技术领域technical field
本发明涉及康复设备技术领域，具体涉及一种四指康复训练矫正装置。The invention relates to the technical field of rehabilitation equipment, in particular to a four-finger rehabilitation training and correction device.
背景技术Background technique
目前在我国，因为各类事故、偏瘫、脑瘫、小儿麻痹等原因造成手部残疾的患者大概2000万人，手部残疾表现为“鹰勾爪”、抽搐痉挛、无法正常伸展或回缩/抓取无力等。通过手术治疗矫正往往达不到理想的效果，再则于手术花费较大、术后康复不明显，很多患者不进行手术治疗，进入到相关康复中心进行康复矫正治疗。此外，手部受损的致残率较高，严重影响患者的生活能力和家庭负担，目前，患者普遍在康复中心使用专门的康复机械进行恢复训练，可是缺点是训练时间不够，进行相关康复的医生不足，且增加了病人家庭的经济负担，种种因素对于患者的康复是极其不利的。At present, in our country, there are about 20 million patients with hand disabilities due to various accidents, hemiplegia, cerebral palsy, polio and other reasons. Take powerlessness and so on. Correction by surgical treatment often fails to achieve the desired effect. Furthermore, the cost of surgery is high and postoperative recovery is not obvious. Many patients do not undergo surgical treatment and enter relevant rehabilitation centers for rehabilitation and correction. In addition, hand damage has a high disability rate, which seriously affects the patient's ability to live and family burden. At present, patients generally use special rehabilitation machines for recovery training in rehabilitation centers, but the disadvantage is that the training time is not enough, and it is time-consuming to carry out related rehabilitation. Insufficient doctors and increasing the economic burden on the patient's family are all factors that are extremely unfavorable for the patient's recovery.
对此，申请人同日申请的名称为《手部康复训练矫正仪器》中公开了一种用于康复矫正手指的仪器，通过驱动机构滑块动作，并连动连杆机构及大拇指支撑杆动作，从而连动远指搭板及近指搭板的动作以及拇指搭板位于支撑板的动作，进而达到康复训练的目的，在实际设计四指康复机构时，存在较大的技术难题。In this regard, the title of "Hand Rehabilitation Training and Correction Instrument" filed by the applicant on the same day discloses an instrument for rehabilitation and correction of fingers, which moves through the slider of the driving mechanism and links the action of the linkage mechanism and the thumb support rod. , so as to link the actions of the far finger strap and the near finger strap and the action of the thumb strap being positioned on the support board, so as to achieve the purpose of rehabilitation training. In the actual design of the four-finger rehabilitation mechanism, there are relatively large technical difficulties.
发明内容Contents of the invention
本发明的目的是：提供一种四指康复训练矫正装置，能带动康复患者四指进行康复训练运动。The purpose of the present invention is to provide a four-finger rehabilitation training correction device, which can drive the four fingers of rehabilitation patients to carry out rehabilitation training exercises.
为实现上述目的，本发明采用的技术方案是：In order to achieve the above object, the technical scheme adopted in the present invention is:
一种四指康复训练矫正装置，包括用于撑托待康复患者手掌的支撑板，支撑板旁侧设置的远指搭板及近指搭板，远指搭板及近指搭板之间铰接，近指搭板与支撑板铰接，所述远指搭板及近指搭板分别与连杆单元连接，远指搭板及近指搭板位于连杆单元上呈现弯折动作，所述连杆单元与滑块连接，驱动机构驱动滑块位于立柱上滑动并连动连杆单元动作。A four-finger rehabilitation training correction device, including a support plate for supporting the palm of a patient to be recovered, a far finger support plate and a proximal finger support plate arranged on the side of the support plate, and the far finger support plate and the proximal finger support plate are hinged , the proximal finger strap is hinged to the support plate, the far finger strap and the proximal finger strap are respectively connected to the connecting rod unit, the far finger strap and the proximal finger strap are located on the connecting rod unit to present a bending action, and the connecting rod unit The rod unit is connected with the slide block, and the drive mechanism drives the slide block to slide on the column and link the link unit to move.
