CN209092054U - It is a kind of based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand ectoskeleton - Google Patents
It is a kind of based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand ectoskeleton Download PDFInfo
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- CN209092054U CN209092054U CN201820492896.3U CN201820492896U CN209092054U CN 209092054 U CN209092054 U CN 209092054U CN 201820492896 U CN201820492896 U CN 201820492896U CN 209092054 U CN209092054 U CN 209092054U
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- 238000012549 training Methods 0.000 title claims abstract description 56
- 238000004088 simulation Methods 0.000 title claims abstract description 19
- 208000029215 central polydactyly of fingers Diseases 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000005452 bending Methods 0.000 claims abstract description 7
- 210000003811 finger Anatomy 0.000 claims description 37
- 210000000988 bone and bone Anatomy 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 5
- 210000004247 hand Anatomy 0.000 claims description 4
- 210000004932 little finger Anatomy 0.000 claims description 4
- 210000003813 thumb Anatomy 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000009472 formulation Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 210000005036 nerve Anatomy 0.000 abstract description 4
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- 230000001771 impaired effect Effects 0.000 abstract description 2
- 210000000845 cartilage Anatomy 0.000 abstract 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 5
- 206010019468 Hemiplegia Diseases 0.000 description 5
- 208000006011 Stroke Diseases 0.000 description 5
- 230000002490 cerebral effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000002567 electromyography Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 208000019553 vascular disease Diseases 0.000 description 1
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Abstract
The utility model discloses a kind of based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand ectoskeleton, hemiplegic patient and the impaired patient for needing hand rehabilitation training of kinesitherapy nerve can be helped to carry out the rehabilitation training of hand.This hand ectoskeleton is different from traditional rigid body manipulator, also different from pneumatic type software manipulator.It is made of active hand ectoskeleton and mirror hand ectoskeleton, and overall structure is made of cartilage formula elastic material and small electrical unit, control circuit, measuring circuit, Bending Deformation sensor and wireless module.Hemiplegic patient can proper motion hand wearing active hand ectoskeleton when taking exercises, mirror hand ectoskeleton is driven by motor and bracing wire, cooperates elastic material, and mirror image simulates the movement of normal hand, to carry out rehabilitation training to disabled hand.This hand ectoskeleton not only promotes crippled hand to do mirror image rehabilitation exercise, but also can be driven by patient's sense of independence, its kinesitherapy nerve of training has more obvious advantage compared to Traditional Rehabilitation manipulator.
Description
Technical field
The invention belongs to medical health care instrument healing robots and wearable device field, are specifically designed a kind of based on bracing wire
Driving and mirror image synchronization simulation can autonomous rehabilitation training hand ectoskeleton, be suitable for hemiplegic patient and kinesitherapy nerve be impaired
The patient of hand rehabilitation training is needed to carry out the rehabilitation training and power-assisted crawl of hand.
Background technique
The patient of cranial vascular disease and its sequelae, especially patients with cerebral apoplexy, finger not tensible, stretching, extension is powerless, and one
As need through drug therapy, while constantly positive motion finger is needed, to be conducive to restore.According to the system for defending planning commission's announcement
Count word, the patients with cerebral apoplexy in China in 2013 40 years old or more just has 10,360,000 people, annual cerebral apoplexy new cases about 270
Ten thousand, and disease incidence is increased with annual 13% speed.China's cerebral apoplexy disability rate is up to 75%, and western countries only have 30%.Disability
The so high main cause of rate is just the absence of timely and effectively rehabilitation.The most common sequelae shape of patients with cerebral apoplexy is exactly inclined
Paralysis is commonly called as hemiplegia.Upper limb disability patient especially mutilated hand more influences the normal life of patient, because daily routines include
Wearing the clothes, having a meal, drinking water etc. must could complete by hand, therefore the rehabilitation of hand is also particularly important.From last century 60 years
Dai Qi, a series of mechanical rehabilitation hands of patient on hand, including rigid body manipulator, pneumatic type software can be worn over by just having developed
Manipulator etc..Rigid body manipulator is generally also bigger than the rigidity of finger-joint, when the rate of bending of manipulator is too fast or bending
When angle is excessive, compressing will be generated to finger and is inhibited, cause the uncomfortable even pain of patient.Pneumatic type software manipulator is general
It all over bulky, needs be made of hollow cavity structure flexible material, and peripheral disposition is needed to limit and limitation strained layer, transmission
Pneumatic inflation driving.This manipulator not only carries and uses inconvenience, but also the hand exercise mode being able to achieve is seldom,
Finger stretches when being all inflation mostly, digital flexion when deflation.Control aspect, current manipulators in rehabilitation mostly use reciprocating electricity
Machine control is controlled with EMG electromyography signal or EEG EEG signals.Reciprocable machine control is passive exercise, although having certain
Rehabilitation training effect, but its effect be nothing like patient active consciousness driving rehabilitation training effect it is good.Pass through EMG
Although or EEG control be patient active consciousness driving, it has ignored very crucial problem: the EMG of hemiplegic patient
May be exactly with EEG signal itself it is problematic, so that it cannot correctly being driven.In addition to this, the difficulty of rehabilitation training
Degree, intensity and training mode needs are adjusted according to the real-time rehabilitation situation of patient.Current most manipulators in rehabilitation does not have
Have data acquire and analysis function, can not to patient and physiatrician feedback can track display conditions of patients development and
The data of training effect, the carry out machine learning of feedback data and system are independently to rehabilitation training when it is even more impossible to sufferer training
Difficulty, intensity and mode optimize.
