CN101797204B - Rehabilitative manipulator for hand burns and scalds - Google Patents
Rehabilitative manipulator for hand burns and scalds Download PDFInfo
- Publication number
- CN101797204B CN101797204B CN2010101338106A CN201010133810A CN101797204B CN 101797204 B CN101797204 B CN 101797204B CN 2010101338106 A CN2010101338106 A CN 2010101338106A CN 201010133810 A CN201010133810 A CN 201010133810A CN 101797204 B CN101797204 B CN 101797204B
- Authority
- CN
- China
- Prior art keywords
- servomotor
- palm
- dactylus
- hinged
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Prostheses (AREA)
Abstract
The invention discloses a rehabilitative manipulator for hand burns and scalds, which comprises a mechanical finger, a palm rod, a mechanical wrist and a control system. The structure of the rehabilitative manipulator for the hand burns and scalds is adaptive to a human hand; and the manipulator can realize all degrees of freedom that the human hand has through driving, can guide knuckles and wrist joints to perform corresponding movement in the hand burns and scalds treating and rehabilitating process, exercises the joints and facilitates rehabilitating the skin elasticity, so that the hand functions of the rehabilitated palm are rehabilitated maximally. During the treatment, the manipulator can form variable distance between fingers, avoids forming a web structure, and solves the problems that fingers are respectively wrapped by thick gauze to avoid conglutination between the fingers in the conventional method, so airtightness of a wound surface is caused, the rehabilitation time is prolonged and the rehabilitation of the functions between the fingers is not facilitated. The rehabilitative manipulator for the hand burns and scalds has great significance for early rehabilitating hand functions, relieving the pain of burns and scalds patients, reducing treatment cost and the like.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, relate in particular to a kind of rehabilitative manipulator for hand burns and scalds.
Background technology
Burn and scald is the damage by tissues such as the skins due to the reasons such as hot water, steam, flame, strong acid, highly basic, electric current, lonizing radiation.And daily domestic hot water or flame burn and scald are comparatively common.Burn and scald can bring bigger misery to the patient, and convalescence is longer.Particularly for the child of LEARNING TO WALK just, range of activity is big, and self-protection ability is very poor, and curiosity is strong again, and serious burn and scald very easily takes place.And child's burn and scald pilosity is born in hand, and for the above burn and scald of dark two degree of hand, skin injury is darker; Treat more time-consuming; Sometimes also need do skin grafting, possibly stay serious cicatrix or health a part contracture deformity, cause dysfunction even maimed person.Particularly hand accounts for 65% in the human body burn, and serious hands burn and scald can make hand function partly or entirely lose.Webbed scar forms generation is often arranged between scar hyperplasia of leaving over behind the wound healing and finger, metacarpophalangeal joints caused by scar, finger, not only causes the hands dysfunction, also has a strong impact on patient's quality of life, causes the patients ' psychological illness.The overall process of not only early stage, the hospitalization of rehabilitation behind the hands burn and scald through burn and scald, and continue up to the front and back of leave hospital back and reduction operation.
In the prior art; The rehabilitation maneuver that the treatment of hand burn and scald does not adapt so far; Finger-joint and carpal joint are owing to cicatrization (especially webbed scar forms between the finger), skin follow the string behind the wound healing; Cause hand deformity, the finger activity is obviously limited, hands dysfunction and even forfeiture, even still can not recover through long exercise hand function.For fear of the problems referred to above; Traditional method is to treat for the hand burn and scald; Adopt thick dressing
that finger is wrapped up one by one, but shortcoming is: can not effectively prevent web shape structure; Secondly blocked up dressing is bound up a wound, and is unfavorable for the empyrosis wound surface healing even causes complication such as fester, and prolongs rehabilitation duration.
Therefore; The treatment and the rehabilitation maneuver that need a kind of hand burn and scald; Can incremental guiding finger-joint in hand empyrosis wound surface healing and rehabilitation course, carpal joint moves accordingly, is beneficial to the reduction cicatrization when tempering the joint, keeps skin elasticity to greatest extent; Simultaneously can reduce or suppress webbed scar formation between finger, at utmost keep the hands function, alleviate burn and scald patient's misery, shorten recovery period.
