CN105960226A - Therapy device for training fine motor skills - Google Patents

Abstract

A therapeutic device (20) includes a first handle (28) for thumb attachment, the first handle (28) configured to guide the movement of the thumb around a first center (127), a second handle (30) with Attached to at least one of the remaining four fingers, the second handle (30) is configured to guide at least one of the remaining four fingers to move around the second center (131), and one or more first handles (28 ) and the second handle (30) are connected to a drive unit (24) to guide the two handles (28, 30) to open or close around the two centers (127, 130), respectively.

Description

Therapy equipment for training fine motor skills

The present invention relates to a therapeutic device for training fine motor skills, and to methods of manufacturing, assembling, disassembling, installing, configuring, setting and using the therapeutic device. The device is also known as a hand movement therapy device, dexterity therapy device, robot, or haptic device.

Stroke and cerebral palsy patients often suffer from motor impairments that greatly jeopardize their daily life. However, patients receiving systemic therapy can significantly improve and even recover some motor skills, especially when treated immediately after a neurological injury such as a stroke. If the treatment intensity, time and frequency are sufficient and the treatment is accurate, the treatment effect can be further improved.

Currently, most healthcare facilities lack qualified occupational therapists and physical therapists to meet the needs of people (patients) with neurological deficits in fine motor skills. Repetitive and continuous treatment places such a heavy financial and human burden on these medical institutions that most patients are undertreated.

The present invention provides a new, inventive and useful therapeutic device for training a patient's fine motor skills. The independent claims describe the essential technical features of the invention, while the dependent claims describe additional technical features. In the present invention, the therapeutic device is also called a flexibility therapeutic device, a tactile therapeutic device, a tactile ball, a therapeutic robot or a tactile robot. This patent application claims priority to United States Provisional Patent Application No. US 61/891,959, filed October 17, 2013, with the United States Patent Office, the entire contents of which are incorporated herein by reference.

Embodiments of the present invention provide a therapeutic device that can guide the independent or coordinated closing or opening of the fingers of a hand. The device enables two or more handles of the device to be rotated about different centers or axes of rotation without causing the fingers to close or open along paths along a common axis of rotation. Thus, the thumb and remaining fingers can follow a motion path that mimics the natural movement of a healthy hand, facilitating effective healing.

In fact, either of the two handles may include multiple sensor-attached brackets. The patient can thus use the therapy device like a glove, while each immobilized finger can be individually trained and monitored. The treatment device can be further connected with sensors to monitor blood circulation, body temperature, and electrical signals from the patient's hands, skin, other body parts or head, so as to adjust the treatment plan according to the patient's recovery status.

And because the embodiment of the present invention can promote finger and wrist joint movement, this medical device can simulate various hand movements more comprehensively, such as forearm supination and supination, palm ulnar radial deviation, wrist flexion and extension, finger Hyperextension, extension and flexion, and hand abduction and adduction. Since the treatment equipment can be installed on a vertical pole to adjust its height and attached to a pole to move the whole treatment equipment, the patient's fingers, palms, hands, wrist joints and shoulders can be exercised at the same time.

Embodiments of the present invention provide a simple, compact, safe and cost-effective therapeutic device for assessing and training a patient's upper extremity motor function. Patients here include those suffering from stroke, spinal injuries, cerebral palsy, multiple sclerosis, and other sensorimotor disorders. Although this device was introduced for neurorehabilitation, it could also be used to provide tactile feedback and control in telesurgery, as an interface for robotic surgery, and to study operant sensorimotor mechanisms and operant learning.

The device can be used alone to train hand opening/closing and forearm pronation/supination, or it can be combined with other devices to train more motor functions. For example, the device can be combined with a sliding mechanism to train hand opening/closing, forearm pronation/supination, and arm extension movements. A combination of two such devices can be used for bimanual training. The therapeutic device can be made of lightweight materials (such as aluminum alloy or high-density plastic material), providing a wearable device so that patients can use the therapeutic device to provide both therapy and assistance with hand activities of daily living.

