CN109172278B - Multi-dimensional hand rehabilitation training robot - Google Patents

Multi-dimensional hand rehabilitation training robot Download PDF

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Publication number
CN109172278B
CN109172278B CN201811124150.8A CN201811124150A CN109172278B CN 109172278 B CN109172278 B CN 109172278B CN 201811124150 A CN201811124150 A CN 201811124150A CN 109172278 B CN109172278 B CN 109172278B
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CN
China
Prior art keywords
wrist
finger
driving
movement
driven
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Expired - Fee Related
Application number
CN201811124150.8A
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Chinese (zh)
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CN109172278A (en
Inventor
王沫楠
李东辉
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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Priority to CN201811124150.8A priority Critical patent/CN109172278B/en
Publication of CN109172278A publication Critical patent/CN109172278A/en
Application granted granted Critical
Publication of CN109172278B publication Critical patent/CN109172278B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A61H1/0274—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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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

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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)

Abstract

The invention relates to the technical field of medical rehabilitation instruments, in particular to a multidimensional hand rehabilitation training robot, which comprises a support frame, a wrist movement rehabilitation device and a finger movement rehabilitation device; the wrist movement rehabilitation device is arranged on the support frame, and the finger movement rehabilitation device is arranged at the lower end of the wrist movement rehabilitation device; the wrist exercise rehabilitation device and the finger exercise rehabilitation device are arranged to respectively realize active rehabilitation training of the wrist and the fingers, and the wrist exercise rehabilitation device is simple in structure, low in manufacturing cost and capable of being accepted by most patients.

