KR20240136694A - Training device for hand rehabilitation - Google Patents

Abstract

The present invention relates to a hand training device and more specifically, relates to the hand training device that effectively provides hand joint training without inconvenience of a trainee by detecting a hand movement of the trainee. The hand training device according to an embodiment of the present invention may comprise: a wrist support part worn on a wrist part of a trainee; a plurality of finger wearing parts worn on a finger of the trainee; a plurality of wires connected to at least one among the wrist support part or each of the plurality of finger wearing parts; a driving part selectively providing a driving force for moving at least any one among the wrist support part or the plurality of finger wearing parts by pulling or releasing the plurality of wires; and an exercise state detection part provided on at least any one among the wrist support part or the plurality of finger wearing parts to detect a hand motion of the trainee.

Description

{Training device for hand rehabilitation}

The present invention relates to a hand training device, and more specifically, to a hand training device that provides hand joint training effectively without discomfort to the trainee by detecting the hand movements of the trainee.

In general, hand training devices are devices that help with rehabilitation training for trainees who have symptoms of hand paralysis or problems with hand joints, muscle strength, or muscle endurance.

Meanwhile, most users who have difficulty moving their hands have difficulty moving their hands on their own, so they wear a hand training device and perform hand training by moving their hands along the movement patterns induced by the hand training device. Since this hand training device has a movement trajectory based on its own structure, there may be limitations in adjusting the training of each trainee according to their body. For example, although the hand training device provides a movement trajectory that applies force to the fingers to open a hand that is curled, twisted, or stiff, there is a problem that some of the finger joints do not open depending on the degree of stiffness of the hand and the body.

Accordingly, there is a demand for a hand training device that can provide hand joint training without discomfort to the trainee by detecting the movement of the trainee's body and according to the condition of the trainee's hand joints.

Publication Patent No. 10-2018-0038113

The present invention provides a hand training device that detects the movement of a trainee and provides hand joint training effectively without discomfort to the trainee.

A hand training device according to an embodiment of the present invention comprises: a wrist supporter worn on the wrist of a trainee; a plurality of finger wearables worn on the fingers of the trainee; a plurality of wires connected to at least one of the wrist supporters or the plurality of finger wearables;

It may include a driving unit that selectively provides a driving force to move at least one of the wrist support unit or the plurality of finger wearable units by pulling or releasing the plurality of wires; and a movement state detection unit that is provided to at least one of the wrist support unit or the plurality of finger wearable units and detects movement of the trainer's hand.

The above movement state detection unit may include at least one of a finger movement detection unit provided to each of the plurality of finger wearable units to detect movement of the fingers; or a wrist movement detection unit provided to the wrist support unit to detect movement of the wrist.

Each of the above-described plurality of finger wearable parts includes a finger fixing pad part worn on the tip of a finger; and a connecting member fixed to each of the wire ends and the finger fixing pad parts and connected to each other; and the finger movement detection part may include a pressure detection part provided to the finger fixing pad part and detecting the bending pressure of the finger.

The above pressure sensing unit may be provided on the fingerprint side of the finger.

The above finger movement detection unit may further include a finger bending amount detection unit that is provided to connect the wrist support unit and the finger fixing pad unit to each other and detect the bending amount of the finger.

The above finger bending amount detection unit may be made of an elastic material whose length can be changed.

The wrist support unit may include: a back-of-the-hand support unit worn on the back of the hand of the trainer; a connection support unit rotatably connected to the back-of-the-hand support unit; and a first rotation axis rotatably connecting the back-of-the-hand support unit and the connection support unit in a flexion-extension direction; and the wrist movement detection unit may include a wrist flexion-extension detection unit provided to correspond to the first rotation axis and detecting a flexion-extension amount or a flexion-extension angle of the trainer's wrist.

The wrist support further includes a forearm support that is worn on the forearm of the trainer and is rotatably connected to the connecting support; and a second rotation axis that rotatably connects the forearm support and the connecting support in a lumbar direction;

The above wrist movement detection unit may further include a wrist yaw detection unit that detects the amount of yaw or the angle of yaw of the trainer's wrist, provided to correspond to the second rotation axis.

The above motion state detection unit may further include a forearm movement detection unit provided on the forearm support unit to detect at least one of speed, acceleration, displacement, rotation, inclination, pronation, and supination of the forearm of the trainee.

The wrist support may include a wire guide portion provided on at least one of the back of the hand support portion or the connection support portion to guide movement of the wire; and a wire compression portion that selectively compression-fixes the moving wire.

The above connecting member includes a wire fixing portion to which an end of the wire connected to each of the plurality of finger wearing portions is fixed, and each of the plurality of finger wearing portions may further include a wire tension adjusting portion for adjusting wire tension between the wire fixing portion and the wrist support portion.

The above movement state detection unit further includes an electromyography sensor unit that is attached to the forearm support unit and measures electrical signals generated in the nerves or muscles of the trainer's hand, and at least one training mode can be determined among a finger training mode including flexion-extension movement of the fingers; or a wrist training mode including at least one movement of flexion-extension and flexion-scapula of the wrist; based on a signal from the electromyography sensor unit.

The device may further include a control unit that generates a driving signal according to a signal detected by the above motion state detection unit and selectively provides the signal to the driving unit.

The present invention further includes a training condition setting unit that sets a hand training condition for at least one of the following: a finger flexion pressure range, a finger flexion-extension amount range, a wrist flexion-extension amount range, a wrist flexion-extension angle range, a wrist yaw amount range, and a wrist yaw angle range; and the control unit can generate the driving signal according to the training condition set by the training condition setting unit.

According to the hand training device according to an embodiment of the present invention, by simply pulling or releasing a plurality of wires respectively connected to a plurality of finger wearables, the movement of the hand joints of the trainee can be assisted without adding joints or connecting structures corresponding to the hand joints, and various natural movement trajectories corresponding to the movement of the hand joints can be provided by sensing and feeding back the movement of the body of the trainee, so that the trainee can safely perform hand joint rehabilitation training without feeling any discomfort.

The movement status detection unit detects the movement and strength of the trainee's hand, and the hand training device can provide training by adjusting the movement of the hand according to the detected movement. For example, it can assist the movement of joints that the trainee has difficulty moving voluntarily, and this can be efficient because it can respond to various trainees.

In addition, the motion state detection unit can detect the movement of the wrist joints to prevent excessive movement of the finger/wrist joints (e.g., hyperflexion, hyperextension, hyperpronation, etc.). This can prevent permanent damage to the joints that may occur due to excessive movement of the joints by continuously detecting the movement of the wrist joints, thereby providing safe training to the trainee.