Summary of the invention
In view of this; The invention provides a kind of rehabilitative manipulator for hand burns and scalds; Can incremental guiding finger-joint in hand empyrosis wound surface healing and rehabilitation course, carpal joint moves accordingly, is beneficial to the reduction cicatrization when tempering the joint, keeps skin elasticity to greatest extent; Simultaneously can reduce or suppress webbed scar formation between finger, at utmost keep the hands function, alleviate burn and scald patient's misery, shorten recovery period.
A kind of rehabilitative manipulator for hand burns and scalds of the present invention comprises mechanical finger, palm bar, mechanical wrist and control system;
Said mechanical finger is corresponding with human finger, and each mechanical finger includes dactylus, and the hinged formation articulations digitorum manus of single-degree-of-freedom between the adjacent dactylus, each articulations digitorum manus all are provided with and drive the servomotor I that dactylus rotates around hinge axes; Be provided for being enclosed within the collar of human finger dactylus on each dactylus;
Said palm bar is corresponding with mechanical finger, the front end of each palm bar and the whole articulations digitorum manus of the corresponding hinged formation of mechanical finger tail end single-degree-of-freedom; Each whole articulations digitorum manus all is provided with the servomotor II that the driving device finger rotates around hinge axes;
The machinery wrist comprises that palm supports and fixed arm, and said palm supports and the hinged formation carpal joint of fixed arm single-degree-of-freedom; Said carpal joint is provided with and drives the servomotor III that the palm support is rotated around hinge axes; Be provided on the fixed arm fixed arm is fixed on the retainer ring on the human arm;
Said palm bar tail end is hinged on palm with the mode single-degree-of-freedom that can in palm belongs to the plane, rotate and supports, and the servomotor IV that driving palm bar rotates around hinge axes is set;
Said servomotor I, servomotor II, servomotor III and servomotor IV all control through control system.
Further, the said collar and retainer ring are the split ring structure, and the outside bending in opening both sides forms two bending parts, passes the screw rod that two bending parts are provided for sealing and adjusting the cover ring diameter; Retainer ring is the split ring structure, and the outside bending in opening both sides forms two bending parts, passes the retainer ring screw rod that two bending parts are provided for sealing and adjusting the retainer ring diameter;
Further, the dactylus of said mechanical finger and palm bar be the Collapsible structure for being made up of sleeve pipe all, and sleeve pipe comprises inner sleeve and trocar sheath, and radially threaded engagement is passed trocar sheath lock-screw is set;
Further, said fixed arm is fixedly connected with retainer ring removably; Radially be oppositely arranged two on the said retainer ring and be used for the connecting portion that is fixedly connected with fixed arm;
Further, said control system comprises and is used to control servomotor I, servomotor II, servomotor III and servomotor IV and gathers the controller of its turn signal and be used to show the display and the print-out device of servomotor I, servomotor II, servomotor III and servomotor IV information; Said servomotor I, servomotor II, servomotor III and servomotor IV connect power supply through controller;
Further, through the hinged formation articulations digitorum manus of motor shaft single-degree-of-freedom of servomotor I, servomotor I shell is fixed in a wherein dactylus between the adjacent dactylus of mechanical finger, and the motor shaft of servomotor I and another dactylus are in the circumferencial direction secure fit; The front end of palm bar is put in order articulations digitorum manus with corresponding mechanical finger tail end through the hinged formation of motor shaft single-degree-of-freedom of servomotor II, and servomotor II shell is fixed in the palm bar, and the motor shaft of servomotor II and mechanical finger tail end are in the circumferencial direction secure fit; Said palm support and fixed arm are through the hinged formation carpal joint of motor shaft single-degree-of-freedom of servomotor III; Servomotor III shell is fixed in fixed arm, and the motor shaft of servomotor III and palm are supported on the circumferencial direction secure fit; Said palm bar tail end is hinged in the palm support with the mode single-degree-of-freedom that can in palm belongs to the plane, rotate through the motor shaft of servomotor IV; Servomotor IV shell is fixed in palm to be supported, and the motor shaft of servomotor IV and palm bar tail end are in the circumferencial direction secure fit;
Further, in the adjacent dactylus of mechanical finger, wherein a dactylus end is provided with the vertical hinged groove of dactylus, and it is hinged with it that another dactylus end embeds hinged groove; The fixed arm front end is provided with the fixed arm hinged groove, and palm supports vertical convexity is set backward, and said vertical protruding fixed arm hinged groove that embeds is hinged with it; Said palm supports the finger hinged groove is set, and it is hinged with it that the mechanical finger tail end embeds the finger hinged groove;
Further, said collar internal circular surfaces is provided with flexible thin layer.