Description

Multi-dimensional hand rehabilitation training robot
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a multidimensional hand rehabilitation training robot.
Background
After stroke, hand and wrist edema, wrist joint and finger joint movement function decline or loss can occur, so that rehabilitation treatment needs to be carried out on the hands; the physical function of the old is reduced, and most of the old also needs hand rehabilitation treatment; pain and swelling of the hands due to nerve or traumatic injury also requires rehabilitation. If the rehabilitation of the patient is assisted by a rehabilitation doctor, the work intensity of the doctor is too high, and the rehabilitation training form is relatively single. The existing rehabilitation robot can replace a rehabilitation doctor to help a patient to carry out rehabilitation training, but the cost required by rehabilitation is high, and serious economic burden is brought to the patient and a family. The existing hand rehabilitation robot has the defects of complex structure and high manufacturing cost, and can not realize multi-motion rehabilitation training actually required by hands.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides the multi-dimensional hand rehabilitation training robot. The wrist exercise rehabilitation device and the finger exercise rehabilitation device are arranged to respectively realize active rehabilitation training of the wrist and the fingers, and the wrist exercise rehabilitation device is simple in structure, low in manufacturing cost and capable of being accepted by most patients.
The technical scheme of the invention is as follows:
a multidimensional robot for hand rehabilitation training comprises a support frame, a wrist movement rehabilitation device and a finger movement rehabilitation device; the wrist movement rehabilitation device is arranged on the support frame, and the finger movement rehabilitation device is arranged at the lower end of the wrist movement rehabilitation device.
Furthermore, the support frame includes left branch fagging and right branch fagging, install a set of drive spindle through the installation bearing between left branch fagging and the right branch fagging, be provided with a set of driving drum on the drive spindle, processing has the driving tooth on the outer terminal surface of driving drum, the left end of driving spindle passes left branch fagging and through shaft coupling and a set of driving motor's main shaft fixed connection, driving drum through the driving tooth with wrist motion rehabilitation device is connected.
Further, the wrist movement rehabilitation device comprises a wrist flexion and extension movement device and a wrist transverse movement device.
Furthermore, the wrist flexion and extension movement device comprises a group of wrist placing frames and a driven main shaft, a group of driven rollers are arranged on the driven main shaft, driven teeth matched with the driving teeth are processed at the outer ends of the driven rollers, the driving rollers and the driven rollers are connected in a matching mode through the meshing relationship of the driving teeth and the driven teeth, the wrist placing frames are fixedly arranged on the driven main shaft, and the finger movement rehabilitation device is further arranged on the wrist placing frames.
Furthermore, the finger exercise rehabilitation device comprises four groups of finger flexion and extension exercise devices and a group of thumb flexion and extension exercise devices, the four groups of finger flexion and extension exercise devices are arranged above the wrist placing frame at equal intervals from left to right, and the thumb flexion and extension exercise devices are arranged on the side end face of the wrist placing frame.
Further, the finger flexion and extension movement device comprises a group of finger movement driving motors which are fixedly arranged on the wrist placing frame, the main shaft of the finger motion driving motor is connected with a group of finger motion driving gears which are connected with a group of driven crankshafts in a matching way, the driven crank shaft is arranged on the wrist placing frame through a fixed seat and comprises a round handle end and a triangular connecting rod end, the round handle end and the triangular connecting rod end are integrally processed and formed, outer ring teeth meshed with the finger motion driving gear are processed on the round handle end of the driven crankshaft, the end part of the triangular connecting rod end of the driven crank shaft is hinged to a first transmission connecting rod, a second transmission connecting rod at the other end of the first transmission connecting rod is hinged to the second transmission connecting rod, and the lower end of the second transmission connecting rod is connected with a group of finger stalls through a limiting hinge.
Furthermore, the wrist transverse moving device comprises two groups of driving electromagnets, the two groups of driving electromagnets are respectively arranged on the left supporting plate and the right supporting plate, driven electromagnets are respectively arranged on second transmission connecting rods of the finger bending and stretching moving devices at the leftmost end and the rightmost end, connecting hooks are arranged on the inner side end faces of the second transmission connecting rods of the finger bending and stretching moving devices at the leftmost end and the rightmost end, and connecting hooks are respectively arranged at the left end and the right end of the second transmission connecting rods of the other two groups of finger bending and stretching moving devices.
Compared with the prior art, the invention has the following beneficial effects:
according to the wrist and finger active rehabilitation training device, the wrist movement rehabilitation device and the finger movement rehabilitation device are arranged to respectively realize active rehabilitation training on the wrist and the fingers, and the wrist movement rehabilitation device, the finger movement rehabilitation device and the electromagnet assembly can provide bending and stretching rehabilitation training on the wrist, stretching and bending training of the fingers, multi-finger combined grabbing training and wrist horizontal left-right bending rehabilitation training for a user;
the invention has simple structure and lower cost, and can be accepted by most patients and families;
all rehabilitation exercises are motor-driven active rehabilitation exercises, and the rehabilitation exercises can be provided for patients with serious illness due to wide area.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the wrist rest frame of the present invention;
FIG. 1-support shelf; 2-a wrist movement rehabilitation device; 3-a finger movement rehabilitation device; 11-a left support plate; 12-a right support plate; 13-driving the main shaft; 14-a drive roller; 15-driving the motor; 21-wrist flexion and extension exercise device; 22-a wrist traversing movement device; 311-finger flexion and extension exercise devices; 312-thumb flexion and extension movement device; 3111-finger movement drive motor; 3112-finger movement drive gear; 3113-driven crankshaft; 3114-round shank end; 3115-triangular link ends; 3116-a first drive link; 3117-a second drive link; 3118-finger cot; 221-driving an electromagnet; 222-a driven electromagnet; 223-connecting hook.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
With reference to fig. 1-2, the multi-dimensional hand rehabilitation training robot disclosed in this embodiment includes a support frame 1, a wrist movement rehabilitation device 2, and a finger movement rehabilitation device 3; the wrist exercise rehabilitation device 2 is arranged on the support frame 1, and the finger exercise rehabilitation device 3 is arranged at the lower end of the wrist exercise rehabilitation device 2.
Specifically, support frame 1 includes left branch fagging 11 and right branch fagging 12, install a set of driving spindle 13 through the installation bearing between left branch fagging 11 and the right branch fagging 12, be provided with a set of driving drum 14 on the driving spindle 13, processing has the driving tooth on the outer terminal surface of driving drum 14, the left end of driving spindle 13 passes left branch fagging 11 and the main shaft fixed connection through shaft coupling and a set of driving motor 15, driving drum 14 through the driving tooth with wrist motion rehabilitation device 2 is connected.
Specifically, the wrist exercise rehabilitation device 2 includes a wrist flexion and extension exercise device 21 and a wrist transverse movement exercise device 22.
Specifically, the wrist flexion and extension movement device 21 includes a set of wrist placement frame 211 and a driven main shaft 212, a set of driven rollers 213 is disposed on the driven main shaft 212, driven teeth matched with the driving teeth are processed at outer ends of the driven rollers 213, the driving rollers 14 and the driven rollers 213 are connected in a matching manner through the meshing relationship between the driving teeth and the driven teeth, the wrist placement frame 211 is further fixedly disposed on the driven main shaft 212, and the finger movement rehabilitation device 3 is further disposed on the wrist placement frame 211.
Specifically, the finger exercise rehabilitation device 3 includes four groups of finger flexion and extension exercise devices 311 and a group of thumb flexion and extension exercise device 312, the four groups of finger flexion and extension exercise devices 311 are arranged above the wrist placing frame 211 at equal intervals from left to right, and the thumb flexion and extension exercise device 312 is arranged on the end surface of the wrist placing frame 211; the four groups of finger flexion and extension movement devices are respectively an index finger flexion and extension movement device, a middle finger flexion and extension movement device, a ring finger flexion and extension movement device and a little finger flexion and extension movement device.
Specifically, the finger flexion-extension movement device 311 includes a set of finger movement driving motor 3111, the finger movement driving motor 3111 is fixedly disposed on the wrist placing frame 211, the main shaft of the finger movement driving motor 3111 is connected with a set of finger movement driving gear 3112 in a key connection manner, the finger movement driving gear 3112 is connected with a set of driven crankshaft 3113 in a matching manner, the driven crankshaft 3113 is disposed on the wrist placing frame 211 through a fixing seat, the driven crankshaft 3113 includes a round handle end 3114 and a triangular connecting rod end 3115, the round handle end 3114 and the triangular connecting rod end 3115 are integrally formed, the round handle end 3114 of the driven crankshaft 3113 is processed with an outer ring tooth engaged with the finger movement driving gear 3112, the end of the triangular connecting rod end 3115 of the driven crankshaft 3113 is hinged to the first transmission connecting rod 3116, the second transmission connecting rod 3117 at the other end of the first transmission connecting rod 3116 is hinged, the lower extreme of second transmission connecting rod 3117 is connected with a set of finger dactylotheca 3118 through spacing hinge.