本发明还存在下列技术特征：The present invention also has the following technical features:
所述连杆单元包括与远指搭板铰接的第一杆组，第一杆组的另一端与第二杆组杆身中段铰接，第二杆组的两端分别与近指搭板及滑块铰接。The connecting rod unit includes a first rod group hinged with the far finger strap, the other end of the first rod group is hinged with the middle section of the shaft of the second rod group, and the two ends of the second rod group are respectively connected with the proximal finger strap and the sliding rod. Block hinged.
所述远指搭板的下板面延伸设置有第二支撑杆，所述第一杆组的一端铰接设置在第二支撑杆的延伸端。A second support rod is extended from the lower surface of the far finger strap, and one end of the first rod group is hingedly arranged on the extension end of the second support rod.
所述第一杆组包括第一调节杆及第二调节杆，第一调节杆的杆身与第二支撑杆的延伸端铰接，第一调节杆的另一端与第二调节杆铰接，第二调节杆的一端与第二杆组铰接，第一调节杆与第二调节杆铰接连接点位置可调，第二调节杆与第二杆组的铰接连接点位置可调，所述近指搭板上还设置有延伸连接杆与第二调节杆铰接。The first rod group includes a first adjusting rod and a second adjusting rod, the shaft of the first adjusting rod is hinged with the extension end of the second support rod, the other end of the first adjusting rod is hinged with the second adjusting rod, and the second adjusting rod is hinged. One end of the adjusting rod is hinged with the second rod group, the position of the hinged connection point between the first adjusting rod and the second adjusting rod is adjustable, the position of the hinged connection point between the second adjusting rod and the second rod group is adjustable, and the proximal finger strap An extension connecting rod is also arranged on the top to be hinged with the second adjusting rod.
所述第一调节杆长度方向间隔设置有连接孔，所述第二调节杆上设置有销轴与连接孔铰接，所述第二杆组杆身上延伸设置有调节杆，调节杆长度方向与第二杆组长度方向平行，调节杆上设置有调节通孔，第二调节杆杆端与连杆形成移动副，同时连杆与调节通孔铰接。The length direction of the first adjusting rod is provided with connecting holes at intervals, the second adjusting rod is provided with a pin shaft hinged with the connecting holes, and an adjusting rod is extended on the shaft of the second rod group, and the length direction of the adjusting rod is aligned with the first adjusting rod. The length directions of the two rod groups are parallel, the adjusting rod is provided with an adjusting through hole, the rod end of the second adjusting rod forms a moving pair with the connecting rod, and the connecting rod is hinged to the adjusting through hole.
所述第二杆组包括与近指搭板铰接的第一连接杆以及与滑块铰接的第二连接杆，第二连接杆设置成管状，第二连接杆沿其管长方向设置有开口，第一连接杆插置在第二连接杆的管口内，第二连接杆的开口两侧设置有紧固螺栓。The second rod group includes a first connecting rod hinged with the proximal finger strap and a second connecting rod hinged with the slider, the second connecting rod is arranged in a tubular shape, and the second connecting rod is provided with an opening along its tube length direction, The first connecting rod is inserted into the nozzle of the second connecting rod, and fastening bolts are arranged on both sides of the opening of the second connecting rod.
所述近指搭板的长度可调，近指搭板上延伸设置有调节板，调节板与支撑板铰接，所述近指搭板上设置有插接孔，调节板上向近指搭板插接孔方向延伸设置有插接杆，近指搭板外设置有锁紧螺栓用于锁紧插接杆。The length of the proximal finger strap is adjustable, an adjustment plate is extended on the proximal finger strap, and the adjustment plate is hinged with the support plate, and an insertion hole is arranged on the proximal finger strap, and the adjustment plate faces the proximal finger strap A plugging rod is arranged extending in the direction of the plugging hole, and a locking bolt is arranged outside the near finger strap for locking the plugging rod.
