CN111135019A - A kind of bag finger and hand rehabilitation training device - Google Patents
A kind of bag finger and hand rehabilitation training device Download PDFInfo
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- CN111135019A CN111135019A CN202010111073.3A CN202010111073A CN111135019A CN 111135019 A CN111135019 A CN 111135019A CN 202010111073 A CN202010111073 A CN 202010111073A CN 111135019 A CN111135019 A CN 111135019A
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- finger
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- hand rehabilitation
- capsular
- rehabilitation training
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- 239000002775 capsule Substances 0.000 claims description 30
- 239000000463 material Substances 0.000 claims description 7
- 239000013013 elastic material Substances 0.000 claims description 5
- 238000007789 sealing Methods 0.000 abstract description 5
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- 101150097977 arch-1 gene Proteins 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000010030 laminating Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 210000004932 little finger Anatomy 0.000 description 3
- 210000003813 thumb Anatomy 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 206010008111 Cerebral haemorrhage Diseases 0.000 description 1
- 206010008132 Cerebral thrombosis Diseases 0.000 description 1
- 206010010904 Convulsion Diseases 0.000 description 1
- 201000001429 Intracranial Thrombosis Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 206010053615 Thermal burn Diseases 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 206010008118 cerebral infarction Diseases 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
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- 210000003205 muscle Anatomy 0.000 description 1
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- 230000000750 progressive effect Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
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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
- 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
- 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
- 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
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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)
- Prostheses (AREA)
Abstract
本发明公开一种囊指及手部康复训练器。所述囊指包括褶皱结构、连接面，所述褶皱结构上设置有多个凸起，所述连接面安装于所述褶皱结构上，以形成内部为空腔的指状结构，所述连接面为褶皱面或非褶皱面。所述手部康复训练器包括至少一囊指，所述囊指安装于手掌模板上。本发明的囊指的结构简单，容易密封，成本低廉。
The invention discloses a pouch finger and a hand rehabilitation training device. The bag finger includes a pleated structure and a connecting surface, the pleated structure is provided with a plurality of protrusions, the connecting surface is mounted on the pleated structure to form a finger-like structure with a cavity inside, and the connecting surface is Either wrinkled or unwrinkled. The hand rehabilitation training device includes at least one pocket finger, and the pocket finger is mounted on the palm template. The bag finger of the invention has simple structure, easy sealing and low cost.
Description
Technical Field
The invention belongs to the technical field of bionic machinery, and particularly relates to a capsular finger and hand rehabilitation trainer.
Background
At present, the number of patients with hand disabilities caused by stroke, cerebral hemorrhage, cerebral infarction, cerebral thrombosis, cerebral palsy, burn, scald and other various accidents is gradually increased in China every year. The symptoms are usually manifested as convulsion, spasm, weakness in grasping, failure of normal stretching, and "eagle hooking". The hand rehabilitation needs to be progressive, and the hand rehabilitation instrument is usually adopted for rehabilitation training. The key of the hand rehabilitation instrument is the finger part, and the existing hand rehabilitation training instrument has the defects of complicated finger structure, high sealing cost, high price, large structural size, low bearing capacity and poor fitting effect with hands.
In addition, the existing mechanical gripper usually adopts a rigid structure, and the problems that the gripped object is damaged and the running noise is large when the gripped object is faced are solved, so that the improvement is urgently needed.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a capsular finger and a hand rehabilitation training device, which are used to solve the problems of complicated finger structure, high sealing cost, high price, large structural size, low bearing capacity, poor fitting effect with human hands, etc. of the hand rehabilitation training device in the prior art.
To achieve the above and other related objects, the present invention provides a capsular finger, comprising:
a corrugated structure having a plurality of protrusions disposed thereon; and
and the connecting surface is arranged on the corrugated structure to form a finger-shaped structure with a cavity inside.
In an embodiment of the invention, the connecting surface is a corrugated surface or a non-corrugated surface.
In one embodiment of the invention, one end of the finger structure is closed, and the other end of the finger structure is provided with a first through opening.
In an embodiment of the invention, the first port is connected with an external device.
In one embodiment of the invention, the external device comprises a pump or a palm template.
In an embodiment of the invention, the material of the corrugated structure and the connecting surface is an elastic material.
In an embodiment of the present invention, the finger structure is an integrally formed structure.
In one embodiment of the invention, the bladder is a non-rotating body structure.
In an embodiment of the present invention, the capsule finger further comprises:
a securing device mounted on the pleated face or non-pleated face.