The therapeutic device may also include a third handle for attachment of a finger, the third handle being connected to the third center of rotation. In other words, multiple fingers of one patient can be treated at the same time, depending on the patient's or therapist's request. Alternatively, the therapeutic device may also include a fourth handle to which a finger may be attached. The fourth shank connects to the fourth center of rotation.

The therapeutic device may also include five handles to which five fingers are respectively attached. The five shanks are respectively connected to the five rotation centers. In the present invention, any two or more handles or their centers of rotation can be shared or combined for more flexible use.

One or more handles may be configured or designed to drive one or more fingers with a force of approximately 54 Newtons to 153 Newtons, measured through the handle end. Since patients may have muscle weakness or inability to control their fingers, extrinsic drive can provide active movement of the fingers for rapid recovery. If desired, these handles can be passively actuated by the patient so that the actuation force from the patient's fingers can be monitored. When needed, these handles can also apply slight resistance (for example, about 32 Newtons) consistently, intermittently or gradually, so as to design a more appropriate treatment plan to meet the specific treatment needs of the patient.

The present invention also provides a therapy station for training fine motor skills. The treatment station consists of two or more such treatment devices so that both hands of the patient can be trained simultaneously. In particular, the two therapeutic devices can be oriented differently to suit the patient's natural posture. In fact, the orientation of the treatment device can be flexibly adjusted for patient comfort and convenience. For example, the therapeutic device can be mounted on the floor, on the ceiling, on a side wall or on a table.

Accompanying drawing (Fig. 1-8) is used for explaining the embodiment of the invention and explaining the working principle. However, it should be understood that these drawings are only for the purpose of explanation, and do not constitute a limitation of the present invention.

Figure 1 is a perspective view of a therapy device for training fine motor skills;

Fig. 2 is a drive unit for hand opening and closing;

Fig. 3 is a perspective view of a cam mechanism;

Fig. 4 is the top view of a guide plate;

Fig. 5 is an exposed handle of the treatment device;

Fig. 6 is the handle with cushion and sling installed;

Fig. 7 is the rotating unit that forearm rotates; And

Fig. 8 is an arm support unit of the treatment device.

Typical, non-limiting embodiments of the present invention will be described below with reference to the above-mentioned drawings. These embodiments may contain the same or similar components having the same or similar functions, and these similar components may be labeled with the same or similar reference numerals or numerals. Wherever relevant are therefore incorporated by reference into the description of the same or similar parts.

Figures 1-8 relate to an embodiment. In particular, FIG. 1 is a perspective view of a therapeutic device 20 for training fine motor skills. According to FIG. 1 , the treatment device 20 consists of a support frame 22 , a drive unit 24 , a swivel unit 26 , two handles 28 , 30 and an arm support unit 32 . The drive unit 24, the hand rotation unit 26, the two handles 28, 30 and the arm support 32 are mounted on the support frame 22 for operation. The drive unit 24 in turn includes a cam mechanism 40 further illustrated in FIGS. 2-4 , which is also referred to as a cam follower mechanism 40 .

FIG. 1 also shows some parts of the support frame 22 which is used to carry other components of the treatment device 20 . The support frame 22 includes a first rail 42, a second rail 44, a first post 46 and a second post. The first rail 42 and the second rail 44 are longitudinally parallel to provide a base 50, and the two legs 46, 48 are also parallel to each other. The first strut 46 and the first rail 42 are perpendicular and connected to each other at their ends. Likewise, the second rail 44 is positioned horizontally on the table top, and a second leg 48 is erected at the end of the second rail 44 at right angles to the table top. The struts 46,48 have three independent beams 52,54,56 connected to them 46,48. The two rails 42, 44 have two tie rods 58, 60 also connected to them. The support frame 22 forms a precise assembly that provides predetermined positions and orientations for the various components or components of the therapeutic device 20 . The Pronation/Supination module can be used separately from the Hand Extension module. For example, it can be installed on existing robots for arm rehabilitation training to achieve arm and hand rehabilitation.