Beneficial effect of the present invention is: the rehabilitative manipulator for hand burns and scalds that adopts structure of the present invention; Adopt the structure that adapts with human hands; Through whole degree of freedom of drive realizing that staff has, can incremental guiding finger-joint in healing of hand empyrosis wound surface and rehabilitation course, carpal joint moves accordingly, is beneficial to the reduction cicatrization when tempering the joint; Keep skin elasticity to greatest extent, thereby make the palm after the rehabilitation recover original function; When treatment, can make the variable distance of formation between the finger; Simultaneously can reduce or suppress webbed scar formation between finger; At utmost keep the hands function; And avoid with thicker gauze parcel finger, thereby avoid finger by the burn and scald epidermis because of the airtight rehabilitation duration that prolongs, reduction medical expense when alleviating burn and scald patient's misery.
Description of drawings
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is done further detailed explanation.
Fig. 1 is a structural perspective of the present invention;
Fig. 2 is a dactylus longitudinal profile view;
Fig. 3 is a palm bar longitudinal profile view;
Fig. 4 is the thimble structure sketch map;
Fig. 5 is a control principle block diagram of the present invention.
The specific embodiment
Fig. 1 is a structural perspective of the present invention; Fig. 2 is a dactylus longitudinal profile view; Fig. 3 is a palm bar longitudinal profile view, and Fig. 4 is the thimble structure sketch map, and Fig. 5 is a control principle block diagram of the present invention; As shown in the figure: rehabilitative manipulator for hand burns and scalds comprises mechanical finger, palm bar 6, mechanical wrist and control system;
Said mechanical finger is corresponding with human finger, and each mechanical finger includes dactylus 1, and the hinged formation articulations digitorum manus of single-degree-of-freedom between the adjacent dactylus 1, each articulations digitorum manus all are provided with and drive the servomotor I 2 that dactylus rotates around hinge axes; Be provided for being enclosed within the collar 3 of human finger dactylus on each dactylus 1;
Said palm bar 6 is corresponding with mechanical finger, and mechanical finger is five, and the palm bar also is five, the front end of each palm bar 6 and the whole articulations digitorum manus of the corresponding hinged formation of mechanical finger tail end single-degree-of-freedom; Each whole articulations digitorum manus all is provided with the servomotor II 5 that the driving device finger rotates around hinge axes; As shown in the figure, nine of the total articulations digitorum manus of five mechanical fingers (corresponding) with human finger, totally five of whole articulations digitorum manus, corresponding servomotor I 2 is nine, servomotor II 5 is five;
The machinery wrist comprises palm support 8 and fixed arm 9, said palm support 8 and the hinged formation carpal joint of fixed arm 9 single-degree-of-freedoms; Said carpal joint is provided with and drives the servomotor III12 that palm support 8 is rotated around hinge axes; Be provided on the fixed arm 9 fixed arm 9 is fixed on the retainer ring 10 on the human arm;
Said palm bar 6 tail ends are hinged on palm with the mode single-degree-of-freedom that can in palm belongs to the plane, rotate and support on 8, and the servomotor IV7 that driving palm bar 6 rotates around hinge axes is set;
Said servomotor I 2, servomotor II 5, servomotor III12 and servomotor IV 7 all control through control system.