Specifically, the wrist transverse moving device 22 includes two sets of driving electromagnets 221, the two sets of driving electromagnets 221 are respectively disposed on the left support plate 11 and the right support plate 12, the second transmission link 3117 of the finger flexion-extension movement device 311 disposed at the leftmost end and the rightmost end is also respectively provided with a driven electromagnet 222, the end surfaces of the inner sides of the second transmission links 3117 of the finger flexion-extension movement device 311 disposed at the leftmost end and the rightmost end are provided with a connection hook 223, and the left and right ends of the second transmission link 3117 of the other two sets of finger flexion-extension movement devices 311 are respectively provided with a connection hook 223.
The working process of the invention is as follows:
wrist rehabilitation exercise: before working, the finger sleeves are respectively sleeved on the middle phalanges of the four fingers of the user except the thumb, and the finger sleeves in the thumb flexion and extension movement device 312 are sleeved on the middle joint of the thumb of the user; a driving motor fixed on the left supporting plate drives a driving main shaft 13 to rotate, a driving roller 14 fixedly connected to the driving main shaft 13 drives a driven roller 23 to rotate through the meshing relationship of driving teeth and driven teeth, and the driven roller 23 drives a driven main shaft 22 and a wrist placing frame 21 to rotate, so that the wrist of a user is driven to rotate up and down, and the flexion and extension rehabilitation training of the wrist is realized;
flexion-extension rehabilitation exercise training of single or multiple fingers: before working, the finger sleeves are respectively sleeved on the middle phalanges of the four fingers of the user except the thumb, and the finger sleeves in the thumb flexion and extension movement device 312 are sleeved on the middle joint of the thumb of the user; a finger movement driving motor 3111 mounted on the wrist placing frame 21 drives the finger movement driving gear 3112 to rotate, the finger movement driving gear 3112 drives the driven crankshaft 3113 to rotate through the meshing relationship with the outer gear ring of the round handle end 3114 of the driven crankshaft 3113, the driven crankshaft 3113 drives a first transmission connecting rod 3116 of a special shape hinged with the driven crankshaft 3113 to move up and down, the first transmission connecting rod 3116 drives a connecting rod second transmission connecting rod 3117 hinged with the first transmission connecting rod 3116 to move up and down, the second transmission connecting rod 3117 drives a limit hinge with a movement limit angle of 90 degrees to move up and down, and the movement limit angle is 90 degrees; the limit hinge drives the finger sleeves to move up and down, so that the bending and stretching rehabilitation exercise training of a single finger or a plurality of fingers is realized;
grabbing training movement of multi-finger combination: before working, the finger sleeves are respectively sleeved on the middle phalanges of the four fingers of the user except the thumb, and the finger sleeves in the thumb flexion and extension movement device 312 are sleeved on the middle joint of the thumb of the user; a finger movement driving motor 3111 mounted on the wrist placing frame 21 drives the finger movement driving gear 3112 to rotate, the finger movement driving gear 3112 drives the driven crankshaft 3113 to rotate through the meshing relationship with the outer gear ring of the round handle end 3114 of the driven crankshaft 3113, the driven crankshaft 3113 drives a first transmission connecting rod 3116 of a special shape hinged with the driven crankshaft 3113 to move up and down, the first transmission connecting rod 3116 drives a connecting rod second transmission connecting rod 3117 hinged with the first transmission connecting rod 3116 to move up and down, the second transmission connecting rod 3117 drives a limit hinge with a movement limit angle of 90 degrees to move up and down, and the movement limit angle is 90 degrees; the limiting hinge drives the finger sleeves to move up and down, and the thumb and any other four fingers can be combined randomly to perform grabbing rehabilitation exercise training by controlling the thumb flexion-extension movement device 312 and any finger flexion-extension movement device 311 to work cooperatively.
Rehabilitation training with horizontal wrist bending left and right: before work, the finger sleeves are respectively sleeved on the middle phalanges of four fingers of a user except for the thumb, the thumb is naturally placed vertically, and the connecting hooks 223 between the index finger flexion and extension movement device, the middle finger flexion and extension movement device, the ring finger flexion and extension movement device and the little finger flexion and extension movement device are mutually hooked; the driven electromagnet arranged on the forefinger flexion-extension movement device and the driving electromagnet on the right supporting plate generate magnetic force, so that the wrist can be driven to rotate to one side; the hand can be turned back to the initial state by changing the magnetic force; the driven electromagnet on the little finger flexion and extension movement device and the driving electromagnet on the other side of the left support plate generate magnetic force to drive the wrist to rotate towards the other side, and the hand can rotate to an initial state by changing the magnetic force; the movement is circulated for many times, and the rehabilitation training of the wrist bending left and right in the horizontal direction can be realized.
The above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.