The hand training device of the present invention detects the hand state of the trainee by a movement state detection unit and adjusts the tension of the wires respectively connected to a plurality of finger wearables according to the physical condition, thereby providing the hand trainee with sequential extension movements of the distal interphalangeal joints, proximal interphalangeal joints, metacarpophalangeal joints of the index finger, middle finger, ring finger, and little finger among the five fingers, and the interphalangeal joints, metacarpophalangeal joints of the thumb, and the wrist joint. In addition, since the tension of the wires is selectively adjusted according to the detected hand state, training of the finger joints and training of the wrist joints can be performed separately, it can provide the effect of performing specific joint training more intensively.

Figure 1 is a perspective view schematically showing a hand training device according to an embodiment of the present invention.
FIG. 2 is a perspective view schematically showing a hand training device according to another embodiment of the present invention.
Figure 3 is a schematic diagram showing a finger wearing part according to an embodiment of the present invention.
FIG. 4 is a drawing showing a wrist extension movement mode of a hand training device according to an embodiment of the present invention.
FIG. 5 is a drawing showing a lumbar movement aspect of a hand training device according to an embodiment of the present invention.
Figure 6 is a block diagram illustrating the operation of the control unit of the hand training device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the attached drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and these embodiments are provided only to make the disclosure of the present invention complete and to fully inform a person having ordinary skill in the art of the scope of the invention. In the description, the same reference numerals are given to the same components, and the drawings may be partially exaggerated in size in order to accurately describe the embodiments of the present invention, and the same numerals in the drawings indicate the same elements.

FIG. 1 is a perspective view schematically showing a hand training device according to an embodiment of the present invention, FIG. 2 is a perspective view schematically showing a hand training device according to another embodiment of the present invention, and FIG. 3 is a schematic view showing a finger wearing part according to an embodiment of the present invention.

Referring to FIGS. 1 to 3, a hand training device according to an embodiment of the present invention may include a wrist supporter (100) worn on a wrist of a trainee; a plurality of finger wearables (200) worn on the fingers of the trainee; a plurality of wires (300) connected to at least one of the wrist supporter (100) or the plurality of finger wearables (200); a driving unit (400) selectively providing a driving force to move at least one of the wrist supporter (100) or the plurality of finger wearables (200) by pulling or releasing the plurality of wires (300); and a movement state detection unit (500) provided to at least one of the wrist supporter (100) or the plurality of finger wearables (200) to detect movement of the hand of the trainee.

The wrist support (100) can be worn on the wrist (A) of the trainer. The wrist support (100) is worn on the wrist (A) of the hand trainer and serves as a main skeleton that can support the hand training device. At this time, the wrist (A) can include the back of the hand, the wrist, and the forearm. The hand can include the area from the fingers to the forearm. Here, the wrist refers to the area around the wrist joint. In addition, the wrist support (100) can be configured to support the wrist joint while allowing rotation of the wrist. This can enable safe movement of the wrist joint.

The wrist support (100) supports the hand training device while worn on the wrist of the hand trainer, and during hand training, it withstands the reaction force of the force applied to the finger wearable (200) when the finger wearable (200) is moved by pulling or releasing a plurality of wires, thereby guiding the flexion-extension and flexion-swing movements of the fingers/wrist. It is more effective and allows the hand trainer to perform training while wearing the wrist support (100) than when the finger wearable (200) or the wire (300) transmitting the driving force required for movement of the finger joints is fixed to a separate structure.

A plurality of finger wearables (200) can be worn on the fingers of the trainer. The plurality of finger wearables (200) can provide an effect of enabling the trainer to specify a target location (e.g., a fingertip joint) on the fingers to which force is transmitted for finger joint movement.

The wrist support (100) and the finger wearable (200) can be configured so that the trainer's fingers or wrist joints can move freely when worn.

A plurality of wires (300) can be respectively connected to a plurality of finger wearables (200) to transmit power for finger joint movement. For smooth extension movement of the finger joint, a plurality of wires (300) can be extended from the back of the hand or the back of the fingers and connected to the finger wearables (200) to provide a pulling power toward the back of the fingers. In the case of a hand trainer, a movement trajectory is needed to extend a hand that is curled, twisted, or stiffened, and by providing auxiliary power using wires with a very simple structure, it is possible to help extend all of the finger joints.

The driving unit (400) can selectively provide a driving force to move at least one of the wrist support unit (100) or the plurality of finger wearing units (200) by pulling or releasing the plurality of wires (300).

The driving unit (400) can be fixed to the wrist support unit (100) so that the hand trainer can exercise while wearing the hand training device. The driving unit (400) fixed to the wrist support unit (100) can pull or release a plurality of wires (300), so that the hand trainer can freely perform a desired exercise while wearing the hand training device. The driving unit (400) can extend (unfold) a finger or a wrist by pulling the wires (300). Conversely, the driving unit can release the wires that were being pulled so that the finger or wrist can be flexed (bent). In addition, the driving unit (400) selectively provides driving force, so that the hand training device can provide the trainer with manual exercise, automatic exercise, and assisted exercise.

Here, passive exercise may be a method in which the trainer exercises directly without driving the driving unit. Automatic exercise may be an exercise method that provides training to the trainer by having the trainer's body parts move directly with the driving unit for the trainer who has difficulty in exercising the hand directly. And, assistive exercise may be an exercise method in which the trainer trains by moving his or her own hand directly, while providing driving force adjusted as needed so that the trainer's hand training exercise can be performed in an assistive manner.

The movement status detection unit (500) can be provided on at least one of the wrist support unit (100) or multiple finger wearing units (200) to detect the movement of the trainer's hand.

The hand training device of the present invention may be a device for assisting rehabilitation training of a trainee who has symptoms of hand paralysis or abnormalities in hand joints or muscle strength and endurance. At this time, the hand may include finger joints and wrist joints. In order to check how much the finger joints can be moved or how much the trainee's fingers move with the finger wearable units (200), a movement state detection unit (500) may be provided on a plurality of finger wearable units (200). In addition, a movement state detection unit (500) may be provided on the wrist support unit (100) to detect the movement of the trainee's wrist.

The exercise status detection unit (500) may include various sensors that sense the movement of the trainee due to manual exercise, automatic exercise, and assisted exercise.

The exercise status detection unit (500) can measure the exercise intensity of the trainee in real time, and can measure the trajectory of the movement, etc. When the exercise status detection unit (500) detects the movement of the trainee, the control unit can analyze the movement detected by the exercise status detection unit (500) to obtain information on the exercise status. In addition, feedback movement can be provided to the driving unit using this information on the exercise status.

Meanwhile, the movement state detection unit (500) may include at least one of a finger movement detection unit (510) provided to each of the plurality of finger wearable units (200) to detect movement of the fingers; or a wrist movement detection unit (520) provided to the wrist support unit (100) to detect movement of the wrist.

