A therapeutic bracelet includes a strip of elastomeric material that defines an interior surface, an exterior surface, and a plurality of finger holes extending through the strip. The strip of elastomeric material is configured to be positioned over an operative hand of a user and to be worn around a wrist of the user. Upon periodic removal of the therapeutic bracelet from the wrist, the user inserts one or more digits in the finger holes from the interior surface and stretches the therapeutic bracelet with a thumb of the operative hand or with an opposite hand. A method of using the therapeutic bracelet to alternately strengthen and stretch the operative hand is also provided. The bracelet may also be used for supporting the wrist in an ergonomically correct position; and, when turned inside out, for massaging sore or injured muscles.

A control system and method for an exoskeleton is provided. The control system utilizes the admittance control paradigm to provide a system and method for manipulating the exoskeleton using minimal force from the user. A force/torque sensor and servo motors are fitted onto a passive arm support, enabling motorized support for a user with upper extremity weaknesses. The exoskeleton may be used on any extremity. The admittance control paradigm includes an impedance control and an admittance control to allow a user with upper extremity weakness and limited independence to intuitively and with minimal force control the precise trajectory of their arms to achieve a greater degree of independence in activities of daily living. Unlike existing passive arm supports that utilize springs or rubber bands to balance the user's arm against gravity, this system provides more precise gravity compensation and minimizes the amount of force required to control the exoskeleton.

A wrist joint actuating structure of a hand rehabilitation device includes a palm orthosis body, a forearm orthosis body and a joint unit. The palm orthosis body includes a plurality of finger support rods and a thumb support rod. The joint unit is a universal joint and is connected between the palm orthosis body and the forearm orthosis body. The palm orthosis body can be turned an angle relative to the forearm orthosis body through actuation of the joint unit according to the bending degree of a user's wrist joint. A tension adjustment unit includes elastic members connected to the finger support rods and the thumb support rod. According to the different stretching tensions required by the fingers or the thumb for rehabilitation, the respective lengths of the other ends of the elastic members to be pressed by a fixing seat are adjustable, so as to adjust different stretching tensions.

A haptic device is disclosed comprising at least one fluidic actuator operatively connectable with pumping means; and a plurality of movable members mechanically connected with said at least one fluidic actuator, wherein said movable members can perform a displacement upon actuation of the fluidic actuator and/or resist the movements of a body part of a user upon actuation of the fluidic actuator, to provide a tactile and/or force haptic sensation to a body part of a user. Methods for providing a haptic sensation to a user and receiving haptic input commands from a user are also disclosed.

A wearer is made to judge, based on a detection result by a signal detection unit, either one of an opposition movement, an adduction movement, a flexion movement, and an extension movement of a thumb; and a linear member drive unit is controlled to pull or relax each linear member corresponding to the judged movement in order to cause the thumb's intrinsic muscles and/or extrinsic muscles, which are required for the judged movement, to generate an assist force.

A power assistive device (100) for hand rehabilitation that provides training of a combined movement of finger flexion-extension and forearm supination-pronation to a user. The power assistive device (100) includes a hand brace (102) and a base (104). The hand brace (102) includes finger driving units (206) that adjustably connect to a platform (202, 204), actuators (208) that connect to the finger driving units (206), and force sensors (232) that connect to the finger driving units (206) and the bottom of the hand brace (102) and detect force signals generated by movement of the hand brace (102). The base (104) removably connects to the hand brace (102) and includes a supporting structure (302), a forearm rotator (110) that includes C-shaped tracks (314, 316) formed along an inner circumferential surface, a rotatable platform (306) that moves along the C-shaped tracks (314, 316), a mounting platform (308) that connects to the rotatable platform (306), and an electromyography (EMG) sensor (402A-402B) that attaches to the upper arm or forearm of the user and senses EMG signals generated by the user.

A tension adjustment structure of a hand rehabilitation device includes a palm orthosis body, a forearm orthosis body, and a tension adjustment unit. The palm orthosis body includes a plurality of finger support rods and a thumb support rod. The forearm orthosis body includes a fixing seat. The tension adjustment unit includes a plurality of elastic members. First ends of the elastic members are connected to the finger support rods and the thumb support rod, respectively. Second ends of the elastic members are connected to the fixing seat. The elastic members are adjustable to generate different stretching tensions by adjusting respective lengths of the second ends of the elastic members to be secured to the fixing seat.

The present invention relates to a device for assisting body movement, comprising: a pulley for winding or unwinding a wire for moving a specific body between a first position and a second position; a motor for rotating the pulley forward or backward to wind the wire on or unwind the wire from the pulley; and a stopper portion for restricting winding or unwinding of the wire so that the specific body does not move out from between the first position and the second position, wherein the stopper portion comprises: a pulley hook that protrudes to form a swing trajectory on one side of the pulley; and a stopper formed to have a predetermined arc length along the swing trajectory of the pulley hook and provided with a stopper track to which the pulley hook is movably coupled.

A rehabilitation device includes a first support unit adapted to support palms of a rehabilitation patient; a second support unit which is provided in one side of the first support unit and adapted to support fingers of the rehabilitation patient; a driving unit which moves the second support unit toward a direction of a back of a hand of the rehabilitation patient; and a joint unit which allows the first support unit to be tilted as the second support unit moves.

A exoskeleton finger rehabilitation training device comprises an exoskeleton finger rehabilitation training mechanism comprising a supporting base, a finger sleeve actuating mechanism, and a finger joint sleeve connected to a power output end of the finger sleeve actuating mechanism, wherein the finger joint sleeve can be sheathed at the periphery of a finger joint to be rehabilitated, and the finger joint sleeve can be driven by the power actuation of the finger sleeve actuating mechanism to drive the finger joint to be rehabilitated in order to passively bend or stretch; the supporting base comprises a profiled shell, with an inner surface of the profiled shell being configured based on the profile of the complete back of a palm or part of the back of the palm, and with the back of the profiled shell being provided with a power fixed base.