Utility model content
The shortcomings that aiming to overcome that the above-mentioned prior art of needle of the present invention discloses a kind of based on bracing wire driving and mirror image
Synchronously simulating can autonomous rehabilitation training hand ectoskeleton.
In order to achieve the above objectives, the present invention is achieved by the following scheme:
It is a kind of based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand ectoskeleton, including active hand
Ectoskeleton and mirror hand ectoskeleton.
The active hand ectoskeleton includes active hand changing sensor 9, data line 10, measuring circuit 11 and active flashlight source
12。
Further, active hand ectoskeleton is dressed by the hand that can normally move, and can be the normal hand of hemiplegia patient,
It is also possible to the hand of medical staff；Five changing sensors 9 are respectively attached to thumb, index finger, middle finger, the third finger and little finger
The back side is stretched when normal hand is done, is held and when other movements, measured value is transferred to measurement by data line 10 by changing sensor 9
Circuit 11；Its measured value is converted angle value by measuring circuit 11, and the control of mirror hand ectoskeleton is sent to by wireless module
The wireless module of circuit 8；Active flashlight source 12 is that changing sensor 9 and measuring circuit 11 provide electric energy.Control circuit 8 and active
Flashlight source 12 is placed on the armlet of mirror hand ectoskeleton, lightweight and convenient, convenient for wearing.
The mirror hand ectoskeleton includes the finger end anchor point 1 in the back of the hand face, the back of the hand surface elastic bracing wire 2, spring 3, the palm of the hand
Finger end anchor point 4, palm of the hand face bracing wire 5, motor group 6, data line 7, control circuit 8 and the mirror hand bending deformation sensor in face
14。
Further, mirror hand ectoskeleton is dressed by the hand to rehabilitation training, that is, crippled hand；Secondary spring 1 with
When the back of the hand surface elastic bracing wire 2 applies without external force, mirror hand is in be stretched flat posture；Pass through when control circuit 8 receives measuring circuit 11
After the angle-data that wireless module is sent, motor group 6 is sent a command to by data line 7；Motor group 6 turns according to order
It is dynamic, the mobile phone end anchor point 4 in palm of the hand face is pulled by palm of the hand face bracing wire 5, to realize the movement of mirror hand；Simultaneously, lead to
The back of the hand surface elastic bracing wire 2 for receiving and distributing the fixation of finger end anchor point 1 at the back side is stretched with secondary spring 3；High auxiliary of coefficient of elasticity
The elastic deformation for helping spring 3 combined with the back of the hand surface elastic bracing wire 2 that relative resilient coefficient is low, not only can easily cope with small intensity
Movement, and the hand exercise of big intensity can be coped with；Measurement data is sent to control by the changing sensor 14 of mirror hand
Circuit 8,8 conversion data of control circuit are that the order comparison that angle is sent to motor group with it as the value of feedback of control system is counted
It calculates, to construct closed-loop control；The feedback data of mirror image hands movement is sent to mobile application by wireless module by control circuit 8
14 display of end is formulated rehabilitation in the future according to current rehabilitation intensity and patient profiles and is instructed so that patient and physiatrician refer to
Practice plan.Meanwhile difficulty and intensity with adjustment rehabilitation training can be arranged in sufferer and physiatrician by mobile application end 15.