The invention also provides a hand rehabilitation training device, comprising:
at least one bladder finger mounted on the palm template.
As described above, the capsular finger and hand rehabilitation training device of the present invention has the following beneficial effects:
the capsular finger comprises a fold structure and a connecting surface, wherein a plurality of bulges are arranged on the fold structure, and the connecting surface is arranged on the fold structure to form a finger-shaped structure with a cavity inside. The capsule finger has the advantages of simple structure, easy sealing and low cost, can not cause the problems of damage to a gripped object, high running noise and the like when facing the gripping of the object, and has longer service life.
The capsule finger adopts an integrated structure, and the lengths and the positions of the finger joints of different people do not need to be distinguished intentionally.
The capsule finger can be made of elastic materials, when the capsule finger is used as a hand rehabilitation trainer, rigid restraint and compression on blood vessels, muscles and the like of hands are avoided, the using effect is good, and the capsule finger is suitable for batch production.
When the capsule finger is used as a hand rehabilitation trainer, the capsule finger can be directly attached to the finger, the structure stress is reasonable, the support force is better, the fatigue life is longer, the structure is compact, the contact area between the connecting surface and the finger is large, the deformation is small, the attachment is more comfortable, and the problems of air leakage, complex process, uncomfortable hand attachment, large structure size and the like caused by the fact that the finger part of the traditional hand rehabilitation instrument is sealed at multiple positions are solved.
The capsule finger can also be used as a bionic paw to realize the actions of grabbing, holding, stretching and the like, has high action precision, and cannot damage a grabbed object by adopting the elastic material for manufacturing.
The capsule finger of the invention has simple and compact structure, easy manufacture and wide market prospect.
Drawings
Fig. 1 is a schematic structural diagram of a capsular finger provided in an embodiment of the present application.
Fig. 2 is a sectional structural view of a capsular finger according to an embodiment of the present application.
FIG. 3 is an axial cross-sectional view of a protuberance of a capsular finger provided in accordance with an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a hand rehabilitation training device according to an embodiment of the present application.
Fig. 5 is a schematic structural view of a hand rehabilitation training device according to another embodiment of the present application.
Fig. 6 is a schematic structural diagram of a hand rehabilitation training device according to another embodiment of the present application.
Fig. 7 is a sectional structural view of a capsular finger according to an embodiment of the present application.
Fig. 8 is a sectional structural view of a capsular finger according to an embodiment of the present application.
Description of the element reference numerals
1 projection
2 connecting surface
3 first through opening
4 fixing device
5 palm template
6 second through hole
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1, fig. 2, fig. 3, fig. 7, and fig. 8, fig. 1 is a schematic structural diagram of a capsular finger according to an embodiment of the present application. Fig. 2 is a sectional structural view of a capsular finger according to an embodiment of the present application. FIG. 3 is an axial cross-sectional view of a protuberance of a capsular finger provided in accordance with an embodiment of the present application. Fig. 7 is a sectional structural view of a capsular finger according to an embodiment of the present application. Fig. 8 is a sectional structural view of a capsular finger according to an embodiment of the present application. The present invention provides a capsular finger including, but not limited to, a corrugated structure, an attachment surface 2. Specifically, the connecting surface 2 is a corrugated surface or a non-corrugated surface. The non-corrugated surface is shown in figures 1 to 3, and the corrugated surface is shown in figures 7 and 8. When the connecting surface 2 is a wrinkled surface, the connecting surface 2 is a micro-wrinkled surface. The capsule finger further comprises a fixing device 4, wherein the fixing device 4 is arranged on the folding structure or the folding surface or the non-folding surface. Specifically, the material of the whole bladder finger, that is, the material of the corrugated structure and the connecting surface 2, may be, but is not limited to, an elastic material, and may also be made of other materials, and may be set according to specific needs. One side of the sac finger is of a folded structure, the other side of the sac finger is of a connecting surface 2, a plurality of protrusions 1 are arranged on the folded structure, the connecting surface 2 is installed on the folded structure to form a finger-shaped structure with a cavity inside, and the connecting surface 2 can be but is not limited to a structure with a plane surface. One end of the finger-shaped structure is closed, and the other end of the finger-shaped structure is provided with a first through opening 3. The first port 3 is connected to an external device. In particular, the external device may include, but is not limited to, a pump or a palm template 5. When the first port 3 is connected to a pump, a working medium, which may be, but not limited to, a fluid such as gas, water, hydraulic oil, etc., may flow in and out through the first port 3. The whole capsule finger, namely the finger-shaped structure, is of an integrally formed structure, and the whole capsule finger is of an integral non-rotating body structure. The cross section of the whole capsule finger is in a left-right symmetrical figure, the depth of the bulge 1 on the symmetrical plane is the largest, and the depth extending from the symmetrical plane to the two side surfaces is gradually reduced. The bag finger has a specific bending direction, when the pump sucks air from the first through opening 3, the distance between the protrusions 1 is reduced, the whole bag is bent towards one side of the corrugated structure, when the pump inflates air from the first through opening 3, the distance between the protrusions 1 is increased, and the whole bag is bent towards one side of the connecting surface 2.