所述滑块上设置有支耳与连杆的一端铰接，连杆的另一端与曲柄铰接，曲柄与手柄杆或者电机转轴连接，手柄杆或者电机驱动曲柄转动。The slider is provided with a lug that is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to a crank, the crank is connected to a handle rod or a motor shaft, and the handle rod or the motor drives the crank to rotate.
与已有技术相比，本发明的有益效果体现在：待康复患者的手掌搭设在支撑板上，四指分别搭设在远指搭板及近指搭板上，通过人工手摇或者电动的方式驱动滑块位于支撑杆身往复移动，从而连杆机构呈现伸缩动作，进而连动远指搭板及近指搭板位于支撑板呈现弯折动作，多杆件可调可以达到训练不同运动幅度和张角的目的，另外本设计屈伸动作与人手自由屈伸动作一致(近指搭板、远指搭板同时张开或闭合)，符合康复训练需要，从而起到对四指的康复训练，该训练矫正装置结构简单，能够适应不同手型的患者使用，具备较好的推广价值。Compared with the prior art, the beneficial effect of the present invention is embodied in that the palm of the patient to be recovered is set on the support plate, and the four fingers are respectively set on the far finger support plate and the proximal finger support plate. The drive slider moves back and forth on the support rod body, so that the link mechanism presents a telescopic action, and then the far finger strap and the proximal finger strap are positioned on the support board to present a bending action. The multi-bar can be adjusted to achieve different exercise ranges and training. The purpose of the opening angle, in addition, the flexion and extension action of this design is consistent with the free flexion and extension action of the human hand (the near finger and the far finger are opened or closed at the same time), which meets the needs of rehabilitation training, thereby performing rehabilitation training for the four fingers. The orthotic device has a simple structure, can be used by patients with different hand shapes, and has good promotion value.
附图说明Description of drawings
图1是手部康复训练矫正仪器的结构示意图；Fig. 1 is the structural representation of hand rehabilitation training correction instrument;
图2是手部康复训练矫正仪器的四指康复机构的结构示意图；Fig. 2 is a structural representation of the four-finger rehabilitation mechanism of the hand rehabilitation training and correction instrument;
图3是手部康复训练矫正仪器的四指康复机构的平面示意图；Fig. 3 is a schematic plan view of the four-finger rehabilitation mechanism of the hand rehabilitation training and correction instrument;
图4是手部康复训练矫正仪器的四指康复机构另一视角的结构示意图；Fig. 4 is a structural schematic diagram of another perspective of the four-finger rehabilitation mechanism of the hand rehabilitation training and correction instrument;
图5是手部康复训练矫正仪器的驱动机构与滑块配合的结构示意图；Fig. 5 is a structural schematic diagram of the cooperation of the driving mechanism and the slide block of the hand rehabilitation training and correction instrument;
具体实施方式detailed description
结合图1至图5，对本发明作进一步地说明：In conjunction with Fig. 1 to Fig. 5, the present invention is further described:
一种四指康复训练矫正装置，包括用于撑托待康复患者手掌的支撑板10，支撑板10旁侧设置有远指搭板20及近指搭板30，远指搭板20及近指搭板30之间铰接，近指搭板30与支撑板10铰接，所述远指搭板20及近指搭板30分别与连杆单元连接，远指搭板20及近指搭板30位于连杆单元上呈现弯折动作，所述连杆单元与滑块50连接，驱动机构驱动滑块50位于立柱51上滑动并连动连杆单元动作。A four-finger rehabilitation training correction device, comprising a support plate 10 for supporting the palm of a patient to be recovered, a far finger support plate 20 and a proximal finger support plate 30 are arranged on the side of the support plate 10, and a far finger support plate 20 and a proximal finger support plate are provided. The straps 30 are hinged, the near finger straps 30 are hinged with the support plate 10, the far finger straps 20 and the proximal finger straps 30 are respectively connected to the connecting rod unit, the far finger straps 20 and the proximal finger straps 30 are located at A bending action is shown on the connecting rod unit, and the connecting rod unit is connected with the slider 50 , and the driving mechanism drives the slider 50 to slide on the column 51 and link the connecting rod unit to move.