Physiatrician can also preset the rehabilitation training mode of varying strength and difficulty, for selection.Micro process in control circuit 8
Device can establish expert system according to the empirical rule that doctor is arranged, autonomous to select rehabilitation training the case where according to patient
Difficulty, intensity and default training mode.Bending Deformation sensor 9 and the measuring circuit 11 of starting based on active flashlight source 12 provide
Electric energy is mounted on the armlet of active hand ectoskeleton with measuring circuit 11.
Compared with prior art, the invention has the following advantages:
The present invention introduce it is a kind of based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand dermoskeleton
Bone, rigidity are smaller than the rigidity of finger, and therefore finger can overcome generated oppressive force to crippled hand soft stretch, and safety obtains
It improves.Meanwhile again be not full flexible structure, there is certain rigidity, ectoskeleton structural defence wearer's
Hand.Five motors mostly use mini steering engine or mini direct current generator, and weight is generally less than 50 grams, drive with bracing wire, cooperation
Light and handy elastic material, structure is simple, safe ready, easily operated, is suitble to medical and household.It is this although structure is simple
Hand ectoskeleton can complete the training of swivel of hand mobility, exercise for power, power-assisting training and the finger fine movement to patient
Training.In addition to this, this hand ectoskeleton based on mirror image synchronization simulation, if patient has a strong hand, such as part hemiplegia
Although patient's hemiplegia, there are half limbs and finger can be with its movement of autonomous control, they can be by oneself strong hand
The rehabilitation training that mirror image simulation is carried out to the residual hand for needing rehabilitation training of oneself carries out for a long time instead of nursing staff to patient
Massage and a large amount of auxiliary joint motions, greatly reduce medical staff's workload, alleviate the burden of medical staff, also improve health
The frequency and quality that refreshment is practiced.Medical staff can also dress the active hand ectoskeleton of this hand ectoskeleton, and sufferer dresses mirror image
Hand ectoskeleton, by the movement of its rehabilitation training of medical staff's active control.It not only can make medical staff's synchronous mirror mould
Quasi- the case where experiencing sufferer, and sufferer can be improved with teaching to the various details action requests of sufferer hand rehabilitation training
The quality of autonomous rehabilitation training.Meanwhile this hand ectoskeleton is connected by wireless module with mobile terminal application, it not only can be straight
See, quickly and accurately provided for medical staff patient hand rehabilitation training every index and history parameters, conducive to medical care people
Member assesses the rehabilitation situation of patient in real time, and can set trained difficulty, intensity by medical staff and preset
Mode.The mirror image synchronization of patient simulates rehabilitation training, is to be driven by patient's sense of independence, so in rehabilitation training joint motions
While stretching with muscle, its kinesitherapy nerve is also had trained, there is more obvious rehabilitation efficacy compared to Traditional Rehabilitation manipulator.
Detailed description of the invention
Fig. 1 be it is of the invention it is a kind of based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand dermoskeleton
The overall structure diagram of bone；
Fig. 2 be it is of the invention it is a kind of based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand dermoskeleton
The mirror hand ectoskeleton structure chart of bone；
Fig. 3 be it is of the invention it is a kind of based on bracing wire driving and mirror image synchronization simulation can be outside the hand of autonomous rehabilitation training
The active hand ectoskeleton structure chart of bone.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description:
As shown in Figure 1, it is of the invention it is a kind of based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand
Portion's ectoskeleton, which is characterized in that including active hand ectoskeleton and mirror hand ectoskeleton.
As shown in figures 1 and 3, active hand ectoskeleton includes changing sensor 9, data line 10, measuring circuit 11 and active
Flashlight source 12；Active hand ectoskeleton is dressed by the hand that can normally move, and be can be the normal hand of hemiplegia patient, is also possible to
The hand of medical staff；Active hand ectoskeleton basic material is flexible material, is similar to gloves.Five changing sensors 9, utilize glue
Skin is separately fixed on the five fingers of the thumb of active hand ectoskeleton, index finger, middle finger, the third finger and little finger.Deformation passes
Sensor has certain rigidity, but does not influence the various movements of active hand completely.When the five fingers are opened and are held with a firm grip, deformation sensing
Device is also not easy to interfere finger movement, meanwhile, rubber can also form sensor and protect, and extend active hand ectoskeleton
Service life.Stretched when normal hand is done, hold and other movement when, changing sensor 9 passes through the flexural measurement value of each finger
Data line 10 is transferred to measuring circuit 11, and measuring circuit 11 converts digital signal i.e. angle value for its analog signal, passes through it
Wireless module is sent out.Measuring circuit 11 is placed on the armlet at the active hand ectoskeleton back side, avoids circuit and electronics member
Part interferes the movement of finger, while also avoiding squeezing circuit when finger grips, increases the longevity of measuring circuit 11
Life.Instruction of the measuring circuit 11 equipped with the corresponding wireless module and indicating operating status that switchs, can carry out data transmission
Lamp.Indicator light is bright to show that active hand ectoskeleton is in that serviceable condition is normal, and wireless module has been switched on.Active hand ectoskeleton
By wireless module, the wireless module of mirror hand ectoskeleton control circuit 8 can be transferred data to, movement can also be uploaded to
Application end 15, and recorded and analyzed and handled；Active flashlight source 12 is that changing sensor 9 and measuring circuit 11 provide electric energy.
