CN107397650A - A kind of pneumatic software manipulator of the variation rigidity of achievable isometric exercise - Google Patents
A kind of pneumatic software manipulator of the variation rigidity of achievable isometric exercise Download PDFInfo
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- CN107397650A CN107397650A CN201710698532.0A CN201710698532A CN107397650A CN 107397650 A CN107397650 A CN 107397650A CN 201710698532 A CN201710698532 A CN 201710698532A CN 107397650 A CN107397650 A CN 107397650A
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- 210000004932 little finger Anatomy 0.000 claims description 3
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Classifications
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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
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/10—Electroencephalographic signals
- A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pneumatic software manipulator of the variation rigidity of achievable isometric exercise, including the gloves that upper and lower structures are set, and five software fingers for being respectively provided with power cavity and variation rigidity chamber on gloves upper strata are pasted on, gloves lower floor dresses for user.Every software finger is connected by tracheae with drive device, the EEG signals for the user that drive device decoding collects, control magnetic valve and proportioning valve realize the charge and discharge of air pressure and the regulation of negative pressure, realize the isometric exercise under the active control of software finger, and confrontation pattern.The present invention uses super-elasticity soft material, and security greatly improves, and adds the variation rigidity chamber that can realize stiffness variation again, it is too small to solve pure software finger rigidity, the unconspicuous problem of rehabilitation efficacy, enriches rehabilitation modality, is more suitable for hand function impaired patients and carries out rehabilitation use.Cost of the present invention is low, in light weight, soft comfortable, and the control mode using decoding EEG signals can be good at interacting with patient.
Description
Technical field
The invention belongs to robot and industrial handgrip technical field, and it is pneumatic to be related to a kind of variation rigidity of achievable isometric exercise
Software manipulator.
Background technology
Rehabilitation is broadly divided into upper limbs and lower limb, and the rehabilitation of upper limb healing especially hand will produce weight to the daily life of people
It is big to influence, but the cause of disease such as various wounds and cerebral apoplexy may all cause the damage of hand function.Cerebral apoplexy is also known as apoplexy, apoplexy
Body part limbs can be caused to lose motor function, can not normally control limb motion, having become influences human survival and be good for
One of principal disease of health.At present, paralytic can not be effected a radical cure using medicine, and be directed to hand work(caused by various wounds
It can damage and be also required to reconditioning progress functional rehabilitation, so rehabilitation becomes preferred the controlling of current hand function reconstruction
Treatment scheme.
From the sixties in last century, mechanical rehabilitation hand includes motor driven, bracing wire drives etc., just come into the life of people
It is living, but due to the limitation of rigid structure, when mechanical angle of bend exceedes the angle of bend that finger-joint can bear,
Compressing and limitation are easily produced, the pain of patient is caused, very big potential safety hazard be present；And for different patients, finger
The angle of bend otherness that can bear is very big, in addition, this mechanical rehabilitation hand cost is too high, weight is excessive, therefore this
Kind manipulator can not be widely generalized.
The development for developing into software rehabilitation hand of soft robot art brings new opportunity, and soft robot is not
Conventional Rigid Robot is same as, it realizes mechanical movement using the high resiliency and compliance of material, and these materials are most of
It is functional material, integrates driving and material.Although it just starts to be able to research and development since recent years, it is rapid
The attention of countries in the world colleges and universities and research institute is obtained, software rehabilitation hand should as the engineering that soft robot technology develops
With, improve rehabilitation hand security and comfortableness in terms of have great progress.The type of drive of software rehabilitation hand has more at present
Kind, it is main including pneumatic, dielectric elastomer driver, illumination deformation, marmem etc., but computer MSR Information system research at present
The software rehabilitation hand of the different types of structure gone out all exist rehabilitation power deficiency, rehabilitation form it is single be extremely difficult to rehabilitation needs ask
Topic.
Isometric exercise refers to contraction of muscle and motion that muscle fibre does not shorten, isometric exercise can increase the tension force of muscle without
Change the length of muscle, because being not accompanied by obvious joint motions, also known as static exercise.It is frequently utilized for strengthening it after patient is impaired
The exercise of muscle strength, there is good rehabilitation efficacy.Clinic confirms, in the apoplexy (Brunnstrom I that collapses from physical exhaustion the phase of two weeks or so
Phase), isometric exercise is carried out after carrying out isotonic exercise and software hand variation rigidity by soft auxiliary folding, can effectively alleviate trouble
The phenomenon that person's Muscle tensility reduces；When spasm period Muscle tensility is below three-level, the palm can be opened to improve Muscle tensility mistake by auxiliary
The problem of big.For hand function loss problem caused by the rehabilitation of paralytic's later stage and remaining various wound, grabbed with reference to auxiliary
Hold with active countermeasures open the palm can effectively help patient carry out hand function reconstruction.
