WO2020147913A2 - روبوت هيكل خارجي لإعادة التاهيل الحركي لليد و الرسغ - Google Patents

روبوت هيكل خارجي لإعادة التاهيل الحركي لليد و الرسغ Download PDF

Info

Publication number
WO2020147913A2
WO2020147913A2 PCT/EG2020/000003 EG2020000003W WO2020147913A2 WO 2020147913 A2 WO2020147913 A2 WO 2020147913A2 EG 2020000003 W EG2020000003 W EG 2020000003W WO 2020147913 A2 WO2020147913 A2 WO 2020147913A2
Authority
WO
WIPO (PCT)
Prior art keywords
hand
rehabilitation
wrist
exoskeleton
patient
Prior art date
Application number
PCT/EG2020/000003
Other languages
English (en)
French (fr)
Other versions
WO2020147913A3 (ar
Inventor
باهى احمد محمد كامل احمد،
Original Assignee
باهى احمد محمد كامل احمد،
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by باهى احمد محمد كامل احمد، filed Critical باهى احمد محمد كامل احمد،
Priority to US17/423,807 priority Critical patent/US20220079831A1/en
Publication of WO2020147913A2 publication Critical patent/WO2020147913A2/ar
Publication of WO2020147913A3 publication Critical patent/WO2020147913A3/ar

Links

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
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • 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
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • 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
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
    • A61H2201/1647—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user the anatomy of a particular individual
    • 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
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • A61H2201/5012—Control means thereof computer controlled connected to external computer devices or networks using the internet
    • 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
    • A61H2201/5043—Displays
    • 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
    • A61H2201/5061—Force 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5097—Control means thereof wireless
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rehabilitation Therapy (AREA)
  • Veterinary Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Primary Health Care (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Biomedical Technology (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Rehabilitation Tools (AREA)

Abstract

تصميم جديد من الهيكل الخارجي للتأهيل الحركي لليد و الرسغ ، والذي يتم وضعة على يد المريض للمساعدة على تحركاته. يتكون هذا النظام من خمسة أصابع ميكانيكية (الإبهام ، السبابة ، الوسطي ، البنصر والخنصر) حيث يتم التحكم في كل حركة من حركاتها (امتداد الانثناء) بواسطة نظام إلكتروني تم تصميمه بشكل مشابه كجزء لا يتجزأ من مهمة التلاعب بروبت الهيكل الخارجي لليد. يمتاز نظامنا بشكل اساسي بالقدرة علي الحركة المستقلة في عدد 10 من سلاميات الاصابع ، أيضًا التحكم في حركة الرسغ ، يشمل أجهزة استشعار الموقف في كل السلاميات و الرسغ ، أيضًا يتم تضمين أجهزة استشعار لقياس القوة التي يطبقها المريض في حركة انثناء و امتداد كل سلاميات الاصبع ، الذي يسمح لنا بمراقبة قوة الموقف للحصول على إعادة التأهيل النشط و السلبي. وكذلك أثناء إعادة التأهيل النشط ، يمتلك الروبوت القدرة على التحكم في موضع القوة في الانثناء و الامتداد للحصول على الموضع المطلوب. يتضمن اجهزة اهتزاز لتخفيف الالم علي المرضي اثناء التدريب و تحفيز المستقبلات الميكانيكية و الحسية لمفاصل اليد. أيضا مع هذا الجهاز يمكن عمل جميع اجراءت و تدريبات اعادة التاهيل لليد التي يقوم بها اخصائي العلاج الطبيعي بدقه عالية للغاية لانة بيوفر وضعين للتاهيل السلبي و 3 اوضاع للتاهيل النشط. يشتغل التصميم الميكانيكي بنقل الطاقة المباشرة. يوفر نقل المهارات ويسرع عملية المرونة العصبية. وزنة خفيف، بيناسب احجام اليد المختلفة و ارتداءه و خلعه اليا. استخدامة سهل جدا في المنزل و يوفر للمستخدمين العديد من المميزات في التطبيق.
PCT/EG2020/000003 2019-01-16 2020-01-16 روبوت هيكل خارجي لإعادة التاهيل الحركي لليد و الرسغ WO2020147913A2 (ar)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/423,807 US20220079831A1 (en) 2019-01-16 2020-01-16 Exoskeleton robot for motor rehabilitation of the hand and wrist

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EG2019010080 2019-01-16
EG1008019 2019-01-16

Publications (2)

Publication Number Publication Date
WO2020147913A2 true WO2020147913A2 (ar) 2020-07-23
WO2020147913A3 WO2020147913A3 (ar) 2020-11-05

Family

ID=71612042

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EG2020/000003 WO2020147913A2 (ar) 2019-01-16 2020-01-16 روبوت هيكل خارجي لإعادة التاهيل الحركي لليد و الرسغ

Country Status (2)