Conventional hand training devices have a problem in that it is difficult to control, such as adjusting training intensity, because the movements of the trainee's hands (e.g., finger flexion force, finger flexion-extension, wrist flexion-extension, wrist radial extension, pronation, supination, etc.) are not datafied. For example, excessive movements of the joints (extension-flexion, radial extension, pronation, supination, etc.) can cause functional disorders for the trainee. This may be because excessive movements of the joints can cause damage to nerves, muscles, etc. Accordingly, the hand training device of the present invention can datafied the movements of the trainee's hands and provide the trainee with training adjusted to a training range that can minimize functional disorders based on the data. For example, the drive can be stopped before excessive movements of the joints (e.g., excessive extension-flexion) are performed, or, conversely, the joints can be moved.

The hand training device of the present invention detects the movement (or movement) of the trainee through at least one of a finger movement detection unit that detects movement of the fingers; or a wrist movement detection unit that detects movement of the wrist; thereby preventing functional disorders caused by excessive movement of the fingers or wrist joints of the trainee, thereby providing safe training.

Meanwhile, each of the plurality of finger wearable parts (200) includes a finger fixation pad part (210) worn on the tip of a finger; and a connecting member (220) fixed to each of the wire (300) ends and the finger fixation pad parts (210) and connected to each other; and the finger movement detection part (510) may include a pressure detection part (511) provided to the finger fixation pad part (210) and detecting the bending pressure of the finger.

The finger fixation pad (210) may include Velcro, flexible rubber, silicone material, etc., and is easy to wear on the finger of a rehabilitation trainer and can correspond to various hand sizes. The finger fixation pad (210) is worn on the distal joint of a finger (F) to determine the position for transmitting power for finger joint movement. The finger (F), which includes the joint of the finger, has a movement trajectory due to its own structure, so that when the driving force is transmitted to the distal joint by the wire (300) and pulled in the dorsal direction of the finger, sequential extension movement from the distal to the proximal joint can be possible. Conversely, in the case of flexion movement, the trainer can perform sequential flexion movement from the proximal to the distal joint.

The connecting member (220) can be fixed to each end of the wire (300) and the finger fixing pad portion (210) to connect them to each other. Accordingly, the connecting member (220) and the fixing pad portion (210) can be moved by the wire (300).

The connecting member (220) can be fixed to each end of the wire (300) and the finger fixing pad (210) to connect them, thereby transmitting the driving force provided by the driving member to the tip of the trainer's finger (F) through the wire to cause traction, and the connecting member can have a shape similar to a support partially supported on the back of the finger.

The finger movement detection unit (510) may include a pressure detection unit (511) provided on the finger fixation pad unit (210) to detect the bending pressure of the finger.

Since the flexion exercise allows the trainer to perform sequential flexion exercises from the proximal to the distal joints, the flexion pressure can be measured relatively accurately by measuring the pressure generated at the fingertip joint on the distal side. Accordingly, the flexion pressure of the finger can be detected by providing it to the finger fixation pad (210) worn at the fingertip joint.

By measuring the force that the trainer directly applies to an external object with the pressure sensor (511), the muscle strength of the hand and the force that moves the hand can be measured to determine how much force is required to move the flexion of the trainer's fingers. When exercising (extending) a finger with a wire, the trainer's flexion pressure value can be used to exercise the finger with a force size that is tailored to the trainer.

At this time, sensors for measuring the pressure sensing unit (511) pressure can be used, and for example, an FSR (Force Sensing Resistor) can be used. In the case of FSR, it is a sensor that uses the property that the resistance value changes according to physical force, weight, etc., and can be used to detect the pressing force or bending force of a finger. The pressure sensing unit (511) can measure the pressure generated when a trainee bends, or more specifically, when a trainee holds an object such as a training ball.

Meanwhile, the pressure sensing unit (511) may be provided on the fingerprint side of the finger. More specifically, a pressure sensor may be provided on the index finger side in order to recognize the opposing training and various grasping situations in which the fingers touch each other. For example, when picking up an object with a finger, the object is grasped with the fingertip, and in particular, the object can be picked up with the fingerprint side of the finger, and the fingerprint side can be pressed somewhat stably among the fingertip joints, and can be closest to the position that provides pressure. Accordingly, by providing the pressure sensing unit (511) on the fingerprint side of the finger, accurate measurement of the finger bending force can be made possible.

The pressure sensing unit (511) may be provided on the side where the finger print side presses the external object and on the side of the connecting member (220) so as to measure the pressure generated from the finger print side and the pressure generated from the nail side or the back of the finger. When a plurality of pressure sensing units (511) are arranged in locations corresponding to the nail side/back of the finger side and the back of the finger side, it is possible to measure not only the pressure applied to the external object but also the force applied to the finger wearing unit (200) by the back of the finger when the finger is extended. In this case, not only the flexion of the finger but also the pressure generated when the finger is extended can be confirmed, so that the condition of the trainer's fingers can be confirmed in more detail.

Meanwhile, the finger movement detection unit (510) may further include a finger bending amount detection unit (512) that is provided to connect the wrist support unit (100) and the finger fixing pad unit (210) to each other to detect the bending amount of the finger. The finger bending amount detection unit (512) may be provided at a position that connects the wrist support unit (100) and the finger fixing pad unit (210) to each other. The reason and principle for which the finger movement detection unit (510) is provided to connect the wrist support unit (100) and the finger fixing pad unit (210) to each other may be explained by an example in which a rubber band is connected to the tip of the finger and the back of the hand when the hand is extended. When the finger is extended-flexed, the length of the rubber band may change. The length of the rubber band may be the maximum length when the finger is flexed, and the minimum length when the finger is extended. In the same way as the principle of the rubber band, the amount of finger bending can be detected according to the change in the length of the finger bending amount detection part (512) connected between the fingertip joint and the wrist support part (100).

The finger movement detection unit (510) may be arranged along the longitudinal direction of each finger, for example, along the back of each finger, branching from the wrist support unit (100). The finger movement detection unit (500) may be extended from the end connected to the wrist support unit to each of the finger wearing units (or the upper/lower ends of the connecting member), may pass through the inside/outside of the finger fixing pad unit (210), and may have a shape bent in a 'U' cross-section shape so that the fingerprint side of the finger is placed thereon (see FIG. 1). At this time, a finger bending amount detection unit (512) may be provided at a portion connected from the wrist support unit to the connecting member/finger pad unit, and a pressure detection unit (511) may be provided at a portion where the fingerprint side of the finger is placed thereon.