The content of the invention
A kind of the shortcomings that it is an object of the invention to overcome above-mentioned prior art, there is provided variation rigidity of achievable isometric exercise
Pneumatic software manipulator, the effective help hand function impaired patients progress hand work(of the palm is opened with reference to grasping and active countermeasures are aided in
It can rebuild.
To reach above-mentioned purpose, the present invention is achieved using following technical scheme：
A kind of pneumatic software manipulator of the variation rigidity of achievable isometric exercise, including the gloves that upper and lower structures are set, with
And five software fingers for being respectively provided with power cavity and variation rigidity chamber on gloves upper strata are pasted on, gloves lower floor wears for user
Wear；Every software finger is connected by tracheae with drive device, the EEG signals for the user that drive device decoding collects,
Control magnetic valve and proportioning valve realize the charge and discharge of air pressure and the regulation of negative pressure, realize software finger in active control and confrontation pattern
Under isometric exercise.
Further improve of the invention is：
Forefinger, middle finger, the third finger and the little finger of toe of software finger are the structure for being capable of bending elongation, and thumb is to bend
The structure of torsion.
Software finger include using body made of elastomeric material, for limit the fiber of the dilatancy of radial direction and
For limiting the limitation strained layer of the unilateral deformation of software motion；Power cavity and variation rigidity chamber are arranged in body；Fiber is winding
In the left-hand screw fiber and right-hand screw fiber of body surface.
Power cavity is connected by power cavity tracheae with drive device, drives digital flexion during inflation, and finger recovers during deflation
Extended configuration；Variation rigidity chamber is connected by variation rigidity chamber tracheae with drive device.
Variation rigidity intracavitary is filled with blocking particles.
Power cavity and variation rigidity chamber are two separate and arranged in parallel rectangular cavities, and power cavity is air cavity close to limitation
Strained layer side, variation rigidity chamber filling blocking particles, away from limitation strained layer side, for changing finger rigidity.
Compared with prior art, the invention has the advantages that：
The present invention uses super-elasticity soft material, and security greatly improves, and adding again can realize that the change of stiffness variation is firm
Chamber is spent, it is too small to solve pure software finger rigidity, the unconspicuous problem of rehabilitation efficacy, and can be sensed by large deformation flexible
Device carries out realizing gesture feedback, and the moment monitors the deformation of software finger hand, adjusts air pressure numerical value, selects rehabilitation complexity, no
The security of pneumatic software manipulators in rehabilitation is improve only, and also improves the efficiency of rehabilitation.Cost of the present invention is low, weight
Gently, soft comfortable, rehabilitation scheme strong adaptability, the control mode using decoding EEG signals can be good at interacting with patient.
It is all to compensate for the deficiency of mechanical rigid rehabilitation hand such as above-mentioned advantage, the perfect software rehabilitation for there was only simple recovery function at present
Hand, the rehabilitation demands of the patient that early stage, later stage and needs hand function recover after apoplexy can be met, need rehabilitation for hand
Patient bring new hope, if it is possible to be promoted, the quality of life of patient will be lifted, mitigate family and social medical care
The burden of personnel.
Brief description of the drawings
Fig. 1 is the realization principle schematic diagram of two-chamber software driver elongation strain；
Fig. 2 is the realization principle schematic diagram of two-chamber software driver flexural deformation；
Fig. 3 is the cross sectional shape structure chart of two-chamber software finger；
Fig. 4 is two-chamber software finger overall diagram；
Fig. 5 is that two-chamber software manipulator uses schematic diagram.
Wherein, 1- softwares finger；2- power cavity tracheaes；3- variation rigidity chamber tracheaes；4- limits strained layer.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1-5, the pneumatic software manipulator of variation rigidity of the achievable isometric exercise of the present invention, including it is easy to patient to wear
Gloves and be pasted on gloves upper strata five two-chambers software finger 1, two individual cavities are respectively power cavity and become firm
Chamber is spent, the lower floor of gloves is worn on user on hand, and every software finger connects portable drive device by tracheae, decoding
The patient's EEG signals collected, magnetic valve and proportioning valve is controlled to realize that the inflation/deflation speed of air pressure is adjusted to realize to software hand
The control of finger.Forefinger, middle finger, the third finger and the little finger of toe of software remedy finger are bending elongation class formation；The thumb of software finger
Refer to as software thumb class formation.
As shown in figure 3, software finger includes body and is wound on the left-hand screw that body surface is used to limit circumferential expansion deformation
Fiber and right-hand screw fiber, body are made of elastomeric material, and the limitation being also bonded with body for realizing flexural deformation should
Change layer 4.