Referring to fig. 4, fig. 4 is a schematic structural view of a hand rehabilitation training device according to an embodiment of the present application. The capsule fingers can be applied to a hand rehabilitation trainer in a non-limiting manner, the hand rehabilitation trainer also comprises at least one capsule finger, the hand rehabilitation trainer can comprise five capsule fingers, the five capsule fingers correspond to five fingers of a human body, so that the human body fingers can be rehabilitated, and the capsule fingers can be mounted on the palm template 5 in a non-limiting manner. The capsule finger comprises a fold structure and a connecting surface 2, a plurality of protrusions 1 are arranged on the fold structure, and the connecting surface 2 is installed on the fold structure to form a finger-shaped structure with a cavity inside. Specifically, each of the bladder fingers may be screwed or interference-fitted with the palm template 5, bonded or the like by providing a thread, a connection structure or the like at the first through opening 3. The bottom of the palm template 5 is provided with a second through hole 6, and the second through hole 6 can be connected with external equipment, such as but not limited to a pump. When the second through hole 6 is connected to a pump, a working medium, which may be, but not limited to, a fluid such as gas, water, hydraulic oil, etc., may flow in and out through the second through hole 6. The material of the palm template 5 may be, but is not limited to, metal and plastic. When the capsular fingers are used in the hand rehabilitation trainer, the capsular fingers can be assembled into fingers of a human body, and five capsular fingers respectively simulate the thumb, the index finger, the middle finger, the ring finger and the little finger of a human hand. Hand rehabilitation training ware is when using, the palm one side of human finger with the bag indicates is connected 2 laminating of face, and is right through the pump second through-hole 6 is bled, and the distance between the arch 1 reduces, and the directional fold structure of bag one side is crooked, when second through-hole 6 aerifys, the distance increase between the arch 1, the bag is directional connect the face 2 one side is crooked.
Referring to fig. 5 and 6, fig. 5 is a schematic structural view of a hand rehabilitation training device according to another embodiment of the present application. Fig. 6 is a schematic structural diagram of a hand rehabilitation training device according to another embodiment of the present application. The hand rehabilitation training device comprises at least one sac finger, and the hand rehabilitation training device can comprise five sac fingers, wherein the five sac fingers correspond to five fingers of a human body so as to perform rehabilitation training on the fingers of the human body, and the sac fingers can be installed on the palm template 5 in a non-limiting mode. The bag indicates including fold structure, connection face 2 and fixing device 4, be provided with a plurality of archs 1 on the fold structure, connection face 2 install in on the fold structure to form inside finger structure for the cavity, fixing device 4 install in on fold structure or connection face 2, be used for on being fixed in human finger each bag indicates, fixing device 4 can be but not limited to for elastic bandage. Specifically, each of the bladder fingers may be screwed or interference-fitted, bonded, or the like with the palm form 5 by providing a screw thread or a connection structure, or the like at the first through opening 3. The bottom of the palm template 5 is provided with a second through hole 6, and the second through hole 6 can be connected with external equipment, such as but not limited to a pump. When the second through hole 6 is connected to a pump, a working medium, which may be, but not limited to, a fluid such as gas, water, hydraulic oil, etc., may flow in and out through the second through hole 6. The material of the palm template 5 may be, but is not limited to, metal material and plastic. When the capsular fingers are used in the hand rehabilitation trainer, the capsular fingers can be assembled into fingers of a human body, and five capsular fingers respectively simulate the thumb, the index finger, the middle finger, the ring finger and the little finger of a human hand. Hand rehabilitation training ware is when using, the palm one side of human finger with the bag indicates is connected 2 laminating of face, and passes through fixing device 4 is fixed, and is right through the pump second through-hole 6 is bled, and the distance between the arch 1 reduces, and the one side bending of the directional fold structure of bag, when second through-hole 6 aerifys, the distance increase between the arch 1, the bag is directional connect the one side bending of face 2. When the capsule indicates to use as hand rehabilitation training ware, can be directly with the laminating of finger, have better holding power, fatigue life is higher, connect the face big with finger area of contact, warp for a short time, the laminating is more comfortable, has avoided traditional hand rehabilitation apparatus finger part many places to seal, gas leakage, the technology that leads to is complicated, the staff laminating is uncomfortable, the big scheduling problem of structure size. The present invention may also provide an anthropomorphic gripper comprising at least one capsular finger, which may comprise five capsular fingers corresponding to five fingers of a human body for rehabilitation training of the human fingers, which may be, but is not limited to, mounted on a palm template 5.
