INTEGRATED HAND AND WRIST REHABILITATION PLATFORM
Patent Information
- Authority / Receiving Office
- TR · TR
- Patent Type
- Applications
- Current Assignee / Owner
- T C ISTANBUL MEDIPOL UNIVERSITESI
- Filing Date
- 2024-12-03
- Publication Date
- 2026-06-22
Smart Images
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Abstract
Description
1 TARIFF INTEGRATED HAND AND WRIST REHABILITATION PLATFORM TECHNICAL AREA 5 The invention relates to a rehabilitation platform for hand and wrist rehabilitation of patients. 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 without being dependent on others. The ability to use one's hand properly is crucial. The hand is key to all upper extremity function. 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. Hand and wrist movements are transmitted by motor neurons from the central nervous system to the 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. 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. 35 This is called deviation. It is caused by injuries to the vertebrae, or in other words... Neuromuscular diseases can impair the natural functions of the hands and wrists, and these 2 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. 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 flexion / extension (FE), 10 Abduction / adduction (AA); for the wrists, FE, ulnar / radial (UR) deviation. exercises are performed so that the hand / wrist can regain its former functions. This is the goal. Physiotherapists most frequently target patients in this disease group. Among the things they prioritize are the repetition of AA movements for the thumb and the other four. The continuity of physical activity (FE) movements for the finger is ensured. By physiotherapists 15 The more regularly the rehabilitation treatment is applied, the more the patients' progress will be The recovery time of their functions is also shortening accordingly. However, the current Given the number of patients with neuromuscular diseases, the number of physiotherapists is insufficient. Also, the therapies administered to patients involve numerous and similar repetitions. It is challenging and tiring for physiotherapists, but the beneficial 20 stages of exercise It reduces its effect. During the exercise process, the patient's condition is monitored by physiotherapists. The evaluation varies from person to person. Rehabilitation robots (platforms) are generally classified into two main types according to their mechanical design. They are divided into: end effector (EE) and exoskeleton systems. End effector robots cover the outermost 25 of the fingers. The exoskeleton attaches to a specific point and transmits the necessary force for movement to that particular area. Unlike other robots, end effector robots do not cover all joint axes. External link The force applied at this point ultimately affects the positions of other joints, individually. This presents challenges in the isolated movement of joints. End effector robots, of varying sizes It is more flexible than wearable exoskeletons in terms of adapting to the hands and the setup takes 30 minutes. Their durations are shorter. Passive or assisted movement of the proximal joints of the finger. It supports therapy but also the tactile aspect of distal joint and object manipulation. It neglects this. Because the end effector robots are only attached to the distal joint of the finger, They cannot control the entire kinematic chain of the finger. Exoskeletons support the human limb. It can fully reproduce its kinematics. Exoskeletons can attach to multiple points on the hand. 35 human limbs because they are connected and their joint axes coincide with human joint axes It is like this. Thus, by controlling the position and orientation of each joint, it controls their movements. 3 It supports and works specific muscles by controlling joint movements at calculated torques. It is possible. The types of force / torque transmission required for wearable hand and wrist exoskeletons fall under three main categories. This can be examined under: Rigid structures, adaptive mechanisms, or Bowden cables. 5 Driven mechanisms. Rigid transmission systems transfer actuator movements to the relevant links. It is one of the first and simplest ways that comes to mind for transmission. Direct-drive rigid transmission. systems where the power obtained from the engine is not dependent on any variable It is a system where the data is transferred directly to the relevant connections. It is direct-driven and uses a gear set. The most important difference between the transmitted systems is that in gear systems, the power of the motor is transmitted through a set of gears. This is the transmission through the fingers. These systems transmit data due to mass issues and motor size. It has fewer actuators to activate. These systems are inadequately actuated. These are systems. The cables used to transmit force / torque are Bowden drive cables and tendon cables. They are divided into two categories: driven cables. However, tendon-driven systems are "adaptive". These mechanisms include tendon-driven and Bowden-driven cable approaches 15 They differ in terms of their function. Tendon cables are connected via a cable inside the glove. It mimics hand anatomy by flexing and extending the fingers. In contrast, Bowden cables... It uses a more robust design to transmit power to the fingers. Typically, the top of the finger Tendon cables attached to the outer point of the finger apply tension on the cable, causing the finger to move. It triggers the bending-extension movement. Multiple 20s for each finger for bidirectional functionality. A cable is required. Today, robot-assisted rehabilitation platforms are used for hand and wrist rehabilitation. However, these systems are particularly relevant when considering wrist rehabilitation. The wrist is unable to perform all its functions. However, 25% of the person... It requires a new calibration for each complex wrist geometry that varies from person to person. In addition, the fact that wrist and hand rehabilitations are performed with different devices also affects the treatment process. This leads to complications and a waste of time. As a result of all this, long-term physical therapy is expensive in terms of cost. 30 This can put patients in a difficult situation. Therefore, in addition to the disease the patient is battling... The costs incurred in this process can, on the contrary, lead to negative consequences. In conclusion, all the problems mentioned above necessitate an innovation in the relevant technical field. has made it mandatory. 