrector |
WO2021217886A1 (en) * | 2020-04-27 | 2021-11-04 | 东南大学 | Flexible hand function rehabilitation device based on rope driving |
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JP2003236016A (en) * | 2002-02-13 | 2003-08-26 | Reiko Yoshida | Training tool for paralyzed hand |
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KR101541082B1 (en) | 2015-01-23 | 2015-08-03 | 주식회사 네오펙트 | System and method for rehabilitation exercise of the hands |
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Cited By (14)
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KR20180065388A (en) * | 2016-12-07 | 2018-06-18 | 연세대학교 원주산학협력단 | Hemiparesis rehabilitation training system and method for driving the same |
KR20190090206A (en) * | 2018-01-24 | 2019-08-01 | 원광대학교산학협력단 | Apparatus of Hand Rehabilitation |
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KR20190107482A (en) * | 2018-03-12 | 2019-09-20 | 한동대학교 산학협력단 | Air-expanding rehabilitation device for voluntary finger exercise of stroke patients |
WO2019203732A1 (en) * | 2018-04-20 | 2019-10-24 | Roceso Technologies Private Limited | Wearable hand assistive device and system |
CN108652600A (en) * | 2018-05-17 | 2018-10-16 | 朱建国 | A kind of Intelligent bracelet of monitoring health |
CN112912040A (en) * | 2018-10-22 | 2021-06-04 | 艾比力泰克医疗公司 | Auxiliary hand corrector |
US11278464B2 (en) | 2018-12-20 | 2022-03-22 | Southeast University | Exoskeleton finger rehabilitation training apparatus |
WO2020124837A1 (en) * | 2018-12-20 | 2020-06-25 | 东南大学 | Exoskeleton finger rehabilitation training device |
KR20200131502A (en) * | 2019-05-14 | 2020-11-24 | 한국광기술원 | Brain training apparatus through compound stimulus |
CN111110982A (en) * | 2019-12-02 | 2020-05-08 | 燕山大学 | Hand rehabilitation training method based on motor imagery |
WO2021217886A1 (en) * | 2020-04-27 | 2021-11-04 | 东南大学 | Flexible hand function rehabilitation device based on rope driving |
CN111658428A (en) * | 2020-06-12 | 2020-09-15 | 南通市第二人民医院 | A hand rehabilitation device for post-stroke hand spasm patient |
CN112843625A (en) * | 2021-01-26 | 2021-05-28 | 燕山大学里仁学院 | Hand, wrist integral type training gloves |
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