待康复患者的手掌搭设在支撑板10上，四指分别搭设在远指搭板20及近指搭板30上，通过人工手摇或者电动的方式驱动滑块50位于立柱51身往复移动，从而连动连杆机构呈现伸缩动作，进而连动远指搭板20及近指搭板30位于支撑板10呈现弯折动作，多杆件可调可以达到训练不同运动幅度和张角的目的，另外本设计屈伸动作与人手自由屈伸动作一致(近指搭板、远指搭板同时张开或闭合)，符合康复训练需要，从而起到对四指的康复训练，该训练矫正装置结构简单，能够适应不同手型的患者使用，具备较好的推广价值。The palm of the patient to be recovered is placed on the support plate 10, and the four fingers are respectively placed on the far finger support plate 20 and the proximal finger support plate 30, and the slider 50 is driven to reciprocate on the column 51 by manual hand or electric mode, so that The interlocking link mechanism presents a telescopic action, and then links the far finger strap 20 and the proximal finger strap 30 on the support plate 10 to present a bending action. The adjustable multi-rod can achieve the purpose of training different ranges of motion and opening angles. The flexion and extension movements of this design are consistent with the free flexion and extension movements of the human hand (the near finger strap and the far finger strap are opened or closed at the same time), which meets the needs of rehabilitation training, thereby performing rehabilitation training for the four fingers. The training correction device has a simple structure and can It is suitable for patients with different hand shapes and has good promotion value.
该矫正器在实际应用中，每天完成1个小时以上的康复训练，能够促进手部肌肉组织的功能恢复，逐步恢复手部张力，使伸张屈伸逐渐正常，缓解“鹰勾爪”等手部畸形状态。In practical application, the orthotic can complete more than 1 hour of rehabilitation training every day, which can promote the functional recovery of hand muscle tissue, gradually restore hand tension, make stretching, flexion and extension gradually normal, and relieve hand deformities such as "hawk claws" state.
进一步地，作为本发明的优选方案，所述连杆单元包括与远指搭板20铰接的第一杆组21，第一杆组21的另一端与第二杆组31杆身中段铰接，第二杆组31的两端分别与近指搭板30及滑块50铰接。通过滑块50的滑动动作，从而连动第二杆组31的支撑动作，并连动第一杆组21的动作，使得远指搭板20及近指搭板30呈现弯折动作。Further, as a preferred solution of the present invention, the linkage unit includes a first rod group 21 hinged to the far finger strap 20, the other end of the first rod group 21 is hinged to the middle section of the second rod group 31, and the second rod group 31 is hinged. The two ends of the two bar groups 31 are respectively hinged with the proximal finger strap 30 and the slide block 50 . Through the sliding action of the slider 50 , the supporting action of the second rod group 31 is linked, and the action of the first rod group 21 is linked, so that the far finger strap 20 and the proximal finger strap 30 present a bending action.
为实现远指搭板20与第一杆组21的连接，所述远指搭板20的下板面延伸设置有第二支撑杆22，所述第一杆组21的一端铰接设置在第二支撑杆22的延伸端。In order to realize the connection between the far finger strap 20 and the first rod group 21, the lower surface of the far finger strap 20 is extended with a second support rod 22, and one end of the first rod group 21 is hingedly arranged on the second The extended end of the support rod 22.