35 A BRIEF DESCRIPTION OF THE INVENTION 4 The present invention aims to eliminate the aforementioned disadvantages and contribute to the relevant technical field. It is related to a rehabilitation platform, aiming to bring new advantages. One aim of the invention is to provide an integrated, advanced solution for patients who have lost hand and wrist function. The goal is to create a rehabilitation platform that offers a rehabilitation process. 5 Another aim of the invention is to create a system that can be adapted to the individual needs of patients. The goal is to create a rehabilitation platform. Another aim of the invention is to enable finger and wrist movements to be performed together or independently. The goal is to create a rehabilitation platform that can achieve this. Another aim of the invention is to create a rehabilitation system that automates the rehabilitation process. The goal is to establish the platform. Another aim of the invention is to reduce the workload of physiotherapists and facilitate long-term treatment. The goal is to create a rehabilitation platform that reduces costs. All the purposes mentioned above and those that will emerge from the detailed explanation below. The present invention aims to achieve a 20 for the rehabilitation of the hand and wrist of patients. It is related to the rehabilitation platform. Accordingly, its innovation is to integrate hand and wrist rehabilitation into a single platform. at least one that allows the patient to position their arm to perform the procedure on the device. It must include at least one main unit with a positioning area, for the patient's finger It should include at least a finger rehabilitation unit to enable the user to perform exercises, The aforementioned finger rehabilitation unit has at least one 25 that applies force to the fingers. It contains a motion transmission element, which provides the drive to the aforementioned motion transmission element, Containing minimal stimulating elements, it is ideal for enabling the patient to perform wrist exercises. The invention must include at least one wrist rehabilitation unit. Thus, the invention... Thanks to its integrated structure, both finger and wrist exercises can be performed in a single device. This enables the rehabilitation process to be optimized, thus improving treatment. 30 It increases efficiency and saves time by eliminating the need to use different devices. It offers a cost advantage. Furthermore, it can be adapted to the individual needs of patients. The system also minimizes the need for physiotherapist intervention. A feature of a possible design of the invention is the flexion and extension of the thumb 35 It must contain at least one drive element that enables it to perform its movements, and the said drive element... The element is positioned on the first axis. Thus, the thumb... moving it correctly and in a controlled manner along its natural axis of motion is provided. A feature of a possible design of the invention is the actuator element that drives the thumb. It must contain at least one primary chamber located and connected to the main unit. Thus, 5 The movement is ensured to be carried out in a safe and stable environment. A feature of a possible configuration of the invention is the inclusion of the index, middle, ring, and little fingers. at least one actuator element that enables flexion and extension movements It includes and the aforementioned drive element is positioned on the second axis. 10 In this way, the movement of the four fingers is ensured in a balanced manner. A feature of a possible configuration of the invention is the activation of the index, middle, ring and little fingers. at least one second chamber connected to the main unit where the driving element is located This includes ensuring that the movement is carried out in a safe and stable environment. 15 is provided. A feature of a possible construction of the invention is the second axis of the aforementioned second chamber. The main unit is positioned so that it can rotate around it. Thus, the reservoir When not in use, it can be folded upright to provide more space. 20 A feature of a possible configuration of the invention is the connection between the motion transmission element and the glove. It must include at least one gripper. This allows the fingers to be moved in the correct positions. is provided. A characteristic feature of a possible design of the invention is that it includes at least one force dissipator. Thus, This ensures that multiple motion transmission elements are present in a single finger. A feature of a possible design of the invention is the transmission of motion of the aforementioned drive element. It must contain at least one transmission element that enables it to connect with the element. Thus, the drive 30 The movement from the element is transmitted linearly to the fingers. A characteristic feature of a possible configuration of the invention is that the drive element is a DC motor. Thus, precise movement becomes possible. 35 A characteristic feature of a possible configuration of the invention is that it includes a motion control unit. This ensures that the force applied to the fingers is transmitted evenly. 