IT202000012682A1 - WRIST REHABILITATION EXERCISE DEVICE - Google Patents

WRIST REHABILITATION EXERCISE DEVICE Download PDF

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Publication number
IT202000012682A1
IT202000012682A1 IT102020000012682A IT202000012682A IT202000012682A1 IT 202000012682 A1 IT202000012682 A1 IT 202000012682A1 IT 102020000012682 A IT102020000012682 A IT 102020000012682A IT 202000012682 A IT202000012682 A IT 202000012682A IT 202000012682 A1 IT202000012682 A1 IT 202000012682A1
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IT
Italy
Prior art keywords
motor
wrist
rehabilitation exercise
hand
platform
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Application number
IT102020000012682A
Other languages
Italian (it)
Inventor
Marco Ceccarelli
Gonçalves Rogerio Sales
Brito Lorena Souza Furtado
Original Assignee
Marco Ceccarelli
Sales Goncalves Rogerio
Furtado Brito Loredana Souza
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Application filed by Marco Ceccarelli, Sales Goncalves Rogerio, Furtado Brito Loredana Souza filed Critical Marco Ceccarelli
Priority to IT102020000012682A priority Critical patent/IT202000012682A1/en
Publication of IT202000012682A1 publication Critical patent/IT202000012682A1/en

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Classifications

    • 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
    • A61H2001/0203—Rotation of a body part around its longitudinal axis
    • 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
    • A61H2001/0207—Nutating movement of a body part around its articulation
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0107—Constructive details modular
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • 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
    • A61H2201/1215—Rotary 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—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
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5025—Activation means
    • A61H2201/5028—Contact activation, i.e. activated at contact with a surface of the user to be treated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5038—Interfaces to the user freely programmable by the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0443—Position of the patient substantially horizontal
    • A61H2203/0456—Supine
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0443—Position of the patient substantially horizontal
    • A61H2203/0468—Prone
    • 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

Landscapes

  • 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)
  • Massaging Devices (AREA)

Description

DESCRIZIONE DESCRIPTION

A corredo di una domanda di brevetto per invenzione industriale avente per titolo: Accompanying a patent application for an industrial invention entitled:

?Dispositivo per l'esercizio di riabilitazione del polso?. ?Wrist rehabilitation exercise device?.

In questa proposta di brevetto si presenta un nuovo dispositivo per l'esercizio di riabilitazione del polso umano. Il dispositivo permette di guidare o imporre movimenti di pronazione-supinazione, flessioneestensione e adduzione-abduzione del polso tramite una piattaforma attuata da un motore. In this patent proposal a new device for the rehabilitation exercise of the human wrist is presented. The device allows you to guide or impose pronation-supination, flexion-extension and adduction-abduction movements of the wrist through a platform actuated by a motor.