为实现第二杆组31与第二支撑杆22的连接，所述第一杆组21包括第一调节杆211及第二调节杆212，第一调节杆211与第二支撑杆22的延伸端铰接，第一调节杆211的另一端与第二调节杆212铰接，第二调节杆212的一端与第二杆组31铰接；In order to realize the connection between the second rod group 31 and the second support rod 22, the first rod group 21 includes a first adjustment rod 211 and a second adjustment rod 212, and the extension ends of the first adjustment rod 211 and the second support rod 22 Hinged, the other end of the first adjusting rod 211 is hinged with the second adjusting rod 212, and one end of the second adjusting rod 212 is hinged with the second rod group 31;
为实现远指搭板20与近指搭板30弯折幅度的微调，第一调节杆211与第二调节杆212铰接连接点位置可调，第二调节杆212与第二杆组31的铰接连接点位置可调，所述近指搭板30上还设置有延伸连接杆301与第二调节杆212铰接。In order to realize the fine-tuning of the bending range of the far finger strap 20 and the proximal finger strap 30, the position of the hinge connection point between the first adjustment rod 211 and the second adjustment rod 212 is adjustable, and the hinge connection between the second adjustment rod 212 and the second rod group 31 is adjustable. The position of the connection point is adjustable, and the proximal finger strap 30 is also provided with an extension connecting rod 301 hinged with the second adjustment rod 212 .
具体地，所述第一调节杆211长度方向间隔设置有连接孔2111，所述第二调节杆212上设置有销轴与连接孔2111构成铰接，所述第二杆组31杆身上延伸设置有调节杆311，调节杆311长度方向与第二杆组31长度方向平行，调节杆311上设置有调节通孔3111，第二调节杆212杆端与连杆2121形成移动副，同时连杆2121与调节通孔3111铰接。上述的可调方式其他方式也是可行的，只要使得该矫正器结构紧凑，布局合理，均是可行的。Specifically, the first adjusting rod 211 is provided with connecting holes 2111 at intervals in the length direction, the second adjusting rod 212 is provided with a pin shaft and the connecting hole 2111 to form a hinge, and the shaft body of the second rod group 31 is extended with Adjusting rod 311, the length direction of the adjusting rod 311 is parallel to the length direction of the second rod group 31, the adjusting rod 311 is provided with an adjusting through hole 3111, the rod end of the second adjusting rod 212 forms a moving pair with the connecting rod 2121, and the connecting rod 2121 and The adjustment through hole 3111 is hinged. The above-mentioned adjustable method and other methods are also feasible, as long as the orthotic has a compact structure and a reasonable layout, all are feasible.
为实现四指与手掌弯折幅度的微调，所述第二杆组31包括与近指搭板30铰接的第一连接杆312以及与滑块50铰接的第二连接杆313；In order to realize the fine-tuning of the bending range of the four fingers and the palm, the second rod set 31 includes a first connecting rod 312 hinged to the proximal finger strap 30 and a second connecting rod 313 hinged to the slider 50;
为实现第二杆组31长度调整后的固定，将所述第二连接杆313设置成管状，第二连接杆313沿其管长方向设置有开口，第一连接杆312插置在第二连接杆313的管口内，第二连接杆313的开口两侧设置有紧固螺栓314，通过紧固螺栓314及开口构成卡箍状结构，进而实现第一连接杆312与第二连接杆313的固定。当然上述的可调方式中，其他等效调节的方式都是合理的。In order to realize the fixation after the length adjustment of the second rod group 31, the second connecting rod 313 is arranged in a tubular shape, and the second connecting rod 313 is provided with an opening along its tube length direction, and the first connecting rod 312 is inserted in the second connecting rod 313. In the nozzle of the rod 313, fastening bolts 314 are arranged on both sides of the opening of the second connecting rod 313, and the clamp-like structure is formed by the fastening bolts 314 and the opening, thereby realizing the fixing of the first connecting rod 312 and the second connecting rod 313. . Of course, among the above-mentioned adjustable methods, other equivalent adjustment methods are all reasonable.
为适配不同康复患者的手型，所述近指搭板30的长度可调，近指搭板30上延伸设置有调节板32，调节板32与支撑板10铰接，所述近指搭板30上设置有插接孔，调节板32上向近指搭板30插接孔方向延伸设置有插接杆321，近指搭板30外设置有锁紧螺栓33用于锁紧插接杆321。In order to adapt to the hand shapes of different rehabilitation patients, the length of the proximal finger strap 30 is adjustable, and an adjustment plate 32 is extended on the proximal finger strap 30, and the adjustment plate 32 is hinged with the support plate 10, and the proximal finger strap is 30 is provided with an insertion hole, and the adjustment plate 32 is provided with an insertion rod 321 extending toward the insertion hole direction of the proximal finger strap 30, and a locking bolt 33 is provided outside the proximal finger strap 30 for locking the insertion rod 321 .
