CN103315880B - Hand external skeleton rehabilitation system based on memory alloy driving - Google Patents
Hand external skeleton rehabilitation system based on memory alloy driving Download PDFInfo
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- CN103315880B CN103315880B CN201310217665.3A CN201310217665A CN103315880B CN 103315880 B CN103315880 B CN 103315880B CN 201310217665 A CN201310217665 A CN 201310217665A CN 103315880 B CN103315880 B CN 103315880B
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Abstract
The invention discloses a hand external skeleton rehabilitation system based on memory alloy driving. The hand external skeleton rehabilitation system comprises a glove (1), a palm plate (2), a power source (3) and a finger linkage system. The palm plate (2), the power source (3) and the finger linkage system are all fixed on the glove (1). The finger linkage system is connected with the palm plate (2). A memory alloy spring is used as a driving device, the structure is simple and light, the five fingers can move independently, and the flexibility is high. A four-bar mechanism is used as an external skeleton transmission mechanism, and the hand external skeleton rehabilitation system is easy to install and maintain and can be suitable for patients with different finger lengths. The external skeleton is different from a traditional driven rehabilitation external skeleton. Surface electromyogram signals are used as control signals of the hand external skeleton, rehabilitation movement is controlled by the patients themselves, and a curative effect is promoted. The hand external skeleton rehabilitation system is convenient, easy to use, safe, effective and low in cost and has wide application prospects.
Description
Technical field
The present invention relates to a kind of human motion auxiliary device, relate in particular to a kind of be applicable to hand function impaired patients based on memory alloy driven exoskeleton rehabilitation system.
Background technology
Hands is that human body is the most complicated, one of most important organ, yet is also a position very easily sustaining damage.The injured often recovery period of hand is long, how undesirable to completing the functional rehabilitation of fine movement, has had a strong impact on patient's quality of life.How to promote to hinder rear hand functional rehabilitation, oneself seems most important.
Nineteen sixty, Canadian orthopedist Robert Salter has proposed Continuous Passive Movement rehabilitation therapy (Continuous Passive Motion is called for short CPM).By external force, driving suffering limb to do long-time FR passive activity, with this, stop the stiff of sufferer joint, and promote suffering limb blood. liquid circulation reaches the object of fast track rehabilitation.CPM therapy has been proved successful, but the feature of this high strength high duplication has proposed very high request to Physical Therapist's labor intensity.In order to tackle this problem, robot and correlation technique thereof are applied in hand rehabilitation, by hand exoskeleton system, replace Physical Therapist, drive suffering limb to carry out passive exercise, promote hand function to recover.
Occurring in nature, ectoskeleton is a kind ofly can provide the hard external structure of biological soft inside organ being carried out to configuration, building and protection.Shrimp, Eriocheir sinensis etc. are all that typical ectoskeleton is biological.From biological ectoskeleton, gain enlightenment, scientist develops a series of mechanical exoskeletons, by mechanical external force, the people of amyotrophy or brain or spinal function damage is assisted in the situation that helping without manpower, helps people with disability, old people to carry out daily life.
In each joint of human body, the joint freedom degrees of finger is many, and structure is also complicated, so the ectoskeletal design of hand is also more difficult.Through the literature search of prior art is found, domestic to the ectoskeletal research of hand also in the starting stage.Chinese Patent Application No. is: 201110121085.5 patent of invention discloses a kind of fixed hand exoskeleton rehabilitation device.This device drives feed screw nut to obtain power by motor, simple in structure, and is easy to realize.But also there is following problem:
(1) ectoskeleton driving device is motor, and volume is large, quality weight, in during rehabilitation training, to patient, brings larger burden.Therefore hand ectoskeleton has to make fixed, by pedestal, carries driving device weight, has affected the portability of whole system.
(2) the hand rehabilitation ectoskeleton of traditional passive type, good rehabilitation exercise prepared in advance, action is simple, form is single, affects rehabilitation efficacy.Along with the development of the machining surface signal of telecommunication (Electromyography, be called for short EMG) technology, develop the active rehabilitation system being brought out by patient and become and be extremely necessary.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, developed a kind of novel, by marmem (Shape MemoryAlloy) driving, quadric chain transmission, surface electromyogram signal, brought out based on memory alloy driven hand exoskeleton rehabilitation system.