Attualmente, oltre ad esoscheletri ad elementi rigidi con meccanismi articolati, vi sono dispositivi che permettono l?assistenza motoria dell?articolazione del polso, soprattutto in applicazioni riabilitative. Vi sono svariate soluzioni basate su apparati meccanici, robot, e meccanismi paralleli che espletano la funzione di assistenza motoria per l?intera struttura del braccio e solo parzialmente coinvolgono la caviglia. Tra essi, si riportano esempi significativi per l?invenzione che si propone al fine di evidenziarne gli aspetti di novit? e di semplicit? costruttiva ed operativa in favore ad un uso agevole da parte di un utente. Il brevetto US 2011/0264018 A1 descrive un sistema di azionamento per la riabilitazione di braccia e polso con un meccanismo aptico che consente movimenti per la riabilitazione del polso. Il brevetto RO132234A0 presenta l?uso di un robot seriale per eseguire movimenti assistiti del polso. Il brevetto CN104983546A descrive un robot a struttura parallela del tipo Stewart a sei gradi di libert? per permettere l?assistenza anche dei movimenti del polso in riabilitazione. Il brevetto CN104382723A presenta un meccanismo ad ingranaggi per eseguire solo i movimenti di flessioneestensione e adduzione-abduzione del polso. Il brevetto WO2018036571A1 presenta una ortesi robotizzata per la riabilitazione della mano e del polso con capacit? di movimento a sette gradi di libert?. Il brevetto CN104873360A presenta un robot esoscheletro di riabilitazione dell'arto superiore mediante cavi che include anche la movimentazione del polso. La presente invenzione si propone come soluzione innovativa, semplice e compatta per l?assistenza motoria del polso tramite una struttura meccanica facilmente indossabile e trasportabile. La descrizione del dispositivo si riferisce agli schemi nelle seguenti figure: Currently, in addition to exoskeletons with rigid elements with articulated mechanisms, there are devices that allow motor assistance to the wrist joint, especially in rehabilitation applications. There are various solutions based on mechanical devices, robots, and parallel mechanisms which carry out the function of motor assistance for the entire structure of the arm and only partially involve the ankle. Among them, significant examples are reported for the proposed invention in order to highlight its novelty aspects. and simplicity? constructive and operational in favor of an easy use by a user. US patent 2011/0264018 A1 discloses a drive system for arm and wrist rehabilitation with a haptic mechanism that allows movements for wrist rehabilitation. Patent RO132234A0 presents the use of a serial robot to perform assisted movements of the wrist. The patent CN104983546A describes a parallel structure robot of the Stewart type with six degrees of freedom to allow assistance also for wrist movements in rehabilitation. Patent CN104382723A presents a gear mechanism to perform only the flexion-extension and adduction-abduction movements of the wrist. The patent WO2018036571A1 presents a robotic orthosis for hand and wrist rehabilitation with the ability to of movement with seven degrees of freedom?. Patent CN104873360A presents an exoskeleton robot for rehabilitation of the upper limb using cables which also includes movement of the wrist. The present invention is proposed as an innovative, simple and compact solution for motor assistance of the wrist by means of an easily wearable and transportable mechanical structure. The description of the device refers to the diagrams in the following figures:

La figura 1 mostra uno schema concettuale del dispositivo; Figure 1 shows a conceptual diagram of the device;

La figura 2 presenta uno schema costruttivo con indicazione di tutte le parti necessarie. Figure 2 presents a constructive diagram with indication of all the necessary parts.

La figura 3 presenta un esempio di soluzione costruttiva con indicazione delle tre configurazioni di funzionamento. Figure 3 presents an example of constructive solution with indication of the three operating configurations.

Con riferimento alla figura 1 e 2, il dispositivo per l'esercizio di riabilitazione del polso, ? costituito da una base (1) per motore con due dispositivi di fissaggio (2), un motore (3) per l?attuazione, un sensore di rotazione angolare (4), un sensore di coppia di torsione (5), un giunto (6) per allineamento tra gli assi della piattaforma per mano (8) e motore (3), un connettore (7) dell'asse motore con asse della piattaforma per mano, una piattaforma per la mano (8), due o pi? dispositivi di fissaggio (9) della mano sulla piattaforma (8), un computer ed un sistema di alimentazione (10). La piattaforma per mano (8) pu? essere collegata tramite il connettore (7) secondo tre configurazioni per eseguire l'esercizio di riabilitazione con movimenti umani di polso in pronazione-supinazione, flessione-estensione e adduzione-abduzione, rispettivamente, con una posizione adatta alle dimensioni di un utente per garantirne comfort durante l'esercizio di riabilitazione. La base (1) con il motore (3) pu? essere fissata con elementi di fissaggio (2) sul piano di lavoro in una posizione adatta alle dimensioni di un utente per garantirne comfort durante l'esercizio di riabilitazione del polso. Il motore (3) ? dotato di sensore di rotazione angolare (4) e sensore di coppia (5) per regolare e monitorare il movimento nell?esercizio del polso, con trasmissione di dati ad un software di monitoraggio, controllo, ed archiviazione sul PC (10) che fornisce anche la necessaria alimentazione elettrica. La figura 3 mostra le soluzioni operative nelle tre configurazioni del dispositivo per l'esercizio di riabilitazione con movimenti umani di polso in pronazione / supinazione, flessione / estensione e adduzione / abduzione, rispettivamente, Referring to Fig. 1 and 2 , the wrist rehabilitation exercise device, ? consisting of a motor base (1) with two fasteners (2), a motor (3) for actuation, an angular rotation sensor (4), a torque sensor (5), a coupling ( 6) for alignment between the shafts of the hand platform (8) and motor (3), a connector (7) of the motor shaft with shaft of the hand platform, a platform for the hand (8), two or more? hand fixtures (9) on the platform (8), a computer and a power system (10). The platform for the hand (8) pu? be connected via the connector (7) according to three configurations to perform the rehabilitation exercise with human wrist movements in pronation-supination, flexion-extension and adduction-abduction, respectively, with a position suited to the size of a user to ensure comfort during the rehabilitation exercise. The base (1) with the motor (3) can? be fixed with fasteners (2) on the work surface in a position suitable for the size of a user to ensure their comfort during the wrist rehabilitation exercise. The engine (3) ? equipped with angular rotation sensor (4) and torque sensor (5) to adjust and monitor the movement in the wrist exercise, with data transmission to a monitoring, control and storage software on the PC (10) which also provides the necessary power supply. Figure 3 shows the operating solutions in the three configurations of the device for rehabilitation exercise with human wrist movements in pronation / supination, flexion / extension and adduction / abduction, respectively,