Fig. 2 is the driving unit 24 used for arm opening and closing, this driving unit 24 includes an end plate 62, a chassis 64, a first stepping motor 66, a sliding assembly 68, a cam mechanism 70 and an end rod 72. The drive unit 24 also includes a first load cell amplifier 73 and a second load cell amplifier 75 , as shown in FIG. 1 . A first load cell amplifier 73 is bolted to the first rail 42 and a second load cell amplifier 75 is attached to the second rail 44 in a corresponding position. Components of the cam mechanism 70 are omitted from FIG. 2 , but are illustrated in FIGS. 1 and 3 .

The chassis 64 has two L-shaped narrow panels 74 , 76 , a first narrow panel 74 and a second narrow panel 76 . The planar surfaces of the two narrow plates 74, 76 face parallel to each other. Also, the end plate 62 is clamped between the upper ends 78 , 80 of the two narrow plates 74 , 76 , while the end plate 72 is secured between the lower ends 82 , 84 of the two narrow plates 74 , 76 . The two upper ends 78 , 80 are located opposite the two lower ends 82 , 84 . One end plate 62 is secured to a first pulley 86 via a first shaft 88 . The first shaft 88 provides an axis of rotation 88 in the longitudinal direction of the forearm 202 or the two rails 42 , 44 . The chassis 64 also has a middle plate 90 connected between the two narrow plates 74 , 76 , so that the middle plate 90 provides a plane for installing the first stepper motor 66 . A transmission shaft 92 protrudes opposite the middle plate 86 to connect with a second pulley 94 (not shown).

Slide assembly 68 includes (fixed) end rod 72 , moving end rod 96 , bearing frame 98 , adjustment screw 100 and several set screws 102 . The bearing frame 98 in turn includes a first strip 104 and a second strip 106 that are parallel to each other. The first strap 104 and the second strap 106 are attached to the first narrow board 74 and the second narrow board 76, respectively. In particular, the two strips 104, 106 are secured to the narrow plates 74, 76 by fastening screws 102 so that the sliding assembly 68 can move horizontally along the narrow plates 74, 76 over a distance of about 10 mm.

FIG. 3 is a perspective view of the cam mechanism 70 of the drive unit 24 , although FIG. 2 only shows certain components of the cam mechanism 70 . In detail, the cam mechanism 70 includes an anchor rod 108 , a first flat bar 110 , a second flat bar 112 and a guide plate 114 (also referred to as a cam) movably coupled together. The fence 114 also includes a first arm 116 and a second arm 118 extending from its center of rotation (axis) according to the predetermined geometry of the fence 114 . The pattern of the two arms 116, 118 can be seen more clearly from FIG. FIG. 4 is a top view of the cam mechanism 70 . The cam guide profile 112 is uniquely defined by a set of constraints such as initial hand angle, hand range, cam range, and force transfer between the cam and follower 128 .

3 and 4, the first arm 116 has a first cam groove 122 along its edge and the second arm 118 has a second cam groove 124 along its edge. The two cam grooves 122, 124 have their radial axes (not shown) opposite the center of rotation. Both the first cam groove 122 and the second radial groove 144 are along the planar cam 114 . These cam slots 122, 144 follow predetermined curves so that drive from the motor can be transferred to the hand or from the hand to the motor (called "reversible" or non-automatic locking). The cam slots 122, 144 also provide accurate clearance between the sides of the cam slots 122, 144, respectively, and the edge of the driven wheel. Therefore, the driven wheels can slide smoothly in the cam grooves 122,144. The sides of the cam grooves 122, 144 are vertical (ie perpendicular to the ground of the cam grooves 122, 144, respectively) and parallel to the rotation axis of the drive wheel.