In the present embodiment; The said collar 3 is the split ring structure with retainer ring 10; The outside bending in opening both sides forms two bending parts, passes the screw rod that two bending parts are provided for sealing and adjusting the cover ring diameter, and is as shown in Figure 4; Retainer ring structure and thimble structure are identical aspect the present technique scheme, and just diameter is different; Screw rod 4 on the collar can directly be spun on the bending part through screw thread, also can directly pass bending part and the size through nut check and adjustment collar diameter; The thimble structure of present embodiment can adapt to the finger that is used for different sizes through collar screw rod adjustment cover ring diameter, makes the present invention have stronger versatility; Retainer ring is the split ring structure; The outside bending in opening both sides forms two bending parts; Pass the retainer ring screw rod that two bending parts are provided for sealing and adjusting the retainer ring diameter; Retainer ring 10 structures of present embodiment can be through retainer ring screw rod 11 adjustment retainer ring diameters, and adaptation is used for fixing on different arms, further makes the present invention have stronger versatility.
In the present embodiment, the dactylus 1 of said mechanical finger and palm bar 6 be the Collapsible structure for being made up of sleeve pipe all, and sleeve pipe comprises inner sleeve and trocar sheath, and radially threaded engagement is passed trocar sheath lock-screw is set; As shown in the figure, dactylus 1 comprises inner sleeve 1b and trocar sheath 1a, and lock-screw 1c threaded engagement is passed trocar sheath 1a and pressed closer inner sleeve 1b outer surface; Palm bar 6 comprises inner sleeve 6b and trocar sheath 6a, and lock-screw 6c threaded engagement is passed trocar sheath 6a and pressed closer inner sleeve 6b outer surface; In the present embodiment, dactylus 1 and palm bar 6 adjustable length, the palm applicable to different sizes further makes the present invention have stronger versatility.
In the present embodiment, said fixed arm 9 is fixedly connected with retainer ring 10 removably, adopts counter-sunk screw by outwards connecting in the retainer ring 10 in the present embodiment, is connected firmly, and easy accessibility does not cause the uncomfortable of human body; Radially be oppositely arranged two on the said retainer ring 10 and be used for the connecting portion 10a that is fixedly connected with fixed arm, as shown in the figure, radially relative connecting portion is the connecting hole that screw is passed on the retainer ring 10; During use, change the orientation that is connected of retainer ring 10 and fixed arm 9, can make the present invention be applicable to the right-hand man, have stronger versatility.
In the present embodiment, said control system comprises and is used to control servomotor I 2, servomotor II 5, servomotor III12 and servomotor IV7 and gathers the controller 13 of its turn signal and be used to show the display 14 and the print-out device 15 of servomotor I 2, servomotor II 5, servomotor III12 and servomotor IV7 information; Said servomotor I 2, servomotor II 5, servomotor III12 and servomotor IV7 connect power supplys 16 through controller 13; The action parameter in each joint of instant observation, and through printout, for research hand burn and scald recovers to provide theoretical foundation; And can realize automatic control.
In the present embodiment; Pass through the hinged formation articulations digitorum manus of motor shaft single-degree-of-freedom of servomotor I 2 between the adjacent dactylus 1 of mechanical finger; Servomotor I 2 shells are fixed in a wherein dactylus, and the motor shaft of servomotor I 2 and another dactylus are in the circumferencial direction secure fit; The front end of palm bar 6 is put in order articulations digitorum manus with corresponding mechanical finger tail end through the hinged formation of motor shaft single-degree-of-freedom of servomotor II 5; Servomotor II 5 shells are fixed in palm bar 6, and the motor shaft of servomotor II 5 and mechanical finger tail end are in the circumferencial direction secure fit; Said palm support 8 and the motor shaft single-degree-of-freedom hinged formation carpal joint of fixed arm 9 through servomotor III12; Servomotor III12 shell is fixed in fixed arm 9, and the motor shaft of servomotor III12 and palm support 8 in the circumferencial direction secure fit; Said palm bar 6 tail ends are hinged in the palm support 8 with the mode single-degree-of-freedom that can in palm belongs to the plane, rotate through the motor shaft of servomotor IV7; Servomotor IV7 shell is fixed in palm and supports 8, and the motor shaft of servomotor IV7 and palm bar 6 tail ends are in the circumferencial direction secure fit; Directly form articulated structure through motor shaft, make compact conformation of the present invention, installing/dismounting is easy.