At this time, the finger bending amount detection unit (512) of the finger movement detection unit (510) may be placed on the dorsal side of the finger, and the finger pressure detection unit (511) may be placed on the finger fixation pad unit (210) so as to face the fingerprint side of the finger. At this time, the pressure detection unit (511) and the finger bending amount detection unit (512) may be connected to each other, and the finger bending amount detection unit (512), which extends as the finger bends, may be prevented from being separated from the finger fixation pad unit (210).

The finger bending amount detection unit (512) may be made of an elastic material whose length can be changed. The finger bending amount detection unit (512) may be made of a material that has a characteristic of being able to change length, such as rubber, and may be a material that conducts electricity.

When the finger is flexed, the finger flexion amount detection unit (512) can extend, and when the finger is extended, the finger flexion amount detection unit (512) can shrink back to its original length.

The finger bending amount detection unit (512) can be elastically deformed in length according to the bending motion of the finger. The finger bending amount detection unit (512) can change in electrical resistance according to the change in length. When the length of the finger bending amount detection unit (512) increases, the resistance value can change as the cross-sectional area of the finger bending amount detection unit (512) decreases. As the electrical resistance of the finger bending amount detection unit (512) changes, the control unit can detect the length changed from the original length through the changed resistance value of the finger bending amount detection unit (512). The finger bending amount detection unit (512) can have a linear relationship between the deformation amount of the length and the resistance value during elastic deformation. Through this, it is possible to know to what extent the finger is bent (the amount of bending). Conversely, when the resistance value or the length of the finger bending amount detection unit (512) is restored to the original state, the control unit can identify that the finger is in a completely straightened state (extended). In addition, when the trainer wears the finger wearable part (200), it can provide an effect that makes it easier to wear due to a certain degree of elasticity. This can be the same as the principle that gloves and the like are comfortably worn due to elasticity.

FIG. 4 is a drawing showing a wrist extension movement aspect of a hand training device according to an embodiment of the present invention, and FIG. 5 is a drawing showing a lumbar movement aspect of a hand training device according to an embodiment of the present invention.

Referring to FIGS. 4 and 5, the wrist support (100) includes: a back support (110) worn on the back of the hand of the trainer; a connecting support (130) rotatably connected to the back support (110); and a first rotation axis (140) rotatably connecting the back support (110) and the connecting support (130) in a flexion-extension direction; and the wrist movement detection unit (520) may include a wrist flexion-extension detection unit (521) that is provided to correspond to the first rotation axis (140) and detects a flexion-extension amount or a flexion-extension angle of the trainer's wrist.

In addition, the wrist support (100) further includes a forearm support (120) that is worn on the forearm of the trainer and is rotatably connected to the connection support (130); and a second rotation axis (160) that rotatably connects the forearm support (120) and the connection support (130) in a lumbar direction; and the wrist movement detection unit may further include a wrist lumbar detection unit (522) that is provided to correspond to the second rotation axis (160) and detects a lumbar amount or lumbar angle of the trainer's wrist. Accordingly, the hand training device can provide the hand trainer with extension movement and lumbar movement of the wrist joint together with extension movement of the finger joint. For the extension movement and lumbar movement of the wrist joint, the wrist support (100) may be provided to be rotatable in the extension-flexion direction and the lumbar direction.

Since the hand of the trainer rotates in two directions, the flexion-extension direction (Fig. 4) and the lumbar direction (Fig. 5), by the wrist joint of the trainer, the back of the hand support part (110) and the forearm support part (120) can be connected to enable rotation in two directions for the trainer's various hand training.

At this time, the back of the hand support (110) and the connecting support (130) may be rotatably connected in the flexion-extension direction, and the forearm support (120) and the connecting support (130) may be rotatably connected in the lumbar direction. Alternatively, the back of the hand support (110) and the connecting support (130) may be rotatably connected in the lumbar direction, and the forearm support (120) and the connecting support (130) may be rotatably connected in the flexion-extension direction. Since the back of the hand support (110) is adjacent to the finger joint that performs the extension movement, it may be desirable in terms of the kinematics of the wrist joint movement that the back of the hand support (110) is rotatably connected to the connecting support (130) in the flexion-extension direction. To this end, the wrist support (110) and the connection support (130) can be rotatably connected to each other in the flexion-extension direction by the first rotation axis (140), and the forearm support (120) and the connection support (130) can be rotatably connected to each other in the lumbar direction by the second rotation axis (160).

The wrist flexion-extension detection unit (521) is provided to correspond to the first rotation axis (140) and can detect the flexion-extension amount or the flexion-extension angle of the trainer's wrist, and the wrist yaw rate detection unit (522) is provided to correspond to the second rotation axis (160) and can detect the yaw rate or the yaw rate angle of the trainer's wrist. The wrist flexion-extension detection unit (521) and the wrist yaw rate detection unit (522) may be devices such as a potentiometer. The potentiometer may have the same principle as a rotary variable resistor. The potentiometer may be a sensor that changes rotational displacement (angle, etc.) into electrical resistance and converts the resistance change into a voltage or current change again.

Excessive movement of the wrist joint (flexion-extension, radial-ulnar) can damage the wrist. For example, when the wrist is excessively flexed-extended, the triangular fibrocartilage complex can be damaged, or the extensor tendon of the finger (the tendon that extends the finger) can be ruptured or cause functional disorders including sprains. Accordingly, the control unit can check the degree to which the wrist of the trainee has rotated to prevent the trainer's wrist from being strained by the wrist flexion-extension detection unit (521) and the wrist radial-ulnar detection unit (522). By detecting the radial and ulnar movements, flexion and extension movements of the wrist joint through the wrist flexion-extension detection unit (521) and the wrist radial-ulnar detection unit (522), it is possible to safely perform wrist joint training. Through this structure, the wrist support unit (100) can guide the radial and ulnar movements, flexion and extension movements of the wrist joint while safely performing wrist joint training, and by detecting the movement of the wrist with the wrist movement detection unit, it is possible to prevent excessive movement of the wrist joint.

Meanwhile, the connecting support member (130) may include a motion limiting member (170) that limits the flexion-extension angle or the radial-lateral angle. For example, the motion limiting member (170) may be a stopper (not shown) such as a protrusion that contacts each other at maximum extension and maximum flexion within the safe wrist movement angle range of the trainer and limits the rotation range of the back of the hand support member (110) and the connecting support member (130) in the flexion-extension direction. Alternatively, the motion limiting member (170) may limit the radial and ulnar movements of the wrist joint between the forearm support member (120) and the connecting support member (130) to within a safe range. For example, when performing automatic/manual movement of the wrist/finger, the range of motion of the wrist joint may be adjusted by the motion limiting member (170) so that the movement of the wrist/finger joint may be detected by the movement state detection member under the condition where the safe maximum motion range is secured. By training within the safe maximum range of motion, you can prevent damage to the wrist joints that may occur due to excessive movement.