Referring to fig. 1 to 6, the operating principle of the capsular finger of the present invention is as follows: through when first opening 3 or second through-hole 6 bleed, the distance between the arch 1 reduces, and one side of the directional fold structure of bag is crooked, when second through-hole 6 aerifys, the distance increase between the arch 1, the bag is directional connect one side of face 2 to be crooked, the bag indicates to assemble for hand claw or hand rehabilitation training ware. When the capsular fingers are used as the paw, the five capsular fingers respectively simulate the functions of the thumb, the index finger, the middle finger, the ring finger and the little finger of the hand of a human body, when the capsular fingers are used as the hand rehabilitation trainer, one side of the palm center of the human finger is in contact with and fixed to the connecting surface 2 of the capsular fingers, the capsular fingers are inflated and deflated repeatedly, and are bent and straightened repeatedly, so that the human fingers are driven to be bent and straightened repeatedly, and the effect of passive rehabilitation training of the fingers is achieved.
In summary, the capsular finger of the present invention includes a corrugated structure and a connection surface 2, wherein the corrugated structure is provided with a plurality of protrusions 1, and the connection surface 2 is mounted on the corrugated structure to form a finger-shaped structure with a cavity inside. The capsule finger has the advantages of simple structure, easy sealing and low cost, can not cause the problems of damage to a gripped object, high running noise and the like when facing the gripping of the object, and has longer service life.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A capsular finger, comprising:
a corrugated structure having a plurality of protrusions disposed thereon; and
and the connecting surface is arranged on the corrugated structure to form a finger-shaped structure with a cavity inside.
2. A capsule finger according to claim 1, characterised in that: the connecting surface is a wrinkled surface or a non-wrinkled surface.
3. A capsule finger according to claim 1, characterised in that: one end of the finger-shaped structure is closed, and the other end of the finger-shaped structure is provided with a first through hole.
4. A capsule finger according to claim 3, characterised in that: the first port is connected with an external device.
5. A capsule according to claim 4, wherein: the external device includes a pump or a palm template.
6. A capsule finger according to claim 1, characterised in that: the material of fold structure and connection face is elastic material.
7. A capsule finger according to claim 1, characterised in that: the finger-shaped structure is an integrally formed structure.
8. A capsule finger according to claim 1, characterised in that: the capsule is of a non-rotating body structure.
9. A capsular finger according to claim 2, further comprising:
a securing device mounted on the pleated face or non-pleated face.
10. A hand rehabilitation training device, characterized in that, hand rehabilitation training device includes:
at least one bladder finger mounted on the palm template.