In the present embodiment, in the adjacent dactylus 1 of mechanical finger, wherein a dactylus 1 end is provided with the vertical hinged groove of dactylus, and it is hinged with it that another dactylus 1 end embeds hinged groove; Fixed arm 9 front ends are provided with the fixed arm hinged groove, and palm supports 8 vertical convexity is set backward, and said vertical protruding fixed arm 9 hinged groove that embed are hinged with it; Said palm supports 8 the finger hinged groove is set, and it is hinged with it that the mechanical finger tail end embeds the finger hinged groove; Carry out hingedly through the hinged groove structure, can limit between the dactylus preferably and mechanical finger and the palm degree of freedom between supporting, meet simulation of human body and learn principle.
In the present embodiment, the said collar 3 internal circular surfaces are provided with flexible thin layer 3a, can adopt layer of silica gel, and flexible thin layer and the human finger contact skin of having embraced the thin layer gauze can effectively be protected its epidermis.
The present invention gos deep into the patients finger correspondence in the collar of corresponding mechanical finger in use, the corresponding collar of each dactylus, and the thin layer gauze is twined in human finger and collar corresponding position, prevents the skin of grinding away, and adjustment collar degree of tightness is suitable; Outside other position of finger according to circumstances is exposed to, be beneficial to healing; The retainer ring fixed cover on arm, is formed the fulcrum of carpal joint, whole articulations digitorum manus and articulations digitorum manus action; As required; Running through each servomotor of control system control: each servomotor I controls by control system, can arbitrarily control any one articulations digitorum manus separately, and is same; Each servomotor II controls by control system, can arbitrarily control any one whole articulations digitorum manus separately; Servomotor III accomplishes carpal control by control system control, and each servomotor IV controls by control system, can arbitrarily control the distance between any adjacent mechanical finger separately; This shows that the present invention can be according to actual needs, the motion according to the degree of freedom positive guide burn and scald hands of human body hands reaches the effect that keeps skin elasticity, fast track rehabilitation in the rehabilitation course, can avoid serious sequela occurring behind the burn and scald as far as possible.
Explanation is at last; Above embodiment is only unrestricted in order to technical scheme of the present invention to be described; Although with reference to preferred embodiment the present invention is specified, those of ordinary skill in the art should be appreciated that and can make amendment or be equal to replacement technical scheme of the present invention; And not breaking away from the aim and the scope of present technique scheme, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (6)
1. a rehabilitative manipulator for hand burns and scalds is characterized in that: comprise mechanical finger, palm bar, mechanical wrist and control system;
Said mechanical finger is corresponding with human finger, and each mechanical finger includes dactylus, and the hinged formation articulations digitorum manus of single-degree-of-freedom between the adjacent dactylus, each articulations digitorum manus all are provided with and drive the servomotor I that dactylus rotates around hinge axes; Be provided for being enclosed within the collar of human finger dactylus on each dactylus;
Said palm bar is corresponding with mechanical finger, the front end of each palm bar and the whole articulations digitorum manus of the corresponding hinged formation of mechanical finger tail end single-degree-of-freedom; Each whole articulations digitorum manus all is provided with the servomotor II that the driving device finger rotates around hinge axes;
The machinery wrist comprises that palm supports and fixed arm, and said palm supports and the hinged formation carpal joint of fixed arm single-degree-of-freedom; Said carpal joint is provided with and drives the servomotor III that the palm support is rotated around hinge axes; Be provided on the fixed arm fixed arm is fixed on the retainer ring on the human arm;
Said palm bar tail end is hinged on palm with the mode single-degree-of-freedom that can in palm belongs to the plane, rotate and supports, and the servomotor IV that driving palm bar rotates around hinge axes is set;
Said servomotor I, servomotor II, servomotor III and servomotor IV all control through control system;
The said collar and retainer ring are the split ring structure, and the outside bending in opening both sides forms two bending parts, passes the screw rod that two bending parts are provided for sealing and adjusting the cover ring diameter; Retainer ring is the split ring structure, and the outside bending in opening both sides forms two bending parts, passes the retainer ring screw rod that two bending parts are provided for sealing and adjusting the retainer ring diameter;
The dactylus of said mechanical finger and palm bar be the Collapsible structure for being made up of sleeve pipe all, and sleeve pipe comprises inner sleeve and trocar sheath, and radially threaded engagement is passed trocar sheath lock-screw is set.