The motion restriction member (170) may fix the relative positions of the back of the hand support member (110) and the connection support member (130) to enable only the radial movement of the wrist joint, or may fix the relative positions of the forearm support member (120) and the connection support member (130) to enable only the extension movement of the wrist joint. In addition, the rotation of the first rotation axis (140) and the second rotation axis (160) may be fixed so that only the finger movement is possible without the movement of the wrist. By fixing the first rotation axis (140) and the second rotation axis (160) of the wrist support member (100), when the wire is pulled, only the finger wearing member (200) moves, thereby enabling the training to enable the flexion-extension of the fingers without the movement of the wrist. As a result, it is possible to perform intensive training of the finger joints, thereby providing safe finger observation training without damage to the wrist joints.

The motion limiter (170) can be manually adjusted, and in this case, when the control unit provides corresponding instructions to a display device, etc., the trainer, etc. can adjust or fix the rotation angle range of the first rotation axis (140) and the second rotation axis (160) by the motion limiter (170). When the motion limiter (170) is automatically adjusted, the control unit can automatically control the motion limiter (170) to adjust or fix the rotation angle of the first rotation axis (140) and the second rotation axis (160).

The above-described movement state detection unit may further include a forearm movement detection unit (530) provided to the forearm support unit (120) to detect at least one of the speed, acceleration, displacement, rotation, inclination, pronation, and supination of the forearm of the trainee.

The pronation and supination of the hand can be achieved by the rotation of the radius around the ulna of the forearm. Accordingly, the angle of pronation and supination of the hand can be detected by the forearm movement detection unit (530) provided on the forearm, at least one of the speed, acceleration, displacement, rotation, inclination, pronation, and supination of the forearm of the trainee. The forearm movement detection unit (530) can also be provided on the back of the hand support unit (110). However, since the mass of the fixing parts, etc. required for connecting the forearm movement detection unit (530) can put a burden on the wrist of the trainee, providing it on the forearm support unit (120) can provide a more comfortable training environment to the trainee.

The forearm movement detection unit (530) monitors whether the trainee is exercising in accordance with the range of motion when performing wrist pronation and supination, or, when performing hand training, identifies the position and movement of the forearm, so that the control unit can display the information on a display device or the like so that the trainee can move the forearm to an appropriate position so that it can be adjusted to a position required for training. Since the arrangement of muscles connected to the wrist joint is different depending on the position and rotation state of the forearm, it may also be important to identify the position of the forearm depending on the state of the trainee.

Accordingly, the forearm movement detection unit (530) may apply a sensor that can detect speed, acceleration, displacement, rotation, inclination, etc. For example, it may be a sensor such as an IMU sensor. The IMU sensor may be a 9-axis IMU sensor based on a MEMS (micro mechanical system), and the 9-axis IMU sensor may include a 3-axis acceleration sensor, a 3-axis gyroscope sensor, and a 3-axis geomagnetic sensor. Here, at least one or more of an acceleration sensor or a gyroscope sensor may be used instead of the IMU sensor.

The wrist support (100) may include a wire guide (150) provided on at least one of the back of the hand support (110) or the connection support (130) to guide the movement of the wire; and a wire compression unit (180) that selectively compresses and fixes the moving wire.

Since the extension and flexion movements of the wrist joints (fingers, wrists) are trained by the movement of the plurality of wires (300) connected to each of the plurality of fingers, not only should the plurality of wires (300) not be twisted or detached during the wrist training, but also the relative movement positions and angles of the wires for each corresponding finger should be constant. The wire guide part (150) is provided on the back of the hand support part (110) through which the wires (300) pass or on the connection support part (130) to guide the movement of the wires (300), thereby preventing the wires (300) from being twisted or detached, and maintaining the movement positions and angles of the wires (300) constant. The wire guide part (150) may be a concave part, a through hole, etc. in which the wires (300) can be movably received, and may also be provided with a pulley or the like inside to induce smooth movement.

The wire compression unit (180) can selectively compress and fix the moving wire. When the wire connected between the finger fixation pad (210) and the wrist support unit (100) is pulled toward the wrist, not only the fingers but also the wrist can undergo an extension movement. At this time, when the wire compression unit (180) compresses the wire near the wire guide unit (150), the wire connected between the back of the hand support unit (110) and the finger fixation pad unit (210) is not pulled, so that the shape of the finger joint can be maintained while the extension movement of the wrist can be made possible. Accordingly, the hand training device of the present invention can provide the trainer with a more detailed exercise method since the wrist extension movement can be made possible without the finger movement. The opposite case is also possible, and in this case, the wire compression unit (180) can release the wire so that the wire can move within the wire guide unit (150), and when the wrist is fixed without moving, the shape of the wrist joint can be maintained while the flexion-extension movement of the fingers can be made possible. In addition, it is also possible to move the wrist and finger joints simultaneously.

Each of the above multiple finger wearing parts (200) may further include a wire path guide part (230) that is fixed to the connecting member (220) and guides the movement path of the wire.

The wire path guide unit (230) can guide the movement path of the wire (300) while it is fixed to the connecting member (220). Since the force for the finger joint movement must be transmitted to the fingertip joint so as to be pulled in the dorsal direction of the finger to enable sequential extension movement from the distal to the proximal joint, it is necessary to guide the path for transmitting the force (i.e., the movement path of the wire) to be located on the dorsal side of the finger. As in the case of pulling the wire (300), even when releasing the wire (300) for the flexion movement of the finger joint, the path for transmitting the force (i.e., the movement path of the wire) must be guided to be located on the dorsal side of the finger for natural movement. If the wire path guide unit (230) is not present, when the trainer performs the finger joint movement, the finger moves according to the direction of the finger joint movement, and the movement path of the wire may deviate from the dorsal side of the finger. In such cases, not only is sequential extension movement from the distal to the proximal joint difficult, but the direction of extension of the finger joints is also distorted, which can cause pain and trauma to the fingers of the hand trainer.

When the wire (300) guided by the wire path guide part (230) pulls the finger fixation pad part (210) worn on the fingertip joint toward the dorsal direction of the finger, the first finger joint is first extended, and when the first finger joint is fully extended within the possible range, the additional traction force by the wire (300) extends the second finger joint, so that the hand trainer can receive sequential extension movement of the finger joints.

The wire path guide part (230) may include a first wire path guide part (231) that is fixed to the connecting member (220) so as to extend outwardly from the connecting member (220) and guides the movement path of the wire (300); and a second wire path guide part (232) that is fixed to the connecting member (220) so as to extend outwardly from the connecting member (220) and spaced apart from the first wire path guide part (231) and guides the movement path of the wire (300).