Gloves, which use, to be adapted to reconditioning, is easy to clean, and the soft cloth of secondary injury will not be caused to patient.
As shown in figure 4, software finger cavity is divided into two parts, respectively power cavity and variation rigidity chamber, power cavity passes through dynamic
Power chamber tracheae 2 is connected with drive device, drives digital flexion during inflation, and finger recovers extended configuration during deflation；Variation rigidity chamber leads to
Variation rigidity chamber tracheae 3 is crossed with drive device to be connected.The bending for realizing entity finger by the inflation/deflation of power cavity is stretched, and realizes base
This rehabilitation acts.Negative pressure is taken out to variation rigidity chamber, realizes the change of software finger rigidity, by resisting rehabilitation modality, is realized isometric
The active countermeasures of motion open the palm, enrich rehabilitation modality, strengthen rehabilitation efficacy, complete rehabilitation demands of the patient in rehabilitation.
The principle of the present invention：
As illustrated in fig. 1 and 2, the invention provides a kind of pneumatic software rehabilitation mechanical of the variation rigidity of achievable isometric exercise
Hand, patients with cerebral apoplexy can be helped, the patients such as hand is powerless, muscle deterioration or hand exercise are dumb carry out daily rehabilitation,
Recover hand normal kinematics.Pneumatic software manipulators in rehabilitation is worn on the back side of hand, the hand of patient is followed machinery
The bending stretching, extension of hand is moved.
The present invention includes the improvement for software finger cavity.The function implementation of finger is curved to complete basic stretching, extension
Qu Yundong, and at the correct position of patient's selection, change the rigidity of finger, realize that the passive of isometric exercise opens palm action,
Concrete operations mode is：Power cavity is inflated first, digital flexion to correct position, and then variation rigidity chamber extracts negative pressure, increases hand
Refer to rigidity.Described confrontation rehabilitation modality adds rehabilitation difficulty, improves rehabilitation efficacy, auxiliary grasps and active countermeasures open the palm
With reference to enriching rehabilitation modality, enhance rehabilitation efficacy.
Every software finger all includes three parts：Body, fiber and limitation strained layer.Body includes two independent chambers
Body is respectively power cavity and variation rigidity chamber.Power cavity is mainly used in realizing the stretching, extension bending motion that finger is basic, and variation rigidity chamber is then
The change of rigidity can be realized by extracting negative pressure.Fiber includes left-hand screw fiber and right-hand screw fiber, and fiber is used for limiting footpath
To the dilatancy in direction, software finger is set to bear higher air pressure, it is unilateral that limitation strained layer can limit software motion
Deformation, achieves flexural deformation and torsional deformation.
The upper and lower structures of software gloves are designed, software finger can be wrapped up and be easy to patient to wear, selection is closed
Suitable material make it that secondary injury will not be produced to patient in rehabilitation, and gloves need to be easy to cleaning replacement.
The structure of pneumatic software rehabilitation hand mainly includes three kinds of materials：
Body：It is made up of elastic material, elastic material, which refers to produce under external force, exceeds well over elastic limit
The strain of dependent variable, and the state that can restore to the original state when unloading.The material of rehabilitation hand must not injure to people, and nontoxic nothing
Taste, it is free from side effects, based on considerations above, a kind of pneumatic software manipulators in rehabilitation of the variation rigidity of achievable isometric exercise is selected
Elastosil M4601 are as bulk material, and the modulus of elasticity of the material such as the material and muscle, skin and cartilage approaches, with people
Body is worked in coordination use, is more easy to allow patient to receive, its modulus of elasticity probably in 0.66MPa or so, can produce at least 70%
Deformation, fully meet requirement.
Fiber：Fibre diameter is small and intensity is high, and left-hand screw fiber and right-hand screw fiber are symmetrically wound.
Limit strained layer：Thin layer reticular fibre cloth is non-stretchable, and intensity requirement is high.
The course of work of the present invention：
As shown in figure 5, designing and manufacturing five software fingers according to patient's finger size, guarantee actually produces to obtain software
Finger is close with the deformation result of simulation analysis, and every finger can produce the deformation of multistage Articulating and enough power
Drive finger motion.Every software finger all containing two independent air cavitys, is respectively connected with tracheae.Can be from master control in order to realize
The motion of software rehabilitation hand processed, the EEG signals collected can be decoded by drive device, using obtained identification signal as tactile
Signal and control magnetic valve and proportioning valve to realize that air pressure charge and discharge is adjusted, control power cavity bending stretching, extension, variation rigidity chamber change rigidity,
The final active control realized to software remedy finger.
The technological thought of above content only to illustrate the invention, it is impossible to protection scope of the present invention is limited with this, it is every to press
According to technological thought proposed by the present invention, any change done on the basis of technical scheme, claims of the present invention is each fallen within
Protection domain within.