The present invention is achieved by the following technical solutions:
A kind of based on memory alloy driven hand exoskeleton rehabilitation system, comprise glove 1, palm plate 2, power source 3 and finger linked system, wherein, described palm plate 2, power source 3 and finger linked system are all fixed on glove 1, and described finger linked system is connected with palm plate 2.
Preferably, described finger linked system comprises: thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein:
One thumb section, forefinger portion, middle finger and unknown finger include: No. one, MCP joint connecting rod 14, No. two, MCP joint connecting rod 15, MCP articular branches strut 19, No. one, PIP joint connecting rod 16, No. two, PIP joint connecting rod 17, PIP articular branches strut 18, driving gear 20, driven gear 21, rotating shaft 22 and No. two rotating shafts 23, wherein, No. one, described MCP joint connecting rod 14 is hinged with palm plate 2; One end of No. two connecting rods 15 in described MCP joint and No. one, MCP joint connecting rod 14 are hinged, the other end of No. two connecting rods 15 in described MCP joint and rotating shaft 22 interference fit; A described rotating shaft 22 is through MCP articular branches strut 19, and with driving gear 20 interference fit; Described driving gear 20 is intermeshing with driven gear 21; Described No. two rotating shafts 23 are through MCP articular branches strut 19, and respectively with driven gear 21 and No. one, PIP joint connecting rod 16 interference fit; No. one, described PIP joint connecting rod 16 is hinged with No. two, PIP joint connecting rod 17; No. two, described PIP joint connecting rod 17 is hinged with PIP articular branches strut 18; Described MCP articular branches strut 19, PIP articular branches strut 18 are all fixed on glove 1;
One little finger comprises: No. one, the MCP of little finger of toe portion joint connecting rod 24, No. two, the MCP of little finger of toe portion joint connecting rod 25 and the MCP of little finger of toe portion articular branches strut 26, and wherein, No. one, joint of the described little finger of toe MCP of portion connecting rod 24 and little finger of toe portion palm plate support bar 26 are hinged; One end of No. two connecting rods 25 in the described little finger of toe MCP of portion joint and No. one, the MCP of little finger of toe portion joint connecting rod 24 are hinged, and the other end and the MCP of the little finger of toe portion articular branches strut 26 of No. two connecting rods 25 in the described little finger of toe MCP of portion joint are hinged; The described little finger of toe MCP of portion articular branches strut 26 is fixed on glove 1.
Preferably, described palm plate 2 comprises: palm plate fixing head 9 and palm plate support bar 10, and described palm plate support bar 10 is fixed on palm plate fixing head 9 by suitable screw bolt and nut 13, and described palm plate fixing head 9 is glued to the back of the hand position of glove 1.
Preferably, described finger linked system comprises thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein: thumb section, forefinger portion, middle finger and unknown finger include: No. one, 14,4 MCP joints of connecting rod, No. one, MCP joint connecting rod 14 is hinged with palm plate support bar 10.
Preferably, described power source 3 comprises: marmem extension spring 11 and common straightcarbon steel extension spring 12, wherein, the two ends of described marmem extension spring 11 and common straightcarbon steel extension spring 12 are hinged with finger linked system and palm plate 2 respectively.
Preferably, described finger linked system comprises thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein: thumb section, forefinger portion, middle finger and unknown finger include: No. one, MCP joint connecting rod 14, described palm plate 2 comprises palm plate fixing head 9, and the two ends of described marmem extension spring 11 and common straightcarbon steel extension spring 12 are hinged with No. one, 4 MCP joints connecting rod 14 and palm plate fixing head 9 respectively.
Above-mentioned MCP refers to metacarpophalangeal joints; PiP refers to nearly finger tip joint.