In order to enable sequential extension movement from the distal to the proximal joint, the force for the finger joint movement must be transmitted to the fingertip joint so as to be pulled in the dorsal direction of the finger. To this end, the extension direction or movement path of the wire (300) may be parallel to the extension direction of the finger (F). Here, being parallel does not necessarily have to be physically completely parallel, and may also include a case where it forms an angle (±10 ^o ) within a certain acceptable range.

Meanwhile, if the wire path guide part (230) guides the wire path at only one point, the wire (300) can be bent around the wire path guide part (230), so that the wire path can be guided at two points so that the wire (300) can form a straight line by using the first wire path guide part (231) and the second wire path guide part (232) that are spaced apart from each other.

In order to prevent the wire (300) from interfering with other structures such as the connecting member (220), the first wire path guide part (231) to the second wire path guide part (232) may extend outward from one surface of the connecting member (220), and the separation direction of the first wire path guide part (231) to the second wire path guide part (232) may be parallel to the extending direction of the finger (F) so that the moving path of the wire (300) may be parallel to the extending direction of the finger. Since the connecting member (220) is provided for each finger, the connecting member (220) may have a shape that extends in one direction so as not to interfere with the connecting member (220) provided for the neighboring finger. In addition, the connecting member (220) is formed in a plate shape so as to be light yet stably capable of fixing the wire path guide part (230) and the finger fixing pad part (210), and the wire path guide (230) can be fixed to one surface of the connecting member (220), and the finger fixing pad part (210) can be fixed to the other surface of the connecting member (220).

The finger wearable part (200) can be worn on the tip of the finger of the trainee so that the extended direction of the connecting member (220) and the finger extension direction can be parallel. At this time, the first wire path guide part (231) can be fixed to one end of the connecting member (220) corresponding to the position where the finger fixing pad part (210) is connected, and the second wire path guide part (232) can be fixed to the other end of the connecting member (220) spaced apart from the one end in the one direction. By configuring in this way, the movement path of the wire (300) can be parallel to the finger extension direction.

The first wire path guide part (231) may have a longer (higher) length (or height) extending outward than the second wire path guide part (232).

Meanwhile, the connecting member (220) includes a wire fixing member (250) to which wires connected to each of the plurality of finger wearing parts (200) are fixed, and the wire fixing member (250) may be provided between a position where the first wire path guide member (231) is fixed to the connecting member (220) and a position where the second wire path guide member (232) is fixed to the connecting member (220). The wire fixing member (250) may be provided to be movable along the extension direction of the connecting member (220) in order to change the fixing position of the wire, or may be provided in multiple pieces.

Each of the above-described plurality of finger wearable units (200) may further include a wire tension adjusting unit (240) for adjusting the wire tension between the wire fixing unit and the wrist support unit (100). Since the finger extension movement is achieved by pulling and releasing the wire connected to the finger fixing pad unit (210) and the finger fixing pad unit (210) worn on the tip of the finger of the trainee, the driving force needs to be quickly and precisely transmitted to the finger fixing pad unit (210) for proper finger extension-flexion movement. To this end, the wire (300) connecting the driving unit (400) and the finger fixing pad unit (210) may be taut rather than loose. Conversely, in the case where only the wrist movement is desired without the finger movement, the wire (300) connecting the wrist support unit (100) and the finger fixing pad unit (210) may be loosened so that the driving force is not transmitted to the finger fixing pad unit (210) through the wire. At this time, by tightening the wire connecting the wire compression part (180) and the finger fixation pad part (210) and loosening the wire (300) connecting the wrist support part (100) and the finger fixation pad part (210), only the extension movement of the wrist can be achieved without movement of the fingers by the driving part.

The wire tension control unit (240) can adjust the wire tension by adjusting the degree or number of times the wire is wound using the control lever, or can adjust the tension using the fixed slot (260), but is not particularly limited to these methods. In addition, since the hand trainers have different finger lengths individually, and the five fingers also have different finger lengths, in the present invention, the length of the wire (300) connecting the driving unit (400) and the finger fixing pad unit (210) can be individually adjusted according to the finger length using the wire tension control unit (240), thereby controlling the length of the wire.

Meanwhile, by adjusting the wire length, the driving force provided by the driving unit (400) can enable the extension movement of five fingers having different lengths simultaneously. That is, in order to perform the extension movement of five fingers having different finger lengths and ranges of motion, five motor units that individually move the wires corresponding to each finger are required, but by adjusting the wire length with the wire tension adjusting unit (240) to keep the wire taut, the extension movement of fingers having different lengths can be enabled by providing the driving force with one motor unit. Therefore, as a hand training device with a simple structure, regardless of the length of the fingers of the trainee, the sequential extension movement of the distal interphalangeal joint (first joint of the finger), the proximal interphalangeal joint (second joint of the finger), the metacarpophalangeal joint (third joint of the finger) of the five fingers, and the interphalangeal joint (first joint of the thumb), the metacarpophalangeal joint (second joint of the thumb) of the thumb, and the wrist joint can be applied to all hand trainers.

The plurality of wires (300) may be made of an elastic material.

The distance the wire moves to maximum extension may vary depending on the length and range of motion of each finger of the trainer. If the wire (300) is made of an elastic material, the displacement due to the difference in the length and range of motion of the fingers is compensated for by the change in length due to the elasticity of the wire, so that each finger can reach maximum extension regardless of the different movement distance and range of motion.

Meanwhile, in order to prevent finger movements from being hindered by the hand training device while a hand trainer with unnatural finger movements is performing hand training after wearing the hand training device, a plurality of finger wearing parts (200) may be connected to the wrist support part (100), the finger bending amount detection part (512), and the plurality of wires (300). Alternatively, in order to make it convenient for a hand trainer to wear the hand training device, the wrist support part (100) and the finger wearing parts (200) may be connected by a separate flexible and thin fiber, etc., within a range that does not hinder the hand training movement.

Meanwhile, the water training device according to an embodiment of the present invention may further include a wire connecting portion (310) to which the plurality of wires (300) are connected.

The driving unit may include a motor, an actuator, and the like. In order to individually drive a plurality of wires (300) connected to a plurality of fingers of the trainer, a plurality of driving units or a complex transmission mechanism that individually provides driving force to each wire is required. The hand training device is worn by the hand trainer to perform hand training, but if the hand training device includes a plurality of driving units and a complex transmission mechanism, it may be difficult for the hand trainer to wear it due to the weight and size of the hand training device. Therefore, in the present invention, after connecting a plurality of wires (300) to the wire connection unit (310), the wire connection unit (310) is moved by the drive unit (400), thereby enabling the movement of a plurality of wires with a simple structure. If the driving unit (400) moves the wire connecting unit (310) to simultaneously move multiple wires (300), there may be limitations in training multiple fingers with different lengths and ranges of motion. However, in the present invention, the length of the wire is adjusted to match the length of each finger by the wire tension adjusting unit (240) or an elastic wire is used, thereby compensating for the different lengths and ranges of motion of the multiple fingers.

