SOFT ACTUATOR HAND AND WRIST REHABILITATION UNIT

Abstract

The invention relates to a wrist rehabilitation unit (1) for providing hand (E) rehabilitation. Accordingly, its novelty is that it includes at least one first flexible body (2) which expands upon the introduction of at least one fluid and contracts upon the discharge of the fluid, enabling the wrist to perform ulnar / radial exercises to adapt to different wrist structures; it includes at least one second flexible body (3) which expands upon the introduction of at least one fluid and contracts upon the discharge of the fluid, enabling the wrist to perform flexion / extension and finger extension exercises; and both the aforementioned first flexible body (2) and the aforementioned second flexible body (3) are composed of at least two materials with different elasticities. Figure 1

Description

1 TARIFF SOFT ACTUATOR HAND AND WRIST REHABILITATION UNIT TECHNICAL AREA 5 The invention relates to a wrist rehabilitation unit for providing hand rehabilitation. PREVIOUS TECHNIQUE Muscle and nerve diseases (Neuromuscular Diseases, NMDs) affect the movement and sensory systems. Neuromuscular diseases are known as diseases that affect the muscle-nerve relationship. It has a direct impact. Neuromuscular diseases can be congenital or acquired. This is emerging. Progressive muscle weakness, present in many of these diseases, affects people. It directly affects the functions of the upper extremities in the body, the human hand and wrist 15 It interferes with daily life activities. During the course of the disease, the hand and wrist... their functions are permanently lost. As people lose hand and wrist function... They become unable to perform their daily activities. This situation is irreparable for human life. It's a difficult situation. Approximately ninety percent of neuromuscular diseases affect fewer than 5 people in 10,000. These are classified as rare diseases, defined as conditions affecting 0.05% of the population. The greatest resource for a person to be able to live their life independently is It is the ability to use one's hand properly. The hand is key to all upper extremity functions. It plays a role. 25% of disabilities occurring in the upper extremity region of the human body. Most are found in the hand or forearm as a result of injuries. C-5 in the human spinal cord. Injuries or disabilities that may occur in the spine can impair hand and wrist function. It reduces and restricts the patient's freedom of movement. Another leading cause of upper extremity movement disorders is traumatic tendon injury. 30 The damage is also suffered by more than one million people worldwide every year, and hand surgery Post-operative therapy is a disease in which post-operative care is of considerable importance (Tombly (1989), Dennerlein (2005)). The recovery process after tendon repair surgery can take several weeks, and this period During this time, the injured finger is immobilized in a splint. Unfortunately, scar tissue... healing causes the tendons, tendon sheath, and surrounding tissue to adhere, 35 It restricts finger movement after repair. It is the most common condition in patients after tendon injury. The problem he encountered, which was bothersome, is finger stiffness; this condition completely paralyzed the finger. 2 inability to bend (flexor tendon injury) or straighten (extensor tendon injury) (injury) manifests itself as finger stiffness. Prevention of tendon spondylolisthesis. full recovery of movement and therefore full range of motion of the finger This requires its restoration. By following an appropriate early hand rehabilitation protocol. When it is possible to promote tendon gliding, tendon adhesion can be prevented (Ertas 5). et al. (2014). Hand and wrist movements are controlled by motor neurons from the central nervous system, which transmit signals to bones and muscles. This is achieved through synchronized movement of the fingers and wrist. Upward movements are extension, closing of the fingers and downward movement of the wrist 10 The movements include flexion, horizontal opening of the fingers, abduction, and finger movement. The horizontal approach of the wrist to another wrist is called adduction. Outward elongation in the plane is called ulnar deviation, and inward elongation is called radial deviation. This is called deviation. It is caused by injuries to the vertebrae, or in other words... Neuromuscular diseases can damage the natural functions of the hands and wrists, and this 15 Performing daily living activities is a serious problem for people with these illnesses. It becomes a consequence of the loss of movement function in the hands and wrists, significantly affecting human life. It significantly affects the hand and wrist movements of individuals with a neuromuscular disease. A patient needs to see a physiotherapist for treatment, and physiotherapy is necessary for healthy hand and wrist movement. He needs treatment. The more frequently and repeatedly hand and wrist treatment is performed, the better the patient's condition will be. 20 He is recovering quickly. Patients who have partially or completely lost the function of hand and wrist movement. During the treatment process, the patient receives rehabilitation support. This is done under the supervision of a physiotherapist. In rehabilitation therapy, patients are given wrist flexion / extension (F-25) exercises. E) Ulnar / radial (UR) deviation exercises are performed, thus restoring the wrist to its former position. The aim is to restore its functions. Today, robot-assisted rehabilitation systems are used in hand and wrist rehabilitation. However, currently used hand rehabilitation systems vary from person to person. It is unable to adapt to the changing and complex wrist geometry. It adapts to changing wrist structures. According to this, calibration must be performed before each rehabilitation session. This calibration... The process also takes time, and as a result of this time, the number of examinations decreases, leading to costs. This causes losses. Furthermore, this calibration is performed before each process. Since this process is performed by a human, it can be prone to error. 