Claims (6)
1. a kind of pneumatic software manipulator of the variation rigidity of achievable isometric exercise, it is characterised in that set including upper and lower structures
Gloves, and be pasted on five software fingers (1) for being respectively provided with power cavity and variation rigidity chamber on gloves upper strata, gloves lower floor
Dressed for user；Every software finger (1) is connected by tracheae with drive device, and what drive device decoding collected makes
The EEG signals of user, control magnetic valve and proportioning valve to realize the charge and discharge of air pressure and the regulation of negative pressure, realize that software finger (1) exists
Isometric exercise under active control and confrontation pattern.
2. the pneumatic software manipulator of the variation rigidity of achievable isometric exercise according to claim 1, it is characterised in that software
Forefinger, middle finger, the third finger and the little finger of toe of finger (1) are the structure for being capable of bending elongation, and thumb is the knot for being capable of flexion torsion
Structure.
3. the pneumatic software manipulator of the variation rigidity of achievable isometric exercise according to claim 1, it is characterised in that software
Finger (1) includes using body made of elastomeric material, for limiting the fiber of the dilatancy of radial direction and for limiting
The limitation strained layer (4) of the unilateral deformation of software motion；Power cavity and variation rigidity chamber are arranged in body；Fiber is to be wrapped in body
The left-hand screw fiber and right-hand screw fiber on surface.
4. the pneumatic software manipulator of the variation rigidity of achievable isometric exercise according to claim 1, it is characterised in that power
Chamber is connected by power cavity tracheae (2) with drive device, drives digital flexion during inflation, and finger recovers extended configuration during deflation；
Variation rigidity chamber is connected by variation rigidity chamber tracheae (3) with drive device.
5. the pneumatic software manipulator of the variation rigidity of the achievable isometric exercise according to claim 1 or 4, it is characterised in that
Variation rigidity intracavitary is filled with blocking particles.
6. the pneumatic software manipulator of the variation rigidity of the achievable isometric exercise according to claim 1 or 4, it is characterised in that
Power cavity and variation rigidity chamber are two separate and arranged in parallel rectangular cavities, and power cavity is air cavity close to limitation strained layer
(4) side, variation rigidity chamber filling blocking particles, away from limitation strained layer (4) side, for changing finger rigidity.
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| CN201710698532.0A CN107397650A (en) | 2017-08-15 | 2017-08-15 | A kind of pneumatic software manipulator of the variation rigidity of achievable isometric exercise |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381534A (en) * | 2018-05-11 | 2018-08-10 | 清华大学 | A kind of flexible manipulator with bow font continuous bend inner cavity |
| CN108392375A (en) * | 2018-04-19 | 2018-08-14 | 郑州大学 | A kind of pneumatic software functional rehabilitation gloves |
| CN108555947A (en) * | 2018-06-26 | 2018-09-21 | 南京林业大学 | A kind of software manipulator of stiffness variable |
| CN109223430A (en) * | 2018-07-23 | 2019-01-18 | 上海交通大学 | Wearable software restoring gloves and its control method, system |
| CN109247638A (en) * | 2018-09-25 | 2019-01-22 | 北京航空航天大学 | A kind of force feedback gloves based on software variation rigidity joint driver |
| CN109375772A (en) * | 2018-10-23 | 2019-02-22 | 北京航空航天大学 | A kind of polynary touch feedback gloves |
| CN109875839A (en) * | 2019-03-20 | 2019-06-14 | 金陵科技学院 | A kind of medical treatment and nursing with software manipulator and hand rehabilitation mobile device |
| CN109938968A (en) * | 2019-04-08 | 2019-06-28 | 北京航空航天大学 | Bionic pneumatic Opposing muscle design based on stratiform gas chamber |
| CN109955275A (en) * | 2019-03-20 | 2019-07-02 | 中国地质大学（武汉） | The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand |
| CN110269776A (en) * | 2019-06-28 | 2019-09-24 | 清华大学深圳研究生院 | A kind of finger recovering aid fingerstall and its manufacturing method based on pneumatic software actuator |
| CN110525697A (en) * | 2019-07-31 | 2019-12-03 | 中国空间技术研究院 | A kind of collecting device of inflatable hand |
| CN111331586A (en) * | 2019-12-26 | 2020-06-26 | 北京理工大学 | Fluid-controlled logic software driver |
| CN111329713A (en) * | 2020-02-13 | 2020-06-26 | 北京航空航天大学 | Rigidity-variable soft driver and hand rehabilitation training robot using same |
| CN111358664A (en) * | 2020-03-20 | 2020-07-03 | 裴绪群 | Neurological rehabilitation training device based on human habits |
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