Il vantaggio principale del dispositivo consiste nella sua struttura compatta e dalla sua dimensione ridotta facilmente utilizzabile e trasportabile, con un motore installato sulla base (1) con la piattaforma per mano (8) per una agevole posizionamento della mano dell?utente per una comoda esecuzione dell?esercizio motorio del polso. Inoltre, la struttura si presta ad una realizzazione con materiali leggeri ed in varie scale costruttive di agevole costruzione e semplice funzionamento, permettendo il suo impiego in applicazioni di assistenza motoria del polso in terapie fisioterapiche ed in esercizio fisico, con possibilit? di utilizzo in qualsiasi ambiente, anche non ospedaliero, in combinazione con sensori biomedici installati sia sul dispositivo che sull?arto dell?utente. The main advantage of the device consists in its compact structure and small size that is easy to use and transport, with a motor installed on the base (1) with the hand platform (8) for easy positioning of the user's hand for comfortable execution of the wrist motor exercise. Furthermore, the structure lends itself to a construction with light materials and in various constructive scales of easy construction and simple operation, allowing its use in applications of motor assistance of the wrist in physiotherapy and in physical exercise, with the possibility of for use in any environment, even non-hospital ones, in combination with biomedical sensors installed both on the device and on the user?s limb.

La presente invenzione ? descritta con riferimento ad una forma predefinita di realizzazione. ? da intendersi che possano esistere altre forme di realizzazione che afferiscano al medesimo nucleo inventivo, come definito nell?ambito di protezione delle rivendicazioni dichiarate. The present invention ? described with reference to a predefined embodiment. ? it should be understood that there may exist other embodiments which pertain to the same inventive core, as defined in the scope of protection of the declared claims.

Claims (1)