2. rehabilitative manipulator for hand burns and scalds according to claim 1 is characterized in that: said fixed arm is fixedly connected with retainer ring removably; Radially be oppositely arranged two on the said retainer ring and be used for the connecting portion that is fixedly connected with fixed arm.
3. rehabilitative manipulator for hand burns and scalds according to claim 2 is characterized in that: said control system comprises and is used to control servomotor I, servomotor II, servomotor III and servomotor IV and gathers the controller of its turn signal and be used to show the display and the print-out device of servomotor I, servomotor II, servomotor III and servomotor IV information; Said servomotor I, servomotor II, servomotor III and servomotor IV connect power supply through controller.
4. rehabilitative manipulator for hand burns and scalds according to claim 3; It is characterized in that: the hinged formation articulations digitorum manus of motor shaft single-degree-of-freedom that passes through servomotor I between the adjacent dactylus of mechanical finger; Servomotor I shell is fixed in a wherein dactylus, and the motor shaft of servomotor I and another dactylus are in the circumferencial direction secure fit; The front end of palm bar is put in order articulations digitorum manus with corresponding mechanical finger tail end through the hinged formation of motor shaft single-degree-of-freedom of servomotor II, and servomotor II shell is fixed in the palm bar, and the motor shaft of servomotor II and mechanical finger tail end are in the circumferencial direction secure fit; Said palm support and fixed arm are through the hinged formation carpal joint of motor shaft single-degree-of-freedom of servomotor III; Servomotor III shell is fixed in fixed arm, and the motor shaft of servomotor III and palm are supported on the circumferencial direction secure fit; Said palm bar tail end is hinged in the palm support with the mode single-degree-of-freedom that can in palm belongs to the plane, rotate through the motor shaft of servomotor IV; Servomotor IV shell is fixed in palm to be supported, and the motor shaft of servomotor IV and palm bar tail end are in the circumferencial direction secure fit.
5. rehabilitative manipulator for hand burns and scalds according to claim 4 is characterized in that: in the adjacent dactylus of mechanical finger, wherein a dactylus end is provided with the vertical hinged groove of dactylus, and it is hinged with it that another dactylus end embeds hinged groove; The fixed arm front end is provided with the fixed arm hinged groove, and palm supports vertical convexity is set backward, and said vertical protruding fixed arm hinged groove that embeds is hinged with it; Said palm supports the finger hinged groove is set, and it is hinged with it that the mechanical finger tail end embeds the finger hinged groove.