Provided by the invention based on memory alloy driven hand exoskeleton rehabilitation system, its marmem provides power for this hand ectoskeleton, power to weight ratio is far longer than motor, cylinder, surface electromyogram signal technology is by gathering the ultra-weak electronic signal on human body skin surface, analysis draws the motion intention of muscle, and pass to ectoskeleton, as its control signal.That whole system has is simple and light, be easy to installation and maintenance, cheap, the intelligent feature of controlling.
The present invention be take shape memory alloy spring as driving device, simple and light, and five fingers can self-movement, and flexibility ratio is higher; Adopt quadric chain as ectoskeletal drive mechanism, be easy to installation and maintenance, and can be adapted to the patient of different finger length; Difference and passive type rehabilitation ectoskeleton in the past, the present invention is usingd surface electromyogram signal as the ectoskeletal control signal of hand, by the rehabilitation of patient's Autonomous Control, is moved, and promotes curative effect.The present invention facilitates easy-to-use, safe and effective, and cost is lower, has broad application prospects.
Accompanying drawing explanation
Fig. 1 is hand ectoskeleton frame for movement schematic diagram;
Fig. 2 is glove construction schematic diagram;
Fig. 3 is palm plate and power source structural representation;
Fig. 4 is thumb section, forefinger portion, middle finger or unknown finger structural representation;
Fig. 5 is little finger of toe portion structural representation;
In figure: 1 is glove, 2 is palm plate, 3 is power source, 4 is thumb section, 5 is forefinger portion, 6 is middle finger, 7 is unknown finger, 8 is little finger, 9 is palm plate fixing head, 10 is palm plate support bar, 11 is marmem extension spring, 12 is common straightcarbon steel extension spring, 13 is screw bolt and nut, 14 is No. one, MCP joint connecting rod, 15 is No. two, MCP joint connecting rod, 16 is No. one, PIP joint connecting rod, 17 is No. two, PIP joint connecting rod, 18 is PIP articular branches strut, 19 is MCP articular branches strut, 20 is driving gear, 21 is driven gear, 22 is a rotating shaft, 23 is No. two rotating shafts, 24 is No. one, the MCP of little finger of toe portion joint connecting rod, 25 is No. two, the MCP of little finger of toe portion joint connecting rod, 26 is the MCP of little finger of toe portion articular branches strut.
The specific embodiment
Below embodiments of the invention are elaborated: the present embodiment is implemented take technical solution of the present invention under prerequisite, has provided detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Please refer to Fig. 1 to Fig. 5.
It is a kind of based on memory alloy driven hand exoskeleton rehabilitation system that the present embodiment provides, comprise glove 1, palm plate 2, power source 3 and finger linked system, wherein, described palm plate 2, power source 3 and finger linked system are all fixed on glove 1, and described finger linked system is connected with palm plate 2.
Further, described finger linked system comprises: thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein:
One thumb section, forefinger portion, middle finger and unknown finger include: No. one, MCP joint connecting rod 14, No. two, MCP joint connecting rod 15, MCP articular branches strut 19, No. one, PIP joint connecting rod 16, No. two, PiP joint connecting rod 17, PIP articular branches strut 18, driving gear 20, driven gear 21, rotating shaft 22 and No. two rotating shafts 23, wherein, No. one, described MCP joint connecting rod 14 is hinged with palm plate 2; One end of No. two connecting rods 15 in described MCP joint and No. one, MCP joint connecting rod 14 are hinged, the other end of No. two connecting rods 15 in described MCP joint and rotating shaft 22 interference fit; A described rotating shaft 22 is through MCP articular branches strut 19, and with driving gear 20 interference fit; Described driving gear 20 is intermeshing with driven gear 21; Described No. two rotating shafts 23 are through MCP articular branches strut 19, and respectively with driven gear 21 and No. one, PIP joint connecting rod 16 interference fit; No. one, described PIP joint connecting rod 16 is hinged with No. two, PIP joint connecting rod 17; No. two, described PIP joint connecting rod 17 is hinged with PIP articular branches strut 18; Described MCP articular branches strut 19, PIP articular branches strut 18 are all fixed on glove 1;
One little finger comprises: No. one, the MCP of little finger of toe portion joint connecting rod 24, No. two, the MCP of little finger of toe portion joint connecting rod 25 and the MCP of little finger of toe portion articular branches strut 26, and wherein, No. one, joint of the described little finger of toe MCP of portion connecting rod 24 and little finger of toe portion palm plate support bar 26 are hinged; One end of No. two connecting rods 25 in the described little finger of toe MCP of portion joint and No. one, the MCP of little finger of toe portion joint connecting rod 24 are hinged, and the other end and the MCP of the little finger of toe portion articular branches strut 26 of No. two connecting rods 25 in the described little finger of toe MCP of portion joint are hinged; The described little finger of toe MCP of portion articular branches strut 26 is fixed on glove 1.