The above-described exercise state detection unit (500) further includes an electromyography sensor unit (540) that is attached to the forearm support unit (120) and measures electrical signals generated in the nerves or muscles of the hand of the trainee, and the training provided to the trainee includes at least one training mode among a finger training mode that adjusts the flexion-extension amount of a finger; or a wrist training mode that adjusts the flexion-extension amount or flexion-extension angle of a wrist; and the training mode can be determined according to a signal from the electromyography sensor unit.

At this time, the electromyography sensor unit (540) may be an EMG (electromyography) detection sensor, but is not necessarily limited thereto.

The extensor muscles that extend the hand and fingers cover the back of the forearm, and the flexor muscles that flex the hand and fingers fix the wrist when the hand moves. When a hand trainer tries to move the hand and fingers, changes in the extensor and/or flexor muscles or the nerves surrounding these muscles occur before the hand and fingers are visibly moved.

EMG signals, which are one of the electrical signals generated in the nerves or muscles of the wrist of the trainer, occur along the muscle fibers from the muscle surface according to the movement of the body (such as hands and fingers). Since the intensity of the measured signal varies depending on the strength of the muscle force that generates the movement of the body, the user's movement intention can be identified by checking the presence or absence of the measured signal and the intensity difference even before the actual movement of the body is observed.

That is, when the electromyography sensor unit (540) is placed on the skin surface of the wrist extensor and/or flexor, and when the trainer intends a difference in the extension movement of the hand and the strength of its muscle, different electrical signals are generated according to the movement or strength of the extensor or flexor muscles of the forearm, and the electrical signals or changes thereof according to the trainer's training intention can be measured by the electromyography sensor unit (540). The electromyography sensor unit can determine to what extent the trainer moves voluntarily (passive exercise/assistant exercise). In addition, when the electromyography sensor unit is performing automatic exercise, the electrical signal can be detected and a control unit, etc. can be used to select a specific joint for training, and the state, position, etc. of the joint can be data-ized. The training mode can be determined through preset exercise execution information, etc. according to the measurement signal measured by the electromyography sensor unit (540). At this time, the training provided to the trainer includes a finger training mode that adjusts the amount of flexion-extension of the finger; Or a wrist training mode that adjusts at least one of the flexion-extension amount, the flexion-extension angle, the yaw amount, and the yaw angle of the wrist; and at least one training mode among these, and the training mode can be determined according to the signal of the electromyography sensor unit. The finger training mode can be a training mode that enables flexion-extension of the fingers without movement of the wrist by fixing the first rotation axis (140) and the second rotation axis (160) of the wrist support unit (100), thereby moving only the finger wearing unit (200) when the wire is pulled. By allowing the finger joints to move without moving the wrist joint in this way, concentrated training of the finger joints can be enabled.

The wrist training mode can be configured to fix the wire moving within the wire guide portion (150) by the wire compression portion (180), and to loosen the wire (300) connecting the wrist support portion (100) and the finger fixation pad portion (210), so that the tension of the wire is not transmitted from the wrist joint to the fingers through the wire. In this way, when the wire is pulled, only the wrist moves, thereby enabling flexion-extension and flexion of the wrist without moving the fingers. In this way, by only moving the wrist joint without moving the finger joint, intensive training of the wrist joint can be enabled.

This training mode can be provided in a sequential exercise order according to the trainer's hand condition. For example, only one of the wrist training mode or the finger training mode can be performed, or the wrist training mode and the finger training mode can be performed sequentially according to the required order, and a training mode that trains the finger joints and the wrist joints simultaneously with the motor can be included. In addition, the training provided to the trainer can be selectively performed among automatic exercise in which the trainer's joints are moved by the driving unit, passive exercise in which the trainer himself/herself moves the joints, or auxiliary exercise in which the trainer partially moves the joints himself/herself but the driving unit compensates for the power lacking in the training goal to some extent.

Figure 6 is a block diagram illustrating the drive unit control of a hand training device according to an embodiment of the present invention.

Referring to FIG. 6, the control unit (700) may further be included to generate a driving signal according to a signal detected by the motion state detection unit and selectively provide the driving signal to the driving unit.

The data of the movement state detection unit (500) can be monitored, or the signal identified by the movement state detection unit (500) can be analyzed to monitor the training state of the trainee, etc. The data values (flexion pressure, flexion-extension amount, etc.) measured through monitoring can be provided to the trainee, and can be used to allow a person assisting the hand training of the trainee, such as a doctor or nurse, to check the patient's physical condition. In addition, it is possible to prevent factors that may cause disabilities to the trainee due to excessive movement of the hand joints in advance. This can be achieved by the control unit (700) automatically controlling the driving unit (400), or can be achieved in the form of measures such as indicating an emergency stop or safety measures. As such, the hand training device of the present invention can provide safe training to the trainee.

Meanwhile, the device further includes a training condition setting unit (600) that sets hand training conditions for at least one of the flexion pressure range of a finger, the flexion-extension amount range of a finger, the flexion-extension amount range of a wrist, the flexion-extension angle range of a wrist, and the yaw angle range of a wrist; and the control unit can generate the driving signal according to the training condition set by the training condition setting unit (600). At this time, the control unit (700) can modify the driving signal generated according to the training condition set by the training condition setting unit (600) by referring to the signal measured by the movement state detection unit (500) and then control the driving unit (400) with the modified driving signal.

Meanwhile, the training condition setting unit (600) may be mounted on the control unit (700) or may be provided as a separate device and connected to the control unit (700) wirelessly or with wires.

The control unit (700) may include an input/output unit (not shown) that receives a selection of exercise execution information from a trainer or the like, or outputs exercise execution information so that the trainer or the like can recognize the exercise execution information. As one type of input/output unit, a touch screen that can receive a trainer's selection by touching the information displayed on the screen may be exemplified. The control unit (700) may transmit exercise execution information to the touch screen so that the trainer can understand the content of the exercise execution information, and display the exercise execution information.

In addition, in order to enable trainer-tailored hand training, the exercise execution information may also include information about the trainer's past hand training history, and may also include information about the hand training limit that is not too much for the trainer. The hand training limit may include, for example, the limit of the moving speed or force of the wire (300), the flexion pressure range of the finger, the flexion-extension amount range of the finger, the flexion-extension amount range of the wrist, the flexion-extension angle range of the wrist, and the flexion-extension angle range of the wrist.