35 As a result, exercises cannot be performed correctly and rehabilitation becomes difficult. 3 This means the processes are prolonged. This also has negative emotional consequences for patients. In addition to creating it, it also generates additional costs. Existing systems are rigid designs that address hand spasticity. They are not suitable for therapies requiring delicate contact with the patient. Especially the wrist. 5 The spasticity levels of these patient groups in the flexion position are rigid (material) and easily through interactive manipulations involving contact at a few specific points They are being triggered and becoming tighter. In conclusion, all the problems mentioned above necessitate an innovation in the relevant technical field. It has made it mandatory. A BRIEF DESCRIPTION OF THE INVENTION The present invention aims to eliminate the aforementioned disadvantages and contribute to the relevant technical field in 15 years. It is related to a wrist rehabilitation unit, aiming to bring new advantages. One aim of the invention is to accommodate wrists with different anthropomorphic features. The goal is to develop a wrist rehabilitation unit that eliminates the need for calibration. Another aim of the invention is to enhance wrist flexion / extension (FE) and ulnar / radial (UR) motion. A wrist rehabilitation unit was developed that enables the performance of deviation movements. to place. Another aim of the invention is to enable exercises to be performed more precisely, thus improving rehabilitation. 25 The goal is to create a wrist rehabilitation unit that accelerates the rehabilitation process. Another aim of the invention is to enhance wrist flexion / extension (FE) and ulnar / radial (UR) motion. by limiting deviation movements within the individual range of motion (ROM) of joints. Wrist rehabilitation 30 that enables the therapy to be adapted to the desired starting conditions. The unit is to present it. Another aim of the invention is to adjust the difficulty level of rehabilitation based on the patient's performance. The goal is to develop a wrist rehabilitation unit that increases / decreases the range of motion (of the wrist). 35 Another aim of the invention is to rehabilitate the fingers of patients with finger spasticity. The goal is to create a wrist rehabilitation unit that enables this. 4 All the purposes mentioned above and those that will emerge from the detailed explanation below. The present invention aims to achieve wrist rehabilitation by providing hand rehabilitation. It is related to the rehabilitation unit. Accordingly, its innovation lies in adapting to different wrist structures. in order to perform ulnar / radial wrist exercises, it contains at least one fluid. at least one primary 5 that expands upon the passage of fluid and contracts upon the discharge of fluid through it. It includes a flexible body, allowing for wrist flexion / extension and finger extension. a device that expands upon the passage of at least one fluid, enabling it to perform its exercises. It must contain at least a second flexible body that shrinks upon the discharge of fluid from within. both the first flexible body mentioned and the second flexible body mentioned are different. They must be made of at least two materials that have elasticity. Thus, they vary from person to person. Self-adjusting to changing wrist structure, individual calibration for each patient. eliminating the need for it, increasing the precision of exercises, depending on the individual's EHA value. as horizontal and vertical cushion structures provide pressure control, facilitating the rehabilitation process. a structure that accelerates treatment and provides greater comfort to the user during the treatment process It is presented. In addition, the surface that contacts the wrist must be made of at least two different elastic materials. 15 As a result of this process, instead of the wrist moving linearly in two different axes, it moves in two different axes. hand aimed at regaining joint range of motion by making angular movements in different axes It is possible to provide wrist rehabilitation. The characteristic of a possible configuration of the invention is the first flexible body and the second flexible 20 The shell must contain at least one channel that allows for the transmission and discharge of fluid. This allows the flexible body to expand and contract in a controlled manner during the exercises. is being facilitated. The feature of a possible configuration of the invention is that the fluid is at the desired pressure value in the first 25 conveying the conveyed fluid into a flexible casing or a second flexible casing and vacuuming the conveyed fluid It is connected to at least one fluid management element that provides this. Thus During exercise, the flexible torso is inflated and deflated under pressure in a controlled manner. It is possible. A feature of a possible configuration of the invention is that the second flexible body attaches to both wrists. This is because it is positioned next to the wrist. This allows the wrist to perform ulnar and radial movements. It can be provided. A feature of a possible configuration of the invention is that the second flexible body has at least one sensor 35 It includes and the sensor in question is essentially a haptic sensor. Thus, the horizontal one The second flexible bodies move under motor control until they come into contact with the hand. This ensures that it can remain in place and stabilize its position when it comes into contact with the hand / wrist. In this way, the laterally flexible bodies are formed without gaps, in accordance with the anthropomorphism of each wrist. the wrist UR as positioned and the thrust force produced by the inflated elastic surface It can be used effectively in rehabilitation. A feature