6 A characteristic of a possible design of the invention is that the aforementioned motion guiding unit must be at least It must include a guide, and at least one sliding element capable of moving along that guide. This ensures that the movement is distributed evenly to each finger. A characteristic feature of a possible design of the invention is that the number of sliding elements mentioned is five 5 and at least one connector that allows the sliding elements to connect with each other This ensures coordinated movement between the sliding elements. A feature of a possible configuration of the invention is that the finger rehabilitation unit must have at least one finger abduction, adduction and thumb opposition by connecting with the fingers 10 expands by passing at least one fluid through it in order to enable it to move. and at least one primary flexible shell that shrinks as the fluid is drained from it This involves ensuring that the fingers are properly supported during the aforementioned exercises. It is possible. A feature of a possible construction of the invention is that the first flexible body mentioned is a bellows. It is in this form. Thus, the first flexible body can expand and contract. A feature of a possible configuration of the invention is the aforementioned wrist rehabilitation unit. Wrist flexion / extension exercises, finger extension exercises, and ulnar / radial wrist exercises. by introducing at least one fluid into it to enable it to perform its movements a sequence of at least two parts: one that expands and one that contracts as fluid is discharged from it. It requires a flexible torso and at least a third flexible torso. This allows for correct wrist movements. It is supported in some way. A feature of a possible configuration of the invention is that it incorporates both a second flexible body and a third. The flexible body must be composed of at least two materials with different elasticities. Therefore, it can expand by varying amounts in different parts of the hand. A characteristic of a possible construction of the invention is that the first flexible body mentioned must have at least one 30 It contains a channel. Thus, it is possible to transmit the fluid into the first flexible shell. is happening. A feature of a possible configuration of the invention is that the second flexible body has at least one channel. This is because it includes a second flexible shell. Thus, it becomes possible to transmit the fluid into the second flexible shell. 35 7 A feature of a possible configuration of the invention is that the third flexible body has at least one channel. This involves including the fluid in a third flexible shell. Thus, it is possible to transmit the fluid into the shell. is happening. The characteristic of a possible configuration of the invention is that the fluid is at the desired pressure value in the first 5 at least one fluid that enables the fluid to be transmitted to the flexible housing and the transmitted fluid to be vacuumed. It is connected to the management element. Thus, the movement of the first flexible body. It is being organized. The feature of a possible configuration of the invention is that the fluid is at the desired pressure value with the second 10 at least one fluid that enables the fluid to be transmitted to the flexible housing and the transmitted fluid to be vacuumed. It is connected to the management element. Thus, the movement of the second flexible body. It is being organized. The feature of a possible configuration of the invention is that the fluid is placed at the desired pressure value in the third 15 at least one fluid that enables the fluid to be transmitted to the flexible housing and the transmitted fluid to be vacuumed. It is connected to the management element. Thus, the movement of the third flexible body. It is being organized. A feature of a possible configuration of the invention is that the aforementioned fluid control element is a double 20 It is an efficient pump. Thus, both the conveying and discharge of fluid are easily facilitated. is provided. A feature of the possible configuration of the invention is the fluid management of the first flexible body. It must contain at least one pipe that connects it to the element. Thus, the first 25 of the fluid... It is transmitted to the flexible body. A feature of a possible configuration of the invention is the fluid management of the second flexible body. It must contain at least one pipe that connects the element to the second. Thus, the fluid can pass through to the second It is transmitted to the flexible body. 30 A feature of a possible configuration of the invention is the fluid management of the third flexible body. It must contain at least one pipe that connects the element to the third. Thus, the fluid can pass through to the third. It is transmitted to the flexible body. 35 A feature of a possible configuration of the invention is that the wrist rehabilitation unit has two parts. The second feature is the inclusion of a flexible body. This allows the wrist to be moved from either side. 8 A feature of a possible configuration of the invention is that it includes at least one socket and a third flexible The body is positioned within the aforementioned slot. Thus, wrist flexion and In addition to extension movements, the fingers must perform extension movements. It can be provided. A characteristic feature of a possible configuration of the invention is that the main unit has at least two frames on its upper surface. It includes and third flexible bodies are positioned within the frames. Thus, the wrist is able to perform ulnar and radial movements. A feature of a possible design of the invention is that the wrist 10 will provide fixation for the hand. The rehabilitation unit must include at least one stabilizer. This allows for wrist exercises. This ensures that it is done properly. A feature of a possible configuration of the invention is that the second flexible body has at least one sensor. It includes and the sensor in question is essentially a haptic sensor. Thus, the horizontal 15 The third flexible body moves under motor control until it comes 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. 