所述滑块50上设置有支耳与连杆51的一端铰接，连杆51的另一端与曲柄52铰接，曲柄52与手柄杆53或者电机转轴连接，手柄杆53或者电机驱动曲柄52转动。Described slide block 50 is provided with lug and one end of connecting rod 51 is hinged, and the other end of connecting rod 51 is hinged with crank 52, and crank 52 is connected with handle bar 53 or motor shaft, and handle bar 53 or motor drives crank 52 to rotate.
所述驱动机构连接的动力源应为往复运动形式且速度不宜过快，先适应整体机构的活动范围，在每2秒一个往复运动或者更慢的速度最始。所述驱动机构和所述8杆机构应当相适应，在不会产生过关节运动的条件下相互配合，完成训练。The power source connected to the driving mechanism should be in the form of reciprocating motion and the speed should not be too fast, first adapt to the range of motion of the overall mechanism, and start at a reciprocating motion every 2 seconds or at a slower speed. The driving mechanism and the 8-bar mechanism should be adapted to cooperate with each other to complete the training without excessive joint movement.
较为关键的远指搭板20及近指搭板30表面应为一层织物材料或者其他软材料，使手掌放在上面训练时不直接接触指节零件本身，也减少挤压现象的发生，手指固定物也应为粘扣等软材料。More critically, the surface of the far finger strap 20 and the proximal finger strap 30 should be a layer of fabric material or other soft materials, so that the palm of the hand does not directly contact the knuckle itself when training on it, and also reduces the occurrence of extrusion. Fixtures should also be soft materials such as Velcro.
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only includes an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848706.2ACN106344346B (en) | 2016-09-23 | 2016-09-23 | Four refer to rehabilitation training apparatus for correcting |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848706.2ACN106344346B (en) | 2016-09-23 | 2016-09-23 | Four refer to rehabilitation training apparatus for correcting |
| Publication Number | Publication Date |
|---|---|
| CN106344346Atrue CN106344346A (en) | 2017-01-25 |
| CN106344346B CN106344346B (en) | 2018-09-25 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610848706.2AActiveCN106344346B (en) | 2016-09-23 | 2016-09-23 | Four refer to rehabilitation training apparatus for correcting |
| Country | Link |
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| CN (1) | CN106344346B (en) |
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|---|---|---|---|---|
| CN107184370A (en)* | 2017-07-12 | 2017-09-22 | 合肥工业大学 | A kind of hand the five fingers rehabilitation training apparatus for correcting |
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| CN203749796U (en)* | 2014-03-21 | 2014-08-06 | 李倩 | Finger stall for little finger rehabilitation training |
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| US20030073939A1 (en)* | 2001-02-23 | 2003-04-17 | Taylor Robin L. | Continuous passive motion apparatus |
| CN203777261U (en)* | 2014-01-15 | 2014-08-20 | 张晓云 | Hand metacarpal finger rehabilitation exercise device |
| CN203749796U (en)* | 2014-03-21 | 2014-08-06 | 李倩 | Finger stall for little finger rehabilitation training |
| CN204521434U (en)* | 2015-01-13 | 2015-08-05 | 常州市建本医疗康复器材有限公司 | A kind of human body recovery training mechanical arm |
| CN206315258U (en)* | 2016-09-23 | 2017-07-11 | 合肥工业大学 | Four refer to rehabilitation training apparatus for correcting |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107184370A (en)* | 2017-07-12 | 2017-09-22 | 合肥工业大学 | A kind of hand the five fingers rehabilitation training apparatus for correcting |
| CN107184370B (en)* | 2017-07-12 | 2023-03-24 | 合肥工业大学 | Hand five-finger rehabilitation training and correcting device |
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| CN106344346B (en) | 2018-09-25 |
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