RIVENDICAZIONI 1- Dispositivo per l'esercizio di riabilitazione del polso, costituito da base (1) per motore con dispositivi di fissaggio (2), motore (3) per l'esercizio fisico, sensore di rotazione angolare (4), sensore di coppia di torsione (5), giunto (6) per allineamento tra gli assi della piattaforma per mano (8) e motore (3), connettore (7) dell'asse motore con asse della piattaforma per mano, piattaforma per mano (8), dispositivi di fissaggio (9) della mano sulla piattaforma, computer e sistema di alimentazione (10), con la struttura portatile che si caratterizza per fatto che il motore (3) e i sensori (4) e (5) sono montati sulla base (1) che si collega con un asse dotato di un giunto (6) e connessione (7) alla piattaforma per mano (8) dell'utente secondo il movimento dell'esercizio del polso in pronazione/supinazione, flessione/estensione e adduzione/abduzione.1- Wrist rehabilitation exercise device, consisting of motor base (1) with fasteners (2), exercise motor (3), angular rotation sensor (4), torque sensor torque (5), joint (6) for alignment between the shafts of hand platform (8) and motor (3), connector (7) of motor shaft with shaft of hand platform, hand platform (8), devices fixing (9) of the hand on the platform, computer and power system (10), with the portable structure which is characterized by the fact that the motor (3) and the sensors (4) and (5) are mounted on the base (1) which connects with an axis equipped with a joint (6) and connection (7) to the user's hand platform (8) according to the movement of the wrist exercise in pronation/supination, flexion/extension and adduction/abduction. 2- Dispositivo per l'esercizio di riabilitazione del polso, secondo la rivendicazione 1, in cui il motore (3) ? dotato di sensore di rotazione angolare (4) e sensore di coppia (5) sulla base (1) che possono essere fissati con gli elementi di fissaggio (2) sul piano di lavoro in una posizione adatta alle dimensioni di un utente per garantirne comfort durante l'esercizio di riabilitazione.2-Device for wrist rehabilitation exercise, according to claim 1, wherein the motor (3) is ? equipped with angular rotation sensor (4) and torque sensor (5) on the base (1) which can be fixed with the fasteners (2) on the work surface in a position suitable for the size of a user to ensure its comfort during rehabilitation exercise. 3- Dispositivo per l'esercizio di riabilitazione del polso, secondo la rivendicazione 1, in cui la piattaforma per mano (8), dotata di dispositivi di fissaggio specifici (9) della mano dell'utente, pu? essere collegata all'asse del motore (3) attraverso il connettore (7 ) secondo un orientamento adeguato per eseguire l'esercizio di riabilitazione con movimenti umani di polso in pronazione / supinazione, flessione / estensione e adduzione / abduzione, rispettivamente, con una posizione adatta alle dimensioni di un utente per garantirne comfort durante l'esercizio di riabilitazione. 3- Wrist rehabilitation exercise device, according to claim 1, wherein the hand platform (8), equipped with specific fixation devices (9) for the user's hand, can be connected to the motor axis (3) through the connector (7 ) in a suitable orientation to perform the rehabilitation exercise with human wrist movements in pronation / supination, flexion / extension and adduction / abduction, respectively, with a position fits the size of a user to ensure comfort during rehabilitation exercise.
IT102020000012682A 2020-05-28 2020-05-28 WRIST REHABILITATION EXERCISE DEVICE IT202000012682A1 (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04261657A (en) * 1991-02-15 1992-09-17 Masaki Takahashi Turning motion apparatus for front arm
US20110264018A1 (en) 2008-10-10 2011-10-27 Zlatko Matjacic Universal haptic drive system
KR20140063248A (en) * 2012-11-16 2014-05-27 경상대학교산학협력단 Wrist rotating apparatus, wrist bending apparatus and wrist rehabilitation apparatus comprising the same
CN104382723A (en) 2014-11-24 2015-03-04 江苏大学 Wrist joint rehabilitation robot
CN104873360A (en) 2015-04-17 2015-09-02 东南大学 Lasso drive based upper limb rehabilitation exoskeleton robot
CN104983546A (en) 2015-07-10 2015-10-21 哈尔滨天愈康复医疗机器人有限公司 Stewart type wearable wrist rehabilitation robot
WO2016125961A1 (en) * 2015-02-04 2016-08-11 주식회사 네오펙트 Mouse-type rehabilitation training apparatus
WO2018036571A1 (en) 2016-08-25 2018-03-01 Moreno Arango Juan David Robotic orthoses for hand and wrist rehabilitation

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04261657A (en) * 1991-02-15 1992-09-17 Masaki Takahashi Turning motion apparatus for front arm
US20110264018A1 (en) 2008-10-10 2011-10-27 Zlatko Matjacic Universal haptic drive system
KR20140063248A (en) * 2012-11-16 2014-05-27 경상대학교산학협력단 Wrist rotating apparatus, wrist bending apparatus and wrist rehabilitation apparatus comprising the same
CN104382723A (en) 2014-11-24 2015-03-04 江苏大学 Wrist joint rehabilitation robot
WO2016125961A1 (en) * 2015-02-04 2016-08-11 주식회사 네오펙트 Mouse-type rehabilitation training apparatus
CN104873360A (en) 2015-04-17 2015-09-02 东南大学 Lasso drive based upper limb rehabilitation exoskeleton robot
CN104983546A (en) 2015-07-10 2015-10-21 哈尔滨天愈康复医疗机器人有限公司 Stewart type wearable wrist rehabilitation robot
WO2018036571A1 (en) 2016-08-25 2018-03-01 Moreno Arango Juan David Robotic orthoses for hand and wrist rehabilitation

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