20 A feature of a possible configuration of the invention is that the sensor is mounted on a third flexible housing. With its positioning, the third flexible body automatically adjusts to the patient's wrist. the frame that moves closer to or further away from the hand to allow for adjustment It contains a small actuator. Thus, it automatically frames and therefore the third 25 Flexible bodies automatically adjust to the patient's hand from either side. It is adjustable. This allows for easy assembly and disassembly using fasteners such as manual screws. It can be eliminated. The characteristic of a possible configuration of the invention is that the aforementioned actuator is electromechanical 30 It is the agent. BRIEF DESCRIPTION OF THE FIGURES Figure 1 shows an isometric representation of the rehabilitation platform that is the subject of the invention. 35 It is shown. 9 Figure 2 shows the rehabilitation platform, which is the subject of the invention, where the patient places their arm, and An isometric representation of the hand with a finger rehabilitation unit attached. It is presented. Figure 3 shows the moment the second chamber of the rehabilitation platform, which is the subject of the invention, closes, and 5 The image shows an isometric rear view of the fluid control elements. Figure 4 shows the drive element and transmission in the rehabilitation platform that is the subject of the invention. An isometric representation of the element is shown. Figure 5 shows the finger rehabilitation unit on the rehabilitation platform that is the subject of the invention. The first image shows a representative top view without the flexible body. Figure 6 shows the finger rehabilitation unit on the rehabilitation platform that is the subject of the invention. 15 The first flexible body, into which fluid was injected, performed an abduction movement. A top-down representation showing the open state is provided. Figure 7 shows the finger rehabilitation unit on the rehabilitation platform that is the subject of this invention. The image shows a representative view from the side where the flexion movement is performed. Figure 8 shows the finger rehabilitation unit on the rehabilitation platform that is the subject of the invention. A representative view from the side where the extension movement is performed is presented. Figure 9 shows the wrist rehabilitation on the rehabilitation platform that is the subject of the invention. The hand positioned on the second flexible body located in the socket of the unit is 25° from the front. A representative view is shown. Figure 10 shows the second device located under the hand on the rehabilitation platform that is the subject of the invention. The image shows a side view of a flexible body with fluid injected into it. Figure 11 shows the second hand positioned under the hand on the rehabilitation platform that is the subject of the invention. A representative side view of the flexible torso performing the wrist extension movement. It is presented. Figure 12 shows the second 35 positioned under the hand on the rehabilitation platform that is the subject of the invention. A representative side view of the flexible torso performing the flexion movement of the wrist. It is shown. Figure 13 shows the rehabilitation platform, the subject of the invention, with the hand on either side. the third flexible bodies positioned to perform the ulnar deviation movement of the wrist A top-down representation is presented. Figure 14 shows the rehabilitation platform, which is the subject of the invention, with 5 on each side of the hand. the third flexible bodies positioned to perform the radial deviation movement of the wrist A top-down representation of the image is shown. DETAILED DESCRIPTION OF THE INVENTION In this detailed explanation, the subject of the invention, the rehabilitation platform (1), is only to better understand the subject. It is explained with examples that do not create any limiting effect on understanding. Rehabilitation platform (1), hand (E), fingers and wrist movement functions partially or used in the treatment process for patients who have completely lost their fingers. Finger 15 It includes at least one finger rehabilitation unit (30) to provide exercises. Wrist To perform their exercises, they also need at least one wrist rehabilitation unit (20) It includes. Rehabilitation platform (1) allows hand (E) and wrist exercises to be performed on a single device 20 It includes at least one main unit (10) to provide the aforementioned finger rehabilitation. unit (30) and the aforementioned wrist rehabilitation unit (20) on the main unit (10) is provided. The main unit (10) is essentially for rehabilitation of the patient’s arm. positioned, including the elements in the rehabilitation platform (1) and the correct treatment The structure that ensures the aforementioned elements are in the required position for this to happen is 25. is happening. Main unit (10) at least one positioning zone where the patient can place his arm (12) It includes. The mentioned positioning area (12) is located on the upper surface (11). Positioning area (12) was essentially created on the aforementioned upper surface (11), arm 30 It is a channel that conforms to its form. In the preferred configuration, the main unit (10) is connected from the rear (see Figure 3) It appears curved when viewed. Finger rehabilitation unit (30) for transferring movement (applying force) to the fingers It includes at least one motion transmission element (31). The finger rehabilitation unit (30) 35 of the hand It is located on the outer side, that is, on the surface opposite to the palm. The movement in question... The transmission element (31) transmits the movement of the fingers with the movement it receives from at least one drive element (35). 11 It enables flexion and extension movements. (Motion transmission element) (31) is essentially a tendon. This is a metal wire. The mentioned force is applied to the hand (E) To ensure the transmission of the motion, the motion transmission element (31) must be connected by at least one gripper (32). It is associated with the glove (G) worn by the patient. The glove in question is (G). Its size can accommodate hands of different sizes. The glove (G) has 5 knuckle areas. It includes an elastic