Further, described palm plate 2 comprises: palm plate fixing head 9 and palm plate support bar 10, and described palm plate support bar lO is fixed on palm plate fixing head 9 by suitable screw bolt and nut 13, and described palm plate fixing head 9 is glued to the back of the hand position of glove 1.
Further, described finger linked system comprises thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein: thumb section, forefinger portion, middle finger and unknown finger include: No. one, 14,4 MCP joints of connecting rod, No. one, MCP joint connecting rod 14 is hinged with palm plate support bar 10.
Further, described power source 3 comprises: marmem extension spring 11 and common straightcarbon steel extension spring 12, wherein, the two ends of described marmem extension spring 11 and common straightcarbon steel extension spring 12 are hinged with finger linked system and palm plate 2 respectively.
Further, described finger linked system comprises thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein: thumb section, forefinger portion, middle finger and unknown finger include: No. one, MCP joint connecting rod 14, described palm plate 2 comprises palm plate fixing head 9, and the two ends of described marmem extension spring 11 and common straightcarbon steel extension spring 12 are hinged with No. one, 4 MCP joints connecting rod 14 and palm plate fixing head 9 respectively.
Above-mentioned MCP refers to metacarpophalangeal joints; PIP refers to nearly finger tip joint.
Be specially,
As shown in Figure 1, described palm plate 2, power source 3, thumb section 4, forefinger portion 5, middle finger 6, unknown finger 7, little finger of toe portion 8 based on memory alloy driven hand exoskeleton rehabilitation system is all fixed on glove 1, and thumb section 4, forefinger portion 5, middle finger 6, unknown finger 7, little finger of toe portion 8 are connected with palm plate 2.
As shown in Figure 3, palm plate 2 comprises palm plate fixing head 9 and palm plate support bar 10; Power source 3 comprises marmem extension spring 11 and common straightcarbon steel extension spring 12.
As shown in Figure 4, thumb section 4, forefinger portion 5, middle finger 6, unknown finger 7, include No. one, MCP joint connecting rod 14, No. two, MCP joint connecting rod 15, MCP articular branches strut 19, No. one, PIP joint connecting rod 16, No. two, PIP joint connecting rod 17, PIP articular branches strut 18, driving gear 20,22, No. two rotating shafts 23 of 21, numbers rotating shafts of driven gear.Wherein MCP representative " metacarpophalangeal joints ", PIP representative " nearly finger tip joint ".
As shown in Figure 5, little finger of toe portion 8 comprises No. one, the MCP of little finger of toe portion joint connecting rod 24, No. two, the MCP of little finger of toe portion joint connecting rod 25, the MCP of little finger of toe portion articular branches strut 26.
Between each several part, annexation is as follows:
As shown in Figure 3, in described palm plate 2, palm plate support bar lO is fixed on palm plate fixing head 9 by screw bolt and nut 13, and palm plate fixing head 9 is glued to the back of the hand position of glove l.In described power source 3, the two ends of marmem extension spring 11 are hinged with No. one, MCP joint connecting rod 14, palm plate fixing head 9 respectively.The two ends of common straightcarbon steel extension spring 12 are hinged with No. one, MCP joint connecting rod 14, palm plate fixing head 9 respectively.