As depicted in figs. 1 and 2, mirror hand ectoskeleton includes the finger end anchor point 1 in the back of the hand face, the back of the hand surface elastic bracing wire
2, spring 3, the finger end anchor point 4 in palm of the hand face, palm of the hand face bracing wire 5, motor group 6, data line 7, control circuit 8 and mirror hand are curved
Bent deformation-sensor 14.Mirror hand ectoskeleton is dressed by the hand to rehabilitation training, that is, crippled hand.In secondary spring 1 and hand
When back side flexible pull wire 2 applies without external force, mirror hand has certain rigidity in posture, structure is stretched flat.When control circuit 8 receives
After the angle-data sent to measuring circuit 11 by wireless module, motor group 6 is sent a command to by data line 7.Electricity
Unit 6 controls active hand ectoskeleton thumb, index finger, middle finger, the third finger and little finger there are five motor altogether respectively.Motor according to
Order rotation, the mobile phone end anchor point 4 in palm of the hand face is pulled by palm of the hand face bracing wire 5, to realize the movement of mirror hand.Work as control
When circuit 8 sends positive pwm control signal to motor group, 5 fingers of electric unit allocation curve inwardly.Meanwhile passing through the back of the hand face
The fixed the back of the hand surface elastic bracing wire 2 and secondary spring 3 of finger end anchor point 1 be stretched.When control circuit 8 is sent out to motor group
When sending reversed pwm control signal, 5 fingers of electric unit allocation are flexed outward.I.e. the bracing wire of palm of the hand face is relaxed, and the back of the hand surface elastic is drawn
3 elastic shrinkage of line 2 and secondary spring.The high secondary spring 3 of the coefficient of elasticity the back of the hand surface elastic low with relative resilient coefficient is drawn
Elastic deformation combined by line 2, not only can easily cope with the movement of small intensity, but also can cope with the hand fortune of big intensity
It is dynamic.Measurement data is sent to control circuit 8 by the changing sensor 14 of mirror hand, and 8 conversion data of control circuit is angle conduct
The value of feedback of control system is sent to the order comparing calculation of motor group with it, to construct closed-loop control.Control circuit 8 is mirror
It is shown as the feedback data of hands movement is sent to mobile application end 14 by wireless module, so that patient and physiatrician refer to,
Rehabilitation training plans in the future are formulated according to current rehabilitation intensity and patient profiles.Meanwhile sufferer and physiatrician can lead to
Cross the difficulty and intensity of the setting of mobile application end 15 with adjustment rehabilitation training.Physiatrician can also preset varying strength and difficulty
Rehabilitation training mode, it is for selection.Microprocessor in control circuit 8, the empirical rule that can be arranged according to doctor are established
Expert system, the case where according to patient, autonomous difficulty, intensity and the default training mode for selecting rehabilitation training.Active hand
Bending Deformation sensor 9 and the measuring circuit 11 of starting based on power supply 12 provide electric energy, are mounted on active hand with measuring circuit 11
On the armlet of ectoskeleton.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (7)
1. it is a kind of based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand ectoskeleton, which is characterized in that
Including active hand ectoskeleton and mirror hand ectoskeleton；The active hand ectoskeleton is dressed by the hand that can normally move；It is described
Mirror hand ectoskeleton by the hand to rehabilitation training, i.e., crippled hand is dressed；Pass through changing sensor, measuring circuit and wireless mould
The action data normal hand of block, active hand ectoskeleton is sent to mirror hand ectoskeleton in real time；Mirror hand ectoskeleton receives
After data, the movement of normal hand is simulated by control circuit, motor and bracing wire driving structure mirror image, rehabilitation instruction is carried out to it
Practice.
2. it is according to claim 1 based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand dermoskeleton
Bone, which is characterized in that active hand ectoskeleton includes active hand changing sensor 9, data line 10, measuring circuit 11 and active flashlight
Source 12.