Country Link
US (1) US20220079831A1 (ar)
WO (1) WO2020147913A2 (ar)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114849182A (zh) * 2022-06-13 2022-08-05 法罗适(上海)医疗技术有限公司 一种训练手套及自动对接和释放控制方法
CN115364448A (zh) * 2022-08-26 2022-11-22 南昌大学 一种神经科用手部和腿部锻炼康复装置
CN115890730A (zh) * 2022-11-30 2023-04-04 中国科学院光电技术研究所 一种核用水下两轴异物打捞机械手
WO2023062469A1 (en) * 2021-10-13 2023-04-20 Neurolutions, Inc. Orthosis system with interchangeable effector assembly
CN115998576A (zh) * 2022-12-07 2023-04-25 复旦大学 一种柔性可穿戴三指康复机器人

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11744763B2 (en) * 2018-12-18 2023-09-05 Bionik, Inc. Apparatus and/or method for positioning a hand for rehabilitation
US20210038461A1 (en) * 2019-08-08 2021-02-11 Clarence Johnson Hand exerciser devices, systems, and methods
CN114681269B (zh) * 2022-04-07 2023-03-31 西安交通大学 康复训练机器手及结合虚拟现实和运动想象的手功能康复训练***

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107212996B (zh) * 2017-04-24 2019-03-19 合肥工业大学 一种主/被动式手指手腕联合康复训练装置及方法
CN209630102U (zh) * 2018-08-16 2019-11-15 常州市钱璟康复股份有限公司 一种上肢康复训练机器人及其腕关节训练装置

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023062469A1 (en) * 2021-10-13 2023-04-20 Neurolutions, Inc. Orthosis system with interchangeable effector assembly
CN114849182A (zh) * 2022-06-13 2022-08-05 法罗适(上海)医疗技术有限公司 一种训练手套及自动对接和释放控制方法
CN115364448A (zh) * 2022-08-26 2022-11-22 南昌大学 一种神经科用手部和腿部锻炼康复装置
CN115364448B (zh) * 2022-08-26 2024-04-05 南昌大学 一种神经科用手部和腿部锻炼康复装置
CN115890730A (zh) * 2022-11-30 2023-04-04 中国科学院光电技术研究所 一种核用水下两轴异物打捞机械手
CN115998576A (zh) * 2022-12-07 2023-04-25 复旦大学 一种柔性可穿戴三指康复机器人

Also Published As

Publication number Publication date
US20220079831A1 (en) 2022-03-17
WO2020147913A3 (ar) 2020-11-05

Similar Documents

Publication Publication Date Title
WO2020147913A2 (ar) روبوت هيكل خارجي لإعادة التاهيل الحركي لليد و الرسغ
Popov et al. Portable exoskeleton glove with soft structure for hand assistance in activities of daily living
Iqbal et al. Stroke rehabilitation using exoskeleton-based robotic exercisers: mini review
US11154407B2 (en) Device for enhancing a subject's grasping capability
Wege et al. Mechanical design and motion control of a hand exoskeleton for rehabilitation
Kim et al. Cable actuated dexterous (cadex) glove for effective rehabilitation of the hand for patients with neurological diseases
Masia et al. Soft wearable assistive robotics: exosuits and supernumerary limbs
Gerez et al. A hybrid, soft exoskeleton glove equipped with a telescopic extra thumb and abduction capabilities
Park et al. Design and development of effective transmission mechanisms on a tendon driven hand orthosis for stroke patients
Takahashi et al. Soft exoskeleton glove enabling force feedback for human-like finger posture control with 20 degrees of freedom
Fu et al. Design and development of a portable exoskeleton based CPM machine for rehabilitation of hand injuries
Ort et al. Supernumerary robotic fingers as a therapeutic device for hemiparetic patients
AbdulKareem et al. Recent trends in robotic systems for upper-limb stroke recovery: A low-cost hand and wrist rehabilitation device
KR20190081891A (ko) 손가락 운동 보조 장치
Kamper Restoration of hand function in stroke and spinal cord injury
Jian et al. Wearable hand exoskeleton for activities of daily living
Tran et al. Voice-controlled flexible exotendon (flexotendon) glove for hand rehabilitation
Ong et al. A bio-inspired design of a hand robotic exoskeleton for rehabilitation
Mohammadi et al. Disturbance observer applications in rehabilitation robotics: an overview
Decker et al. A hand exoskeleton device for robot assisted sensory-motor training after stroke
Xing et al. Design of a wearable rehabilitation robotic hand actuated by pneumatic artificial muscles
Cuppone et al. Robot-assisted training to improve proprioception does benefit from added vibro-tactile feedback
Tanaka et al. Development of an ADL assistance apparatus for upper limbs and evaluation of muscle and cerebral activity of the user
Macovei et al. A short overview of upper limb rehabilitation devices
Bouri et al. Handreha”: a new hand and wrist haptic device for hemiplegic children

Legal Events

Date Code Title Description
DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20741278

Country of ref document: EP

Kind code of ref document: A2

WWE Wipo information: entry into national phase

Ref document number: 521422527

Country of ref document: SA