of a possible configuration of the invention is that the second flexible body is on top of the main unit. It must be positioned within at least one frame on its surface. A feature of a possible configuration of the invention is that the first flexible body is at hand. It is positioned in such a way that the wrist can perform flexion and extension movements, and additionally, 10 The finger can be made to flex and extend. A feature of a possible configuration of the invention is that the first flexible body contains the main unit. It must be located in at least one nest. A feature of a possible design of the invention is that the hand moves in flexion / extension of the wrist. at least one stabilizer that ensures it remains fixed on the first flexible body at the bottom. This ensures that the patient's hand remains in the correct position during treatment. is provided. A key feature of a possible configuration of the invention is that the fluid in question is air. Thus, the system operates in a simple and efficient manner, enabling the movement of flexible bodies. is provided. The characteristic of a possible configuration of the invention is the first flexible body and the second flexible 25 The body is made of eco-flex and fabric. BRIEF DESCRIPTION OF THE FIGURES Figure 1 shows the rehabilitation unit 30 into which the wrist rehabilitation unit, the subject of the invention, is integrated. A representative isometric view of the unit is given. Figure 2 shows the wrist rehabilitation unit, which is the subject of the invention, and the hand to be rehabilitated. A representative isometric view of its positioned state is given. 35 Figure 3 shows a frontal representative view of the wrist rehabilitation unit, which is the subject of the invention. It has been given. 6 Figure 4 shows a representative view of the lower flexible body of the wrist rehabilitation unit, which is the subject of the invention. A side view is given. Figure 5 shows the extension of the lower flexible shaft in the wrist rehabilitation unit, which is the subject of the invention. A side view is given showing the position after the movement has been completed. 5 Figure 6 shows the flexion of the lower flexible body in the wrist rehabilitation unit, which is the subject of the invention. A side view is given showing the movement that has been made. Figure 7 shows the wrist rehabilitation unit, the subject of the invention, with 10 devices on each side of the hand. positioned flexible bodies showing ulnar deviation of the wrist A top-down view is shown. Figure 8 shows the subject of the invention, the wrist rehabilitation unit, on both sides of the hand. 15 showing the positioned flexible bodies with radial deviation of the wrist. A top-down view is shown. DETAILED DESCRIPTION OF THE INVENTION In this detailed description, the subject of the invention, the wrist rehabilitation unit (1), is only the subject of 20 with examples that will not create any limiting effect on a better understanding It is explained. Wrist rehabilitation unit (1), permanent or partial hand (E) function Following the loss of function, the patient's wrist function improved by 25 during the rehabilitation process. It enables the wrist to reconnect. To fulfill this function, a wrist rehabilitation unit is used. (1) flexion / extension exercises (volar-dorsal flexion) and ulnar / radial deviation They are able to perform exercises. Additionally, they can perform extension movements of the fingers. It also enables it to do so. Wrist rehabilitation unit (1), preferred It can be integrated into the hand rehabilitation unit (10) in the configuration. 30 The wrist rehabilitation unit (1) includes at least one first flexible trunk (2). The first flexible body mentioned (2) is hollow and expands thanks to its flexible property. It can be contracted. The first flexible body (2) is used to open the fingers of a contracted hand (E). rehabilitation (finger extension movement) and wrist flexion / extension 35 It allows him to do his exercises. The first flexible torso (2) is preferred. 7 The structure is located under the hand (E); by "under", we mean the ground and the hand (E). It is positioning itself so that it is located between them. The wrist rehabilitation unit (1) includes at least one second flexible body (3). second flexible body (3) perform ulnar / radial deviation exercises of the wrist 5 It provides. In the preferred configuration, two will be positioned on either side of the hand. It is menstruation. The first flexible body (2) and the second flexible bodies (3), wrist and finger which vary from person to person to ensure that it contacts the hand (E) during exercise by adapting to their structures, at least 10 It consists of at least two materials with at least two different levels of elasticity. To make it clearer... If necessary, different points of the hand (E) move by different amounts during wrist movement. For example, movement is limited and the range of motion is low in the area near the wrist. However, as you get closer to the fingertips, the amount of movement of the hand (E) increases. This means there is a wider range of motion (because the wrist is the pivot point). This situation, 15 This can prevent wrist exercises from being performed correctly. Therefore, the first flexible body (2) and second flexible body (3), made of at least two materials with different elasticity This movement is supported by the formation of the aforementioned materials. It is shown as the first region (5) and the second region (6). That is, the part near the wrist Flexible bodies, less than 20 via the first region (5) which has less elasticity. As it expands, the second region (6), which is the part towards the fingertips, is larger than the first region (5). Its elasticity allows for increased expansion, which makes it suitable for different wrist sizes. by enabling calibration for each patient every time. It eliminates the need for the first flexible body (2) and the second flexible body (3). In addition to the first