A lower support type rehabilitation device for fingers is disclosed. It comprises a cover plate having a hand covering portion and a plurality of through holes; a plurality of finger supports disposed to the hand covering portion, each having a first finger base, a second finger base pivotally connected to the first finger base, two side arms and a beam disposed on the first finger base; and a traction device disposed on the hand covering portion and having a first processing module, a plurality of driving modules electrically connected to the first processing module, a plurality of pulling ropes connected to the plurality of driving modules and a plurality of pressure sensors electrically connected to the first processing module, wherein each of the plurality of pulling ropes passes through one of the plurality of through holes for fixing to the beam of the first finger base.

A hand orthotic configured to provide torque assistance with multiple degrees of freedom, including the flexion of the pinky, ring, middle, and index fingers, as well as providing torque assistance for the flexion and abduction of the thumb. The hand orthotic including a hand interface, a control module including at least a first driver and a second driver, and a plurality of cables including at least a first cable operably coupling the first driver to a thumb portion of the hand interface and a second cable operably coupling the second driver to the thumb portion of the hand interface, wherein the first drivers configured to provide an augmented abduction motion to the thumb portion and the second drivers configured to provide an augmented flexion motion to the thumb portion.

A corrugated tube includes a hollow tube formed of several crests and several troughs connected alternately. The middle of an end face of a tail end of the corrugated tube is provided with a boss; and both a first section of a head end and a last section of a tail end of the corrugated tube are crests, with the width of both the crest of the first section of the head end and the crest of the last section of the tail end being greater than the thickness of the corrugated tube, preventing the tail end and the head end of the corrugated tube from collapsing inwards when the air pressure in the corrugated tube decreases.

A finger joint rehabilitation device comprising: at least one of an index finger joint rehabilitation exercise aid part, a middle finger joint rehabilitation exercise aid part, a ring finger joint rehabilitation exercise aid part, a little finger joint rehabilitation exercise aid part and a thumb joint rehabilitation exercise aid part; at least one corrugated tube; one protective brace fixed on a wrist and a palm; and the index finger joint rehabilitation exercise aid part, the middle finger joint rehabilitation exercise aid part, the ring finger joint rehabilitation exercise aid part, the little finger joint rehabilitation exercise aid part and the thumb joint rehabilitation exercise aid part are all provided with the corrugated tube and are all fixed on the protective brace.

An orthotic device includes an upper arm section for receiving an upper portion of an arm of a subject, a forearm section for receiving a forearm section of the arm, and at least one elbow joint rotatably coupling the upper arm section and the forearm section. In the orthotic device, the forearm section includes a release control operatively coupled to the at least one elbow joint, where the release control is configured to transition the at least one elbow joint from a restricted motion state to a free motion state when the release control is activated.

The present invention discloses a multifunctional hand rehabilitation training device comprising robotic fingers, palm rods, a robotic wrist and a power control system: the robotic fingers correspond to human fingers. Each robotic finger comprises knuckles. Adjacent knuckles are hinged with a single degree of freedom to form a finger joint. Each finger joint is provided with a first servo motor which drives the knuckles to rotate about the hinge axis. Each knuckle is provided thereon with a collar for fitting over the knuckle of a human finger. The STM32F107VC under the ARM-Cortex-M3 architecture is used as the main controller. The main controller implements the acquisition of signals fed back by a fingertip outer side pressure sensor, a fingertip inner side pressure sensor and a linear sensor embedded in the first servo motor, the second servo motor, the third servo motor and the fourth servo motor. The finger abduction force detection sensor of the present invention detects the pressure on the outer side surface of a finger when the finger is stretched, and is used for detecting the motion intention of a patient to actively stretch the finger.

A method for exercising a joint and a limb including the following: preventing movement of an exercise device actuation member in a first direction unless force exerted by the limb against the actuation member is equal to or greater than a predetermined first target force; permitting movement of the actuation member in the first direction at a first predetermined speed when force exerted by the limb against the actuation member is equal to or greater than a predetermined first target force; preventing movement of the actuation member in a second direction unless force exerted by the limb against the actuation member is equal to or greater than a predetermined second target force; and permitting movement of the actuation member in the second direction at a second predetermined speed when force exerted by the limb against the actuation member is equal to or greater than a predetermined second target force.

A finger exoskeleton robot includes a support plate, at least one finger mechanism, and a temperature control system. Each of the finger mechanisms includes a plurality of finger sleeves and joint drivers. The sleeves of the finger mechanism are sequentially arranged at a distance and configured to be correspondingly worn on a plurality of knuckles of the user's fingers. Every two finger sleeves adjacent to each other of the finger mechanism are connected by one joint driver. The support plate and one of the finger sleeves closest to the support plate are connected by one joint driver. The joint driver is switched between a flat state and a curved state when the temperature of the joint drivers is higher than or lower than a phase change temperature value. A temperature control system is electrically connected to the respective joint drives and respectively controls the temperature of the joint drivers.

An assist garment worn on a part of a human body includes a plurality of garment-fitting actuators that are placed linearly along at least one end portion of a garment body and driven to extend and contract, a plurality of assisting actuators that are placed linearly on the garment body to cross the fitting actuators and driven to extend and contract, and a controller that individually controls the drive of the assisting actuators and the drive of the fitting actuators.

Provided is a force conveyance system that is configured to have 6 degrees of freedom, thereby allowing freedom of movement such as opening/closing of a hand and adduction/abduction of a finger and reflecting a desired force to a fingertip without obstructing the movement of a finger. Also, the force conveyance system may estimate a fingertip position and a finger joint angle, measure a finger movement, and convey a more accurate force accordingly.