Priority Applications (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010111073.3A CN111135019A (en) | 2020-02-24 | 2020-02-24 | A kind of bag finger and hand rehabilitation training device |
| CN202022005739.5U CN212326882U (en) | 2020-02-24 | 2020-09-15 | A variable stiffness integral soft body finger and finger trainer |
| CN202022007288.9U CN212326883U (en) | 2020-02-24 | 2020-09-15 | An integral soft body finger and finger trainer |
| CN202010964130.2A CN111939001A (en) | 2020-02-24 | 2020-09-15 | An integral soft body finger and finger trainer |
| CN202010964138.9A CN111920649A (en) | 2020-02-24 | 2020-09-15 | Integral software booster unit and limbs helping hand training ware |
| CN202010964128.5A CN111939000A (en) | 2020-02-24 | 2020-09-15 | Integral software finger of variable rigidity and finger training ware |
| CN202022007286.XU CN212522360U (en) | 2020-02-24 | 2020-09-15 | An integral soft assist device and a limb assist trainer |
| CN202023030693.9U CN215504101U (en) | 2020-02-24 | 2020-12-16 | A Parallel Bending Soft Actuator |
| CN202011486123.2A CN112402187A (en) | 2020-02-24 | 2020-12-16 | Parallel bending soft actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010111073.3A CN111135019A (en) | 2020-02-24 | 2020-02-24 | A kind of bag finger and hand rehabilitation training device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111135019A true CN111135019A (en) | 2020-05-12 |
Family
ID=70527788
Family Applications (9)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010111073.3A Pending CN111135019A (en) | 2020-02-24 | 2020-02-24 | A kind of bag finger and hand rehabilitation training device |
| CN202022007288.9U Active CN212326883U (en) | 2020-02-24 | 2020-09-15 | An integral soft body finger and finger trainer |
| CN202010964128.5A Pending CN111939000A (en) | 2020-02-24 | 2020-09-15 | Integral software finger of variable rigidity and finger training ware |
| CN202022007286.XU Active CN212522360U (en) | 2020-02-24 | 2020-09-15 | An integral soft assist device and a limb assist trainer |
| CN202022005739.5U Active CN212326882U (en) | 2020-02-24 | 2020-09-15 | A variable stiffness integral soft body finger and finger trainer |
| CN202010964130.2A Pending CN111939001A (en) | 2020-02-24 | 2020-09-15 | An integral soft body finger and finger trainer |
| CN202010964138.9A Pending CN111920649A (en) | 2020-02-24 | 2020-09-15 | Integral software booster unit and limbs helping hand training ware |
| CN202023030693.9U Active CN215504101U (en) | 2020-02-24 | 2020-12-16 | A Parallel Bending Soft Actuator |
| CN202011486123.2A Pending CN112402187A (en) | 2020-02-24 | 2020-12-16 | Parallel bending soft actuator |
Family Applications After (8)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022007288.9U Active CN212326883U (en) | 2020-02-24 | 2020-09-15 | An integral soft body finger and finger trainer |
| CN202010964128.5A Pending CN111939000A (en) | 2020-02-24 | 2020-09-15 | Integral software finger of variable rigidity and finger training ware |
| CN202022007286.XU Active CN212522360U (en) | 2020-02-24 | 2020-09-15 | An integral soft assist device and a limb assist trainer |
| CN202022005739.5U Active CN212326882U (en) | 2020-02-24 | 2020-09-15 | A variable stiffness integral soft body finger and finger trainer |
| CN202010964130.2A Pending CN111939001A (en) | 2020-02-24 | 2020-09-15 | An integral soft body finger and finger trainer |
| CN202010964138.9A Pending CN111920649A (en) | 2020-02-24 | 2020-09-15 | Integral software booster unit and limbs helping hand training ware |
| CN202023030693.9U Active CN215504101U (en) | 2020-02-24 | 2020-12-16 | A Parallel Bending Soft Actuator |
| CN202011486123.2A Pending CN112402187A (en) | 2020-02-24 | 2020-12-16 | Parallel bending soft actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (9) | CN111135019A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114712166A (en) * | 2022-05-09 | 2022-07-08 | 合肥工业大学 | Soft actuator |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135019A (en) * | 2020-02-24 | 2020-05-12 | 合肥工业大学 | A kind of bag finger and hand rehabilitation training device |
| CN112842823A (en) * | 2021-02-08 | 2021-05-28 | 合肥工业大学 | Oval corrugated pipe shaped software actuating module and hand rehabilitation training device |
| CN112932907A (en) * | 2021-04-06 | 2021-06-11 | 合肥工业大学 | Corrugated pipe shaped soft actuator and hand rehabilitation training device |
| CN112932906A (en) * | 2021-04-06 | 2021-06-11 | 合肥工业大学 | Corrugated pipe shaped soft actuator and hand rehabilitation training device |
| CN113103266B (en) * | 2021-04-30 | 2023-03-17 | 北京理工大学 | Stability-increasing self-healing bionic finger and bionic soft hand |
| CN113414995B (en) * | 2021-06-15 | 2022-09-16 | 南京航空航天大学 | Fluid-driven gecko-like adhesive toe with hook claw and preparation method thereof |
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| CN212326882U (en) | 2021-01-12 |
| CN111920649A (en) | 2020-11-13 |
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| CN212522360U (en) | 2021-02-12 |
| CN212326883U (en) | 2021-01-12 |
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