6. rehabilitative manipulator for hand burns and scalds according to claim 5 is characterized in that: said collar internal circular surfaces is provided with flexible thin layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101338106A CN101797204B (en) | 2010-03-26 | 2010-03-26 | Rehabilitative manipulator for hand burns and scalds |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101338106A CN101797204B (en) | 2010-03-26 | 2010-03-26 | Rehabilitative manipulator for hand burns and scalds |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101797204A CN101797204A (en) | 2010-08-11 |
| CN101797204B true CN101797204B (en) | 2012-05-09 |
Family
ID=42593152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101338106A Expired - Fee Related CN101797204B (en) | 2010-03-26 | 2010-03-26 | Rehabilitative manipulator for hand burns and scalds |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101797204B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105055120B (en) * | 2015-07-23 | 2017-08-25 | 王修峰 | Finger expander |
| CN106003130A (en) * | 2016-07-28 | 2016-10-12 | 苏州高通机械科技有限公司 | Manipulator |
| CN106142119A (en) * | 2016-07-28 | 2016-11-23 | 苏州高通机械科技有限公司 | A kind of clamp-type mechanical hand |
| CN106806091A (en) * | 2017-03-03 | 2017-06-09 | 李子木 | A kind of robot therapeutic equipment and its treatment method for treating cerebral embolism sequela rehabilitation |
| CN109172265B (en) * | 2018-08-31 | 2022-02-25 | 京东方科技集团股份有限公司 | Finger exoskeleton robot |
| CN109009883A (en) * | 2018-09-20 | 2018-12-18 | 麦志邦 | A kind of Multifunctional hand device for healing and training |
| CN109568085A (en) * | 2018-12-27 | 2019-04-05 | 广州云瑞信息科技有限公司 | A kind of safety-type manipulator of rehabilitation training of upper limbs robot |
| CN111658281A (en) * | 2020-06-08 | 2020-09-15 | 昆明医科大学第二附属医院 | Recovered stopper of skin burn between finger |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3581740A (en) * | 1969-09-02 | 1971-06-01 | Kuss & Co R L | Inflatable device for arthritic therapy |
| US4875469A (en) * | 1988-06-13 | 1989-10-24 | Innovative Medical Engineering, Inc. | Continuous passive motion devices and methods |
| CN2491007Y (en) * | 2001-02-16 | 2002-05-15 | 时振东 | Simulating finger stretching type finger's function restoring device |
| CN2829696Y (en) * | 2005-09-21 | 2006-10-25 | 郭平 | Mini automatic adjusting single finger joint restoring exerciser |
| CN201182660Y (en) * | 2008-04-10 | 2009-01-21 | 侯文浩 | Multiple-joint servo controlled bionic hand for rehabilitation and help deformity |
| CN101433491B (en) * | 2008-12-05 | 2010-12-22 | 华中科技大学 | Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof |
| CN101518491B (en) * | 2009-04-03 | 2011-06-01 | 北京航空航天大学 | Finger motor function rehabilitation robot |
-
2010
- 2010-03-26 CN CN2010101338106A patent/CN101797204B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101797204A (en) | 2010-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101797204B (en) | Rehabilitative manipulator for hand burns and scalds | |
| CN104317196B (en) | A kind of upper-limbs rehabilitation training robot control method based on virtual reality | |
| CN201211298Y (en) | Lower-limbs joints rehabilitation trainer | |
| WO2020056807A1 (en) | Multifunctional hand rehabilitation training device | |
| CN108524192B (en) | Wearable forearm initiative rehabilitation training exoskeleton device with myoelectricity perception | |
| CN100588384C (en) | Biological fusion type foot joint rehabilitation robot | |
| CN102499854B (en) | Parallel structure type ankle joint rehabilitation training device | |
| CN105434144B (en) | Preceding brachiostrophosis and wrist flex convalescence device and its torsion, bending method | |
| KR101669130B1 (en) | Multi-DOF shoulder rehabilitation robot adapting to anatomical structure of shoulder joint | |
| CN209203951U (en) | Guiding mechanism, lower limb rehabilitation ectoskeleton and exoskeleton robot | |
| CN101999970A (en) | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer | |
| CN104490566B (en) | Rehabilitation trainer for lower limbs | |
| CN101181175B (en) | Device for healing and training elbow joint | |
| CN108939449A (en) | Wrist rehabilitation physiotherapy instrument | |
| CN109984920A (en) | A kind of knee joint recovery robot of human-computer fusion | |
| CN102973390A (en) | Drive device of knuckle bending and stretching motion orthotic machine | |
| CN103126852B (en) | Elbow joint function rehabilitation device | |
| CN202620118U (en) | Rehabilitation operating system | |
| CN201108566Y (en) | Elbow joint healing training device | |
| CN102512309B (en) | Rehabilitation operating system | |
| CN103356361B (en) | A kind of parallel healing and training shoulder joint machine | |
| CN216496394U (en) | Exoskeleton auxiliary device suitable for shoulder rehabilitation | |
| CN205515454U (en) | Finger flexion and extension device | |
| CN201734908U (en) | Rehabilitation device for joint burns and scalds | |
| CN205073249U (en) | Prevent apparatus of elbow joint postoperative scar contractura |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120509 Termination date: 20140326 |