As shown in Figure 4, in described thumb section 4 or forefinger portion 5 or middle finger 6 or unknown finger 7, No. one, MCP joint connecting rod 14 is hinged with palm plate support bar 10; The connecting rod 14 in one end of No. two connecting rods 15 in MCP joint and MCP joint is hinged, the other end and rotating shaft 22 interference fit; A rotating shaft 22 is through MCP articular branches strut 19, and with driving gear 20 interference fit; Driving gear 20 is intermeshing with driven gear 21; No. two rotating shafts 23 are through MCP articular branches strut 19, and respectively with driven gear 21, No. one, PIP joint connecting rod 16 interference fit; No. one, PIP joint connecting rod 16 is hinged with No. two, PIP joint connecting rod 17; No. two, PIP joint connecting rod 17 is hinged with PIP articular branches strut 18; MCP articular branches strut 19, PIP articular branches strut 18 are all fixed on glove 1.
As shown in Figure 5, in described little finger of toe portion 8 parts, No. one, the MCP of little finger of toe portion joint connecting rod 24 is hinged with little finger of toe portion palm plate support bar 26; One end of No. two connecting rods 25 in the MCP of little finger of toe portion joint and No. one, the MCP of little finger of toe portion joint connecting rod 24 are hinged, and the other end and the MCP of little finger of toe portion articular branches strut 26 are hinged; The MCP of little finger of toe portion articular branches strut 26 is fixed on glove 1.
Described hinged can realization by screw bolt and nut 13.
The present embodiment provide based on memory alloy driven hand exoskeleton rehabilitation system, by collection surface electromyographic signal, analyze and draw hand muscular movement intention, control hand ectoskeleton and do corresponding sports, drive patient's finger movement, reach autonomous reconditioning effect.
Below in conjunction with specific embodiment, the control instruction of " forefinger portion is crooked " and " stretch middle finger " of take and input is elaborated to work process of the present invention as example.
Work process of the present invention comprises the following steps:
Step l, patient's hand puts on one's gloves 1, has dressed hand ectoskeleton.Surface electromyogram signal Acquisition Instrument imports the hand muscle signal of telecommunication collecting in computer into, and computer analysis draws the motion intention of hand muscle, and passes to hand ectoskeleton as control instruction.
Step 2, when control instruction is " forefinger portion is crooked ", constant-current source is connected in the marmem extension spring 11 in forefinger portion power source 3, is heated to phase transition temperature, produces shape memory effect.Marmem extension spring 11 is initiatively shunk under shape memory effect effect, drives No. one, MCP joint connecting rod 14 to rotate around palm plate support bar 10.Meanwhile, No. one, MCP joint connecting rod 14 promotes No. two, MCP joint connecting rod 15 and rotates with MCP articular branches strut 19, drives patient's the MCP of forefinger portion arthrogryposis.The rotation of No. two connecting rods 15 in MCP joint, under the transfer function of driving gear 20, driven gear 2l, causes No. one, PIP joint connecting rod 16 also to rotate.No. one, PIP joint connecting rod 16 promotes No. two, PIP joint connecting rod 17 and rotates with PIP articular branches strut 18, drives patient's the PIP of forefinger portion arthrogryposis.