3. it is according to claim 1 based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand dermoskeleton
Bone, which is characterized in that mirror hand ectoskeleton includes the finger end anchor point 1 in the back of the hand face, the back of the hand surface elastic bracing wire 2, spring 3, hand
Finger end anchor point 4, palm of the hand face bracing wire 5, motor group 6, data line 7, control circuit 8 and the mirror hand bending deformation sensing in heart face
Device 14.
4. according to claim 1 or 2 can be outside the hand of autonomous rehabilitation training based on bracing wire driving and mirror image synchronization simulation
Bone, which is characterized in that five changing sensors 9 of active hand ectoskeleton are respectively attached to thumb, index finger, middle finger, unknown
Finger and the little finger back side, when normal hand acts, measured value is transferred to measuring circuit 11 by changing sensor 9；Measuring circuit
11 are sent to the wireless module of the control circuit 8 of mirror hand ectoskeleton by wireless module.
5. according to claim 1 or 3 can be outside the hand of autonomous rehabilitation training based on bracing wire driving and mirror image synchronization simulation
Bone, which is characterized in that mirror hand ectoskeleton original state is stretched flat for finger；Lead to when control circuit 8 receives measuring circuit 11
After crossing the data that wireless module is sent, order motor group 6 is rotated；Motor, which rotates forward, realizes digital flexion, secondary spring 1 and the back of the hand
Surface elastic bracing wire 2 is stretched；Motor revolution, secondary spring 1 and the back of the hand surface elastic bracing wire 2 are shunk, and realize that finger is stretched flat.
6. according to claim 1 or 3 can be outside the hand of autonomous rehabilitation training based on bracing wire driving and mirror image synchronization simulation
Bone, which is characterized in that measurement data is sent to control circuit 8, control circuit 8 by the changing sensor 14 of mirror hand ectoskeleton
Conversion data is the order comparing calculation that angle is sent to it motor group as the value of feedback of control system, to construct closed loop
Control.
7. according to claim 1 or 3 can be outside the hand of autonomous rehabilitation training based on bracing wire driving and mirror image synchronization simulation
Bone, which is characterized in that the feedback data of mirror image hands movement is sent to mobile application end 14 by wireless module by control circuit 8
Storage and display, for analyzing and referring to；It can be arranged simultaneously by mobile application end 15 with the difficulty of adjustment rehabilitation training, by force
Degree and formulation training mode.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110353940A (en) * | 2018-04-09 | 2019-10-22 | 南京拓步智能科技有限公司 | A kind of hand ectoskeleton based on mirror image synchronization simulation control |
| CN110623815A (en) * | 2019-10-31 | 2019-12-31 | 复旦大学无锡研究院 | Wearable helping hand gloves |
| CN110916977A (en) * | 2019-12-09 | 2020-03-27 | 郑州大学 | Hand rehabilitation training system and training method |
| CN112206124A (en) * | 2020-09-28 | 2021-01-12 | 国家康复辅具研究中心 | Upper limb function rehabilitation training system and method guided by neural circuit |
| CN113101139A (en) * | 2021-04-16 | 2021-07-13 | 福州大学 | Adaptive control hand exoskeleton rehabilitation device and method combined with pressure sensor |
-
2018
- 2018-04-09 CN CN201820492896.3U patent/CN209092054U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110353940A (en) * | 2018-04-09 | 2019-10-22 | 南京拓步智能科技有限公司 | A kind of hand ectoskeleton based on mirror image synchronization simulation control |
| CN110623815A (en) * | 2019-10-31 | 2019-12-31 | 复旦大学无锡研究院 | Wearable helping hand gloves |
| CN110916977A (en) * | 2019-12-09 | 2020-03-27 | 郑州大学 | Hand rehabilitation training system and training method |
| CN110916977B (en) * | 2019-12-09 | 2022-02-15 | 郑州大学 | Hand rehabilitation training system |
| CN112206124A (en) * | 2020-09-28 | 2021-01-12 | 国家康复辅具研究中心 | Upper limb function rehabilitation training system and method guided by neural circuit |
| CN112206124B (en) * | 2020-09-28 | 2022-02-15 | 国家康复辅具研究中心 | Neural loop-guided upper limb function rehabilitation training system and method |
| CN113101139A (en) * | 2021-04-16 | 2021-07-13 | 福州大学 | Adaptive control hand exoskeleton rehabilitation device and method combined with pressure sensor |
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