Claims (1)

1. A multidimensional robot for hand rehabilitation training comprises a support frame (1), a wrist movement rehabilitation device (2) and a finger movement rehabilitation device (3); the wrist movement rehabilitation device (2) is arranged on the support frame (1), and the finger movement rehabilitation device (3) is arranged at the lower end of the wrist movement rehabilitation device (2); the wrist movement rehabilitation device comprises a support frame (1) and a wrist movement rehabilitation device, and is characterized in that the support frame (1) comprises a left support plate (11) and a right support plate (12), a group of driving main shafts (13) are mounted between the left support plate (11) and the right support plate (12) through mounting bearings, a group of driving rollers (14) are arranged on the driving main shafts (13), driving teeth are processed on the outer end faces of the driving rollers (14), the left ends of the driving main shafts (13) penetrate through the left support plate (11) and are fixedly connected with main shafts of a group of driving motors (15) through couplers, and the driving rollers (14) are connected with the wrist movement rehabilitation device (2) through the; the wrist movement rehabilitation device (2) comprises a wrist bending and stretching movement device (21) and a wrist transverse movement device (22); the wrist bending and stretching exercise device (21) comprises a wrist placing frame (211) and a driven main shaft (212), a group of driven rollers (213) are arranged on the driven main shaft (212), driven teeth matched with the driving teeth are processed at the outer ends of the driven rollers (213), the driving rollers (14) and the driven rollers (213) are matched and connected through the meshing relationship of the driving teeth and the driven teeth, the wrist placing frame (211) is fixedly arranged on the driven main shaft (212), and the finger exercise rehabilitation device (3) is further arranged on the wrist placing frame (211); the finger exercise rehabilitation device (3) comprises four groups of finger flexion and extension exercise devices (311) and a group of thumb flexion and extension exercise devices (312), the four groups of finger flexion and extension exercise devices (311) are arranged above the wrist placing frame (211) at equal intervals from left to right, and the thumb flexion and extension exercise devices (312) are arranged on the side end face of the wrist placing frame (211); the finger flexion and extension movement device (311) comprises a group of finger movement driving motors (3111), the finger movement driving motors (3111) are fixedly arranged on the wrist placing frame (211), a main shaft of the finger movement driving motors (3111) is connected with a group of finger movement driving gears (3112) in a key mode, the finger movement driving gears (3112) are connected with a group of driven crankshafts (3113) in a matched mode, the driven crankshafts (3113) are arranged on the wrist placing frame (211) through fixing seats, the driven crankshafts (3113) comprise round handle ends (3114) and triangular connecting rod ends (3115), the round handle ends (3114) and the triangular connecting rod ends (3115) are integrally processed and formed, outer ring teeth meshed with the finger movement driving gears (3112) are processed on the round handle ends (3114) of the driven crankshafts (3113), the end portions of the triangular connecting rod ends (3115) of the driven crankshafts (3113) are hinged to the first transmission connecting rod (3116), the other end and second transmission connecting rod (3117) of first transmission connecting rod (3116) are articulated, the lower extreme of second transmission connecting rod (3117) is connected its characterized in that through spacing hinge and a set of finger dactylotheca (3118): the wrist transverse moving device (22) comprises two groups of driving electromagnets (221), the two groups of driving electromagnets (221) are respectively arranged on the left support plate (11) and the right support plate (12), driven electromagnets (222) are also respectively arranged on second transmission connecting rods (3117) of the finger bending and stretching moving devices (311) arranged at the leftmost end and the rightmost end, connecting hooks (223) are arranged on the inner side end faces of the second transmission connecting rods (3117) of the finger bending and stretching moving devices (311) arranged at the leftmost end and the rightmost end, and the left end and the right end of the second transmission connecting rods (3117) of the other two groups of finger bending and stretching moving devices (311) are respectively provided with the connecting hooks (223).
CN201811124150.8A 2018-09-26 2018-09-26 Multi-dimensional hand rehabilitation training robot Expired - Fee Related CN109172278B (en)

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CN109172278B true CN109172278B (en) 2020-08-18

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CN113827448B (en) * 2021-11-02 2024-04-05 复旦大学 Cooperative rehabilitation training robot

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Publication number Priority date Publication date Assignee Title
US4310154A (en) * 1980-04-21 1982-01-12 Kauffman Peter T Exercising device for the fingers, wrist and forearm
CN102018611B (en) * 2010-12-31 2012-10-10 厦门市第二医院 Rehabilitation training therapeutic instrument for hand of hemiplegic patient
CN205108256U (en) * 2015-07-26 2016-03-30 广东铭凯医疗机器人有限公司 Finger and wrist joint rehabilitation trainer
KR101701936B1 (en) * 2015-10-12 2017-02-02 주식회사 영진하이텍 wrist rehabilitation device
CN106074085B (en) * 2016-06-07 2018-11-02 安徽德衍智控科技有限公司 A kind of hand rehabilitation training robot system and its hand rehabilitation therapy method
CN108354780A (en) * 2018-03-30 2018-08-03 东南大学 Wrist device for healing and training

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