and second bodies, it contains 25 regions, each with different elasticity. It is also obvious that this is possible. The first flexible body (2) and the second flexible bodies (3) are designed to hold at least one fluid inside. At least one channel that allows them to expand and contract, enabling the transmission of energy. It includes. The fluid in question is air. However, in alternative configurations, there are 30 different... Gases or liquids like water can also be used. Therefore, air can be transported through the duct. It is transmitted into flexible bodies and air fills the flexible bodies. It is expanding. Therefore, the hand (E) can be positioned under and on either side of it, respectively. As the first flexible body (2) and the second flexible bodies (3) expand, the extension of the fingers (The finger is constantly tensed and therefore constantly trying to return to a flexed position, 35 Therefore, by moving it from bottom to top, it also enables finger extension movement. (able to do) and wrist flexion / extension exercises and ulnar / radial deviation 8 It enables the exercises to be performed. Similarly, by evacuating air from the channel. As the flexible bodies contract together, meaning their volume decreases, the wrist moves in the opposite direction. This is ensured. The channel is essentially a hole. To enable this movement of the fluid, namely the first flexible body (2) and the second flexible 5 at least one of each that allows the body (3) to be inflated and vacuumed to the desired amount. It is linked to the fluid management element (20). The mentioned fluid management element (20) is essentially air pump and vacuum. That is fluid management elements (20) work bi-directionally to make the flexible bodies fluid (preferred The system can both pump air out and remove it by vacuuming. It can pull. Therefore, depending on the desired amount of pressure, the first flexible body (2) and air can be sent to the second flexible body (3). In this way, the first flexible body (2) and the second flexible bodies (3) can expand and contract. Fluid management element (20) with wrist rehabilitation unit (1), i.e. flexible bodies, via at least one tube each It can be connected. The mentioned pipe delivers air to flexible bodies via channel (7) 15 It transmits. The first flexible body (2) and the second flexible body (3) are associated with at least one valve each. The first flexible body and the second flexible bodies (3) can be inflated via the aforementioned valves. The vacuuming processes can be controlled. Thus, the movement of each flexible body can be adjusted. The degree of control can be precisely controlled. Therefore, the valves are located on either side of the hand (E). The second flexible bodies (2) coordinate during ulnar and radial deviation movements. This makes it possible for it to function in this way. At least one 25 to monitor, manage and direct the fluid management element (20). It may include a controller. This controller is integrated into the microprocessor circuit. The software allows flexible bodies to be inflated or vacuumed to the desired amounts. It provides this. The controller controls the air pump and vacuum device, ensuring a specific pressure. It regulates air intake and exhaust processes in order to reach the required levels. The controller monitors the defined target pressures and pumps or activates the system as needed. It starts or stops the vacuuming process. In this way, rehabilitation During this process, precise and controlled movements of flexible bodies are ensured. In the preferred configuration of the invention, the wrist rehabilitation unit (1) supports both 35 of the hand (E). Next to it will be the second flexible bodies (3) and the first flexible body (2) under the hand (E) It contains three flexible bodies as shown. The second flexible body is located on either side of the hand (E). 9 The bodies (3) complement each other during ulnar / radial (UR) movements. That is, while the second flexible body (3) on one side expands, the second on the other side The flexible body (3) is contracting. In this way, the second flexible body that is in constant contact with the hand (E) The bodies (3) support movement without restricting it. To ensure this, the second flexible bodies (3) located on either side of the hand (E) must be at least It is connected with a valve. In this way, air is transferred to the second flexible body (3) on one side. While being transmitted, the air in the second flexible shell (3) on the other side is evacuated. That is, a When the second flexible body (3) on the side expands, pushing the hand (E) and performing the ulnar movement, The second flexible body (3) on the opposite side supports this movement by contracting. Ulnar 10 When the movement is complete, the air in the expanding second flexible body (3) is released through the valve. The radial movement of the hand (E) is transferred to the second flexible body (3) which is contracted. is provided. The first flexible body (2) located under the hand (E) is the wrist. flexion / extension and additionally extension of fingers with spasticity He is performing these movements because the patient is already in a constant flexion position. first flexible trunk (2) extension because it has spasticity to turn It enables movement. In the preferred configuration, the second flexible bodies (3) located on either side of the hand (E) have two valves. It is related. In this way, the air transmission between the second flexible bodies (2) is optimum 20 By providing this at a certain level, regular expansion and contraction are achieved, and rehabilitation is ensured. Its quality is being improved. To ensure correct execution of ulnar and radial movements, the wrist... The rehabilitation unit includes at least one sensor. This sensor detects movement at 25°C. It does this in a controlled manner, by adjusting the amount of pressure. The sensor essentially measures pressure. the sensor (touch sensor, haptic sensor) is the second flexible sensor on one side of the hand (E) Pressurization is stopped at the moment the body (3) comes into contact with the patient's hand (desired When pressure is reached), the sensor remains active, continuing to push the hand (E). After the wrist movement is performed, the second flexible body (3) on the other side of the hand (E) is active 30 becoming, during which time the first second flexible body (3) remains passive and hand (E) to the other side It is being pushed in the right direction, that is, it is being compressed. Here, the term "active" refers to the second flexible body (3) The expanded state, meaning filled with air, and the term "passive" refers to the contracted state, meaning the air has been released. It expresses the current state. 