By referring to the exercise execution information, the trainer can reset or change the exercise execution information. That is, the trainer inputs the items to be changed or reset in the exercise execution information displayed on the touch screen by touching the touch screen. The control unit (700) that receives the changed or reset exercise execution information from the trainer controls the movement and position of the wire (300) by driving the driving unit (400) according to the changed or reset exercise execution information, so that the trainer's hand training can be executed.

In addition, the present invention can provide a system including detecting finger strength and the degree of movement of wrist joints such as flexion and extension, pronation and supination, etc., in a small and lightweight structured wrist training device capable of providing an extension movement trajectory or a radial movement trajectory of wrist joints, obtaining signal data, storing and displaying it, and utilizing game contents, etc. through a motor-driven feedback structure. According to the wrist training device according to an embodiment of the present invention, by simply pulling or releasing a plurality of wires respectively connected to a plurality of finger wearing parts (200), it assists the movement of the wrist joints of the trainee without adding joints or connecting structures corresponding to the wrist joints, thereby providing various and natural movement trajectories corresponding to the movement of the wrist joints, and at the same time, linking the signal data of the strength of each finger and the movement angle and inclination of the joints with contents such as games, and displaying the current movement state, so that the trainee can actively move the wrist joints and perform rehabilitation training.

Accordingly, the hand training device of the present invention can provide various training forms capable of controlling the movement trajectory, movement intensity, and movement speed of the hand joints that reflect the training will of the trainee.

The meaning of 'on' used in the above description includes cases where they are in direct contact and cases where they are not in direct contact but are positioned opposite the upper or lower surface, and it is possible to position them opposite the entire upper or lower surface as well as partially opposite the upper or lower surface, and it is used to mean that they are positionally separated from each other or directly in contact with the upper or lower surface. This term is defined based on the drawings for convenience, and the shape and position of each component are not limited by this term.

Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the above-described embodiments, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible without departing from the gist of the present invention as claimed in the claims. Accordingly, the technical protection scope of the present invention should be defined by the following claims.

100: Wrist support 110: Back of hand support
120: Forearm support 130: Connecting support
140: 1st rotation axis 150: Wire guide part
160: Second rotation axis 170: Motion limiter
180: Wire crimping part 200: Finger wearing part
210: Finger fixing pad part 220: Connecting member
230: Wire path guide part 240: Wire tension control part
250: Wire fixing part 260: Fixing slot
300: Wire 310: Wire connector
400: Driving unit 500: Motion status detection unit
510: Finger movement detection unit 511: Pressure detection unit
512: Finger bending amount detection unit 520: Wrist movement detection unit
521: Wrist flexion-extension detection unit 522: Wrist yaw detection unit
530: Forearm movement detection unit 540: Electromyography sensor unit
600: Training condition setting section 700: Control section

Claims (14)

Wrist support worn on the trainer's wrist;
A plurality of finger wearables worn on the trainer's fingers;
A plurality of wires connected to at least one of the wrist support members or each of the plurality of finger wearable members;
A driving unit selectively providing a driving force to move at least one of the wrist support unit or the plurality of finger wear units by pulling or releasing the plurality of wires; and
A hand training device including a movement status detection unit provided on at least one of the wrist support unit and a plurality of finger wearable units to detect hand movements of the trainer. In claim 1,
The above motion status detection unit is,
A hand training device comprising at least one of a finger movement detection unit provided on each of the plurality of finger wearable parts to detect movement of the fingers; or a wrist movement detection unit provided on the wrist support part to detect movement of the wrist. In claim 2,
Each of the above multiple finger wearing parts,
A finger fixation pad worn at the tip of the finger; and
Including a connecting member that is fixed to each of the wire end and the finger fixing pad portion and connected to each other;
A hand training device, wherein the finger movement detection unit includes a pressure detection unit provided on the finger fixation pad unit to detect the flexion pressure of the finger. In claim 3,
The above pressure sensing unit is a hand training device provided on the fingerprint side of a finger. In claim 3,
A hand training device further comprising a finger bending amount detecting unit that detects the amount of bending of a finger and is provided to connect the wrist support unit and the finger fixing pad unit to each other. In claim 5,
The above finger bending amount detection unit is a hand training device made of an elastic material whose length can be changed. In claim 2,
The above wrist support,
A wrist support worn on the back of the hand of the above trainer;
A connecting support member rotatably connected to the above wrist support member; and
Including a first rotation axis that rotatably connects the above wrist support member and the connecting support member in the flexion-extension direction;
A hand training device including a wrist flexion-extension detection unit that detects the amount of flexion-extension or the angle of flexion-extension of the trainer's wrist, wherein the wrist movement detection unit is provided to correspond to the first rotation axis. In claim 7,
The above wrist support,
A forearm support member worn on the forearm of the above trainer and rotatably connected to the connecting support member; and
Further comprising a second rotational axis that rotatably connects the forearm support and the connecting support in the lumbar direction;
A hand training device, wherein the wrist movement detection unit further includes a wrist yaw detection unit that detects the amount of yaw or the angle of yaw of the trainer's wrist, provided to correspond to the second rotation axis. In claim 8,
A hand training device wherein the above movement state detection unit further includes a forearm movement detection unit provided on the forearm support unit to detect at least one of speed, acceleration, displacement, rotation, inclination, pronation, and supination of the forearm of the trainee. In claim 7,
The above wrist support,
A wire guide portion provided on at least one of the above hand support portion or the above connection support portion to guide the movement of the wire; and
A hand training device comprising a wire compression unit for selectively compressing and fixing the moving wire. In claim 3,
The above connecting member includes a wire fixing member to which an end of the wire connected to each of the plurality of finger wearing parts is fixed,
A hand training device wherein each of the plurality of finger wearable parts further includes a wire tension adjusting part that adjusts wire tension between the wire fixing part and the wrist support part. In claim 8,
The above exercise state detection unit further includes an electromyography sensor unit that is attached to the forearm support unit and measures electrical signals generated in the nerves or muscles of the trainer's hand.
A hand training device in which at least one training mode is determined among a finger training mode including flexion-extension movement of a finger according to a signal from the electromyography sensor unit; or a wrist training mode including at least one movement among flexion-extension and flexion-scapular movement of the wrist. In claim 1,
A hand training device further comprising a control unit that generates a driving signal according to a signal detected by the above motion state detection unit and selectively provides the signal to the driving unit. In claim 13,
It further includes a training condition setting unit that sets hand training conditions for at least one of the flexion pressure range of the finger, the flexion-extension amount range of the finger, the flexion-extension amount range of the wrist, the flexion-extension angle range of the wrist, the yaw rate range of the wrist, and the yaw angle range of the wrist;
The above control unit is a training device for generating the driving signal according to the training conditions set in the training condition setting unit.

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