The first flat bar 110 has a first rotation pin 126 and a first guide pin 128 at opposite ends thereof. The first rotation pin 126 is inserted into the first rotation center/hole 127 of the anchor rod 108 so that the first flat bar 110 can rotate around the first rotation pin 126 . On the contrary, the first guide pin 128 is inserted into the end of the first flat bar 110 and the first cam groove 122 . Therefore, the constant-speed rotational motion of the guide plate 114 can be transformed into a constant-speed rocking or undulating motion of the first flat bar 110 . The profile of the cam 114 can be obtained by defining the relationship between the rotational movement of the guide plate 114 and the rocking or undulating movement of the first flat bar 110 . The angle of attack of the guide plate 114 and the roller is defined by the tangent of both (the roller and the cam), with the point of contact between the two as the origin. The desired range of motion (ROM) of the guide plate 114 is within 180°, corresponding to a 90° range of motion for opening and closing the hand.

Likewise, the second flat bar 112 has a second rotation pin 130 and a second guide pin 132 at its opposite end. The second rotation pin 130 is inserted into the second rotation center/hole 131 of the same anchor rod 108 so that the second flat bar 112 can rotate around the second rotation pin 130 . On the contrary, the second guide pin 132 is inserted into the end of the second flat bar 112 and the second cam groove 124 . Thus, the rotational motion of the guide plate 114 can be converted into a rocking or undulating motion of the second flat bar 112 together with the movement of the first flat bar 110 .

The lower surface of the guide plate 114 is connected with a cam shaft 134 (not shown in the figure), and is further attached to the rotation center 120 . The camshaft 134 is inserted into a bearing (not shown) mounted on the bearing frame 98 . . The camshaft 134 passes both through the bearing and through the bearing frame 98 and is further fixed on the third pulley 136 . According to FIGS. 1-3 , the third pulley 136 is coupled to the second pulley 94 via a first belt 138 .

FIG. 5 shows an exposed handle 30 of the therapeutic device 20 . The treatment device has two such handles 28, 30 mounted on two flat bars 110, 112, respectively. The exposed handle 28 is the second handle 28 attached to the second flat bar 112 . The first handle 30 has similar components and structure as the second handle 30 .

The exposed handle 30 has a stand 144 and a handle plate 146 . The handle plate 146 is fastened by screws through several rods, so that the handle plate 146 can follow the rotation of the second flat bar 112 . The handle plate 146 has a generally rectangular shape so that the longitudinal edge on one side of the handle plate is generally aligned with the longitudinal axis of the second flat bar 112 .

Figure 6 shows the handle 30 with load cells 148-152 installed. The load cells 148 - 152 include a first load cell 148 , a second load cell 150 , and a third load cell 152 . A load cell is a sensor used to convert force into an electrical signal, also known as a force sensor or simply a sensor. In detail, the stand 144 has a top strain gauge rod 154 and a bottom strain gauge rod 156 which are located opposite the handle plate 146 . The first and second load cells 148 , 150 are glued to the top strain gauge bar 154 , while the third load cell 152 is glued to the bottom strain gauge bar 156 . Cables (not shown) connect the load cells 148-152, load cell amplifiers 73, 75 and motors 66, 164 to an external data logger (not shown) and computer (not shown) for control or data logging.

The handle 30 also has a first strap 158 , a second strap 160 and a cushion 162 . The two straps 158, 160 are connected to the opposite side of the handle plate 146 and are parallel to each other. The pad 162 is pasted on one broad side of the handle plate 146 .

Figure 7 is a rotation unit 26 for forearm rotation training in supination or pronation. The rotating unit 26 includes a second stepping motor 164 and a second transmission belt 166 . A second drive belt 166 connects the driven shaft (not shown) of the second stepper motor 164 to the first pulley (visible only in FIG. 2 ).

FIG. 8 shows an arm support unit 32 of the treatment device 20 . The arm rest unit 32 includes a padded armrest 168 , a stand 170 and two arm slings 172 , 174 . The padded arm rest 168 has a channel-shaped panel 176 (not shown) wrapped with foam 178 . The support 170 has a threaded bolt (not shown) for controlling the padded arm rest 168 at the bottom so that the height of the padded arm rest 168 (i.e. the vertical distance from the bottom surfaces of the two rails 42, 44) can be adjusted. ). The stand 170 also has a lever 180 for locking or releasing the stand 170 from the two rails 42,44. The two rails 42, 44 and the two struts are constructed of aluminum columns. The two straps 172 , 174 are made of Velcro (nylon zippers), comprising a first strap 172 and a second strap 174 evenly distributed in the longitudinal direction of the padded armrest 168 . Other fixation mechanisms may also be substituted.

Functionally, the cam mechanism converts the rotary motion of the first stepper motor 66 into two linear motions of the two handles 28, 30, respectively. The specific curvature of the cam grooves 122, 124 on the guide plate 114 determines the opening and closing path. Since each cam slot can independently determine the path, the cam slots can follow different cam or radial curves depending on the treatment needs. The Hand Opening Module (including the Cam Module) can be detached from our setup and used alone or as part of another therapy device.

The handles 28, 30 are used to guide the movement of the patient's fingers. The handles 28, 30 may actuate, assist, or resist movement of the patient's fingers or palms. For example, a coil spring can be mounted between the handles so that closing of the handles encounters resistance to train the grip of the patient's hand or fingers.

Anchor 108 provides two additional centers of rotation for closing or opening the hand. In other words, since the first flat bar 110 is allowed to rotate around the first center of rotation 127, while the second flat bar 112 is allowed to rotate around the second center of rotation 131, one of the thumbs fixed to the first handle 28 and the other are fixed at the second center of rotation. The fingers on the two handles 30 have different centers of rotation. Thus, the two independent centers of rotation 127, 131 can provide more ergonomic or natural movement of the opening and closing of the hands.

The support frame 22 supports the components of the therapeutic device 20 in suitable positions, distances and angles. The support frame 22 also provides a stable platform to prevent movement of the treatment device when receiving the patient's arm. In fact, the support frame 22 can be fixed on a vertical rail (not shown), so that the entire treatment device 20 can be raised or lowered to suit various patient height requirements. In fact, it can be mounted on the first and second rails 42, 44 to allow linear movement in the longitudinal direction of these two rails 42, 44, so that the patient's arms can also move.

Alternatively, in embodiments of the invention, components of the treatment device may be removed from one such treatment device and installed on another. The components of the therapeutic device that provide pronation or supination (as shown in Figure 2) can be operated independently without the involvement of the hand opening or closing components. In other words, the Hand Opening Module (the component that the device uses to open or close the hand) and the Hand Pronation or Supination module (the component that the device uses to pronate or supinate the hand) are both Can be activated individually or in combination to provide the therapist or patient more choice or flexibility.

Also, the cam mechanism 40 may be replaced with one or more other drive mechanisms. For example, any of handles 28, 30 may incorporate levers, transmissions and gear trains, belts and chain drives, cable transmissions, cam and follower mechanisms, linkages, or friction devices such as brakes and clutches. ) causes the two handles 28, 30 to move independently or in coordination. For example, the guide plate 114 may comprise two separate parts, each having a guide slot. These two components can be actuated independently to move the thumb or the other four fingers.

Either handle 28, 30 may be used with or replaced by a hand rehabilitation glove whose fingers are individually measured or actuated. The hand rehabilitation glove can also receive the rotational motion of the wrist joint, simulating various hand movements.

Stepper motors 66 , 164 provide driving force for moving handles 28 , 30 . These two stepper motors 66, 164 provide both the closing or opening motion and wrist rotation. These two movements can be achieved individually or simultaneously, simulating the natural movement of a healthy hand. Therefore, the two stepper motors can be replaced by a single motor or multiple motors.

A method of using therapeutic device 20 is as follows. Before operation, the padded armrest 168 is rotated about the support 170 to adjust its height. Moving the support 170 along the two rails 42, 44 finds the optimum position for the length of the patient's forearm. The computer, data logger, drive unit 24 and swivel unit 26 are turned on.

When the device is in operation, the patient extends his right arm 202 into the treatment device 20 so that his forearm rests on the foam 178, and then inserts his fingers (not shown) into the space between the two slings 158, 160 and the cushion 162. In the void. In addition, the index finger, middle finger, ring finger and little finger (not shown) are put into the second handle 30 (see FIGS. 1 and 3 for details), and the thumb is put into the first handle 28. The patient's left hand then fastens the straps 158 , 160 , 172 , 174 so that the right arm 202 is secured to the elbow rest 168 .

According to the treatment plan, the first stepper motor 66 rotates at a predetermined speed of 12 revolutions per minute. The second pulley 94 rotates when the drive shaft 92 of the first stepper motor 66 rotates. The first belt 138 pulls the second pulley 94 so that the third pulley 136 is also driven by the first motor 66 via the first belt 138 and the second pulley 94 . Since the guide plate 114 is connected to the third pulley 136 , when the driving unit 24 is driven, the guide plate 114 rotates around its rotation center 120 . The rotational movement of the guide plate 114 is translated into linear movement of the two flat bars 110,112 as the guide pins 128,130 move along and within the slots 122,124 of the two arms 116,118. Since the two handles 28, 30 are secured to the flat bars 110, 112 at the bottom, forward and backward rotation of the first stepper motor causes the two handles 28, 30 to open and close. Simultaneously, the second stepping motor 164 is also driven so that its drive shaft (not shown) rotates back and forth at about 50 degrees from its initial position according to a predetermined range. The second drive belt 166 transmits the rotational motion of the second drive shaft to the chassis 64 through the first pulley 86 so that the chassis 64 rocks sideways, which induces right wrist joint movement for therapeutic activities.

According to the treatment plan, the treatment device 20 displays the positions of the two handles 28, 30 on a computer screen (not shown). The target position, current position and initial position are represented by a graphical gauge on the screen so that patients receive visual feedback of their hand exercise activity. The amplitude of motion, the duration of the treatment, the frequency of the back and forth rotational movements and the rotational speed of the stepper motors 66, 164 can be adjusted according to the treatment plan.

When the treatment device 20 is assembled, the two rails 42, 44 and the two posts 46, 48 are provided by aluminum posts. Aluminum plates are also provided for the crossbars 52 , 54 , 56 and tie rods 58 . The two columns 46 , 48 are attached together in parallel on opposite sides by a first crossbar 52 and a second crossbar 54 . On the contrary, the two rails 42 , 44 are connected in parallel on the same plane (front side) by the first tie rod 58 and the second tie rod 60 . The columns 46, 48 are in turn connected to two rails 42, 44, respectively, which are further reinforced at the bottom end by a third cross bar.

The drive unit 24 is attached to the first shaft 88 such that the first shaft 88 passes through both the first crossbar 52 and the second crossbar 54 . The first slide 86 wheels are fixed between two cross bars 52,54. The load cell amplifiers 73, 75 are fixed on the first rail 42 and the second rail 44, respectively. Instead, the arm support unit is mounted on the two rails 42 , 44 via the mount 170 and the second tie rod 60 .

Both degrees of freedom (first pronation/supination and second hand extension/closure) have a tension adjustment mechanism that includes fasteners 100, 102 and other components 74, 76, 96, 98 . The tension adjustment mechanism can fine-tune the tension of the transmission belt to increase the smoothness of transmission and reduce the gap between the transmission belt and the gear.

In the present invention, unless specifically stated otherwise, the words "comprising", "including" and grammatical variants thereof represent "open" or "inclusive" language, so they include the listed elements but also include additional , elements not explicitly listed.

As used herein, the word "about", in the context of the components of the formulation concerned, generally means +/- 5% of the stated value, more usually means +/- 4% of the stated value, more usually means all +/- 3% of the stated value, more usually means +/- 2% of the stated value, even more usually means +/- 1% of the stated value, and even more usually means +/- 1% of the stated value -+/-0.5%.

Throughout this disclosure, certain embodiments may be disclosed in a range format. The description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the disclosure. Accordingly, the description of a range should be considered as specifically disclosing all possible subranges as well as individual values within that range. For example, a description of a range such as from 1 to 6 should be deemed to specifically disclose sub-ranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc. etc. and individual values within the range, eg, 1, 2, 3, 4, 5, and 6. This application is regardless of the breadth of the scope.