35 The wrist rehabilitation unit (1) includes at least one stabilizer (3). stabilizer (3), first flexible body (2) during extension and flexion movements of the wrist It ensures that it remains fixed on it. Therefore, the stabilizer (3) is the first one located at the bottom. It is a belt on the flexible body (2). The wrist rehabilitation unit (1) can be integrated into the rehabilitation unit (10). The mentioned rehabilitation unit (10) improves hand (E) (finger) and wrist movement functions. It is used in the treatment process for patients who have partially or completely lost their sight. The rehabilitation unit (10) includes at least one main unit (11). The aforementioned main unit (11) Essentially, it's where the patient positions their arm for rehabilitation and in the rehabilitation unit. containing elements, these elements must be in the necessary position for the treatment to be performed correctly. It is the structure that enables this. 10 Main unit (11), at least one positioning zone where the patient can place his arm (12) It includes. The mentioned positioning area (12) is located on its upper surface (111). Positioning area (12) was essentially created on the aforementioned upper surface (111), of the arm It is a channel that conforms to the form. In the preferred configuration, the main unit (11) is connected to the side by 15 It appears curved when viewed. The first flexible body (2) located in the main unit (11) in the wrist rehabilitation unit It is placed in a small slot (14). The mentioned slot (14) is essentially in the main unit (11) It is the rectangular space found. The first flexible body (2) 20 into the socket (14). By placing it, it becomes possible for the hand to perform flexion / extension movements (E). When the first flexible body (2) is connected to the housing (14), there may be a plate between them, In this way, the height of the first flexible body (2) can be adjusted. That is, different sizes By placing the plate into the housing (14), the need to regenerate the first flexible body (2) is eliminated. is being removed. 25 To ensure that the hand (E) is positioned on either side of the main unit (11) on the top surface (111) contains at least two frames (13). The mentioned frame (13) is the second flexible body. (3) It is a hollow rectangular structure in which it is located, with at least one open surface. Therefore, the second flexible body (3) extends 30° from the aforementioned open surface towards the patient's hand (E). It can expand and contract. The mentioned frame (13) makes contact with the person's wrist laterally. Until then, it can be positioned with the help of the motor unit included inside. To make it understandable, the wrist rehabilitation unit (1) has at least one stimulator. bring the frame (13) and the second flexible body (3) inside it closer to hand (E) It can displace it. The aforementioned actuator can be an electromechanical actuator. Second 35 At least one sensor (8) (tactile sensors) which can be placed on the surface of the flexible body (3) By including the second flexible body (3), it automatically detects the moment of contact with the wrist. 11 This allows for manual adjustment, that is, the adjustment of a connecting element. By removing it and then reattaching it in the appropriate form, it avoids the need for adjustment to fit the wrist. It has been passed. Therefore, the invention is made possible through fluid management elements (20), controller and valve system 5 Ensuring that wrist and hand movements are performed correctly and regularly during the rehabilitation process. It provides. In addition, in different regions of flexible bodies (2), especially the first region (4) and because it has different elasticities in the second region (5), air inside As it fills, these areas expand and contract by varying amounts due to vacuuming. This allows the wrist movement to be controlled and precise. This results in a 10-minute interval between movements. This makes it possible to adapt to the patient's wrist structure and allows for individual calibration. This eliminates the need for it. As a result, the rehabilitation process becomes more effective and beneficial to the patient. It offers a structure that reduces the workload of the physiotherapist while making it specially adaptable. In addition to all this, the first flexible body (2) finger also has flexion / extension 15 By enabling it to perform the movement, it provides a much more effective and comprehensive wrist rehabilitation. unit (1) can be presented. The scope of protection of the invention is specified in the claims attached hereto, and these details are strictly adhered to. The explanation cannot be limited to those given for illustrative purposes. Because a 20-year-old who is an expert in the field... the person, without deviating from the main theme of the invention, in light of what has been described above, similar It is clear that these structures can emerge. 12 REFERENCE NUMBERS GIVEN IN THE FIGURE 1 Wrist Rehabilitation Unit 2. First Flexible Body 3 Second Flexible Body 5 4. First Region Second Region 6 Stabilizers 7 Channels 8 Sensors 10 Rehabilitation Unit 11 Main Units 111 Top Surface 12 Positioning Zones 13 Frames 15 14 Nests Flow Management Element (E) Hand