Step 3, when control instruction is " stretch middle finger ", the marmem extension spring 11 in middle finger power source 3 breaks from heater circuit, and temperature is reduced to below phase transition temperature, and shape memory effect disappears, and no longer produces contractility.The common straightcarbon steel extension spring 12 being stretched is shunk under self restoring force effect, drives No. one, MCP joint connecting rod 14 to rotate backward around palm plate support bar 10.Meanwhile, No. one, MCP joint connecting rod 14 promotes No. two, MCP joint connecting rod 15 and rotates backward with MCP articular branches strut 19, drives patient's MCP joint, middle finger to stretch.Rotating backward of No. two connecting rods 15 in MCP joint, under the transfer function of driving gear 20, driven gear 21, causes No. one, PIP joint connecting rod 16 also to rotate backward.No. one, PiP joint connecting rod 16 promotes No. two, PIP joint connecting rod 17 and rotates backward with PIP articular branches strut 18, drives patient's PIP joint, middle finger to stretch.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (5)
1. one kind based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that, comprise glove (1), palm plate (2), power source (3) and finger linked system, wherein, it is upper that described palm plate (2), power source (3) and finger linked system are all fixed on glove (1), and described finger linked system is connected with palm plate (2);
Described finger linked system comprises: thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein:
-thumb section, forefinger portion, middle finger and unknown finger include: the connecting rod in MCP joint (14), No. two connecting rods in MCP joint (15), MCP articular branches strut (19), the connecting rod in PIP joint (16), No. two connecting rods in PIP joint (17), PIP articular branches strut (18), driving gear (20), driven gear (21), a rotating shaft (22) and No. two rotating shafts (23), wherein, the connecting rod in described MCP joint (14) is hinged with palm plate (2); The connecting rod in one end of No. two connecting rods in described MCP joint (15) and MCP joint (14) is hinged, the other end of No. two connecting rods in described MCP joint (15) and a rotating shaft (22) interference fit; A described rotating shaft (22) is through MCP articular branches strut (19), and with driving gear (20) interference fit; Described driving gear (20) is intermeshing with driven gear (21); Described No. two rotating shafts (23) are through MCP articular branches strut (19), and respectively with driven gear (21) and the connecting rod in PIP joint (16) interference fit; The connecting rod in described PIP joint (16) is hinged with No. two connecting rods in PIP joint (17); No. two connecting rods in described PIP joint (17) are hinged with PIP articular branches strut (18); Described MCP articular branches strut (19), PIP articular branches strut (18) are all fixed on glove (1);
-little finger comprises: the connecting rod in the MCP of little finger of toe portion joint (24), No. two connecting rods in the MCP of little finger of toe portion joint (25) and the MCP of little finger of toe portion articular branches strut (26), wherein, the described little finger of toe MCP of the portion connecting rod in joint (24) is hinged with little finger of toe portion palm plate support bar (26); One end of the described little finger of toe MCP of portion No. two connecting rods in joint (25) and the connecting rod in the MCP of little finger of toe portion joint (24) are hinged, and the other end of the described little finger of toe MCP of portion No. two connecting rods in joint (25) and the MCP of little finger of toe portion articular branches strut (26) are hinged; The described little finger of toe MCP of portion articular branches strut (26) is fixed on glove (1).
2. according to claim 1 based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that, described palm plate (2) comprising: palm plate fixing head (9) and palm plate support bar (10), it is upper that described palm plate support bar (10) is fixed on palm plate fixing head (9) by suitable screw bolt and nut (13), and described palm plate fixing head (9) is glued to the back of the hand position of glove (1).
3. according to claim 2ly based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that, the connecting rod in MCP joint (14) of thumb section, forefinger portion, middle finger and unknown finger is hinged with palm plate support bar (10) respectively.
4. according to claim 1 and 2 based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that, described power source (3) comprising: marmem extension spring (11) and common straightcarbon steel extension spring (12), wherein, the two ends of described marmem extension spring (11) and common straightcarbon steel extension spring (12) are hinged with finger linked system and palm plate (2) respectively.
5. according to claim 4 based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that, the two ends of described marmem extension spring (11) and common straightcarbon steel extension spring (12) are hinged with the connecting rod in MCP joint (14) and the palm plate fixing head (9) of thumb section, forefinger portion, middle finger and unknown finger respectively.
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| CN201310217665.3A CN103315880B (en) | 2013-06-03 | 2013-06-03 | Hand external skeleton rehabilitation system based on memory alloy driving |
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| US5103807A (en) * | 1991-04-26 | 1992-04-14 | John Makaran | Shape memory alloy orthotic device |
| 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 |
| WO2012036775A1 (en) * | 2010-09-14 | 2012-03-22 | The Johns Hopkins University | Low profile hand-extension/flexion device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101794703B1 (en) | 2016-01-18 | 2017-11-08 | 울산과학기술원 | A wearable hand rehabilitation system |
| CN109646156A (en) * | 2018-12-19 | 2019-04-19 | 南京航空航天大学 | A kind of exoskeleton rehabilitation gloves |
| CN109646156B (en) * | 2018-12-19 | 2021-02-12 | 南京航空航天大学 | Exoskeleton rehabilitation glove |
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| CN103315880A (en) | 2013-09-25 |
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