Obviously, those skilled in the art who have read the above disclosure can make various modifications and changes to the present invention without departing from the spirit and scope of the present invention, so all these modifications and changes should be included in the scope of the appended claims Inside.

reference number

20 treatment equipment

22 support frame

24 drive units

26 rotating units

28 first handle

30 second handle

32 arm support unit

40 cam mechanism

42 First track

44 Second track

46 First Pillar

48 Second Pillar

50 bottom

52 first crossbar

54 Second Crossbar

56 Third Crossbar

58 First tie rod

60 Second tie rod

62 end plate

64 Chassis

66 1st stepper motor

68 sliding assembly

72 end rod

73 First load cell amplifier

74 first narrow plate

75 Second load cell amplifier

76 first narrow plate

78 first upper end

80 second upper end

82 first lower end

84 second lower end

86 first pulley

88 First axis

90 medium plate

92 drive shaft

94 Second pulley

96 Move end rod

98 bearing frame

100 Adjusting screw

102 fastening screw

104 first strip

106 Second strip

108 Anchor 108

110 first flat strip

112 second flat strip

114 guide plate

116 First arm

118 second arm

120 Center of rotation

122 First cam groove

124 Second cam groove

126 First swivel pin

127 First rotation center

128 First guide pin

130 Second swivel pin

131 Second center of rotation

132 Second leader pin

134 camshaft

136 Third pulley

138 First drive belt

144 stand

146 hand (handle) board

148 First load cell

150 Second load cell

152 Third load cell

154 Top Strain Rod

156 Bottom Strain Measuring Rod

158 First Sling

160 Second Sling

162 mats

164 Second stepper motor

166 Second drive belt

168 Padded elbow rest

170 support

172 Primary arm sling

174 Second Arm Sling

176 channel plate

178 Foam

180 joystick

202 Right Arm

Claims (10)

1. Therapeutic equipment for training fine motor skills, the therapeutic equipment includes: a first handle (28) for attachment to the thumb of a hand, the first handle (28) being connected to the first center of rotation (127), and The second handle (30) is used to attach at least one finger among the remaining fingers of the hand, and the second handle (30) is connected to the second center of rotation (131); Wherein, the first handle (28), the second handle (30) or the two handles are all connected with the drive unit (24) for driving the two handles (28, 30) around the two rotation centers (127,131) rotate respectively. 2. The therapeutic device according to claim 1, characterized in that the drive unit (24) further comprises a cam mechanism (70) having arms (116, 118) having grooves (122, 124) ) is used to guide the movement of the first handle (28) or the second handle (30). 3. The treatment device according to claim 1 or 2, further comprising: a rotation unit (26) connected to at least one handle in the two handles (28, 30), the rotation unit being configured to guide the two handles At least one of the handles (28, 30) is rotated longitudinally (88) about the patient's forearm (202). 4. The therapeutic device according to claim 1, characterized in that at least one of the two handles (28, 30) includes at least one load cell (148, 150, 152) for monitoring force, acceleration, distance, temperature, or location. 5. Therapeutic device according to any of the preceding claims, characterized in that it comprises at least one electrical probe for carrying out discharge or current measurements on a patient using the therapeutic device (20). 6. A therapeutic device according to any preceding claim, further comprising a third handle for attachment of a finger of the hand, the third handle being connected to the third center of rotation. 7. The treatment device according to any preceding claim, further comprising: five handles (28, 30) to which five fingers are respectively attached, the five handles (28, 30) being respectively connected to the five centers of rotation (127, 131 ) are connected. 8. A therapeutic device according to any preceding claim, characterized in that at least one of the handles (28, 30) is configured to drive at least one finger with a force of about 50 Newtons to 150 Newtons. 9. A treatment station for training fine motor skills, comprising at least two of said treatment devices (20) according to any preceding claim. 10. The treatment station according to claim 9, characterized in that the two treatment devices (20) have different orientations.