Claims

13 REQUESTS 1. The invention is a wrist rehabilitation unit (1) to provide hand (E) rehabilitation. Its feature is that it adapts to different wrist structures by aligning with the ulnar / radial side of the wrist. 5 that enable it to perform its exercises by having at least one fluid passed through it. at least one primary layer that expands and contracts as fluid is drained from it. flexible body (2) includes wrist flexion / extension and finger extension by passing at least one fluid through it, enabling it to perform its exercises at least one secondary element that expands and contracts as fluid is drained from it. The inclusion of a flexible body (3) means that both the first flexible body (2) and 10 mentioned above The second flexible body mentioned (3) is made of at least two materials with different elasticities. They are formed.

2. According to claim 1, the wrist rehabilitation unit is (1) and its feature is; first flexible The body (2) and the second flexible body (3) allow for the transmission and discharge of fluid. It contains at least one channel (7) that gives.

3. According to claim 1, a wrist rehabilitation unit (1) whose characteristic is; fluid with the desired pressure value to the first flexible body (2) or the second flexible body (3) at least one fluid that enables the transmission and vacuuming of the transmitted fluid 20 It is that the management staff (20) is in contact with the manager.

4. According to claim 1, a wrist rehabilitation unit (1) whose feature is; second flexible The body (3) is positioned on either side of the wrist.

5. According to claim 1, a wrist rehabilitation unit (1) has the feature of; second flexible on the upper surface of the main unit (11) of the body (3) at least one frame (13) inside (111) It is its location.

6. According to claim 1, a wrist rehabilitation unit (1) has the following features; second flexible 30 the body (3) must contain at least one sensor.

7. According to claim 6, a wrist rehabilitation unit (1) and its feature is; mentioned The sensor is essentially a haptic sensor. 35 8. According to claim 5, a wrist rehabilitation unit (1) and its feature is; frame (13) It must contain at least one stimulator that causes the device to move closer to and further away from the wrist. 14 9. According to claim 1, a wrist rehabilitation unit (1) has the following features; first flexible the body (2) is positioned under the hand (E).

10. According to claim 1, a wrist rehabilitation unit (1) whose feature is; first flexible 5 located in at least one slot (14) contained in the main unit (11) of the body (2) It is the fact that.

11. According to Claim 1, a wrist rehabilitation unit (1) is characterized by; the wrist on the first flexible trunk (2) under the hand (E) during flexion / extension movement It contains at least one stabilizer (6) that keeps it stable. 10 12. According to Claim 1, a wrist rehabilitation unit (1) and its feature is; mentioned The fluid is air.

13. According to claim 1, a wrist rehabilitation unit (1) has the following features; first flexible 15 The body (2) is made of ecoflex and fabric.

14. According to claim 1, a wrist rehabilitation unit (1) has the feature of; second flexible The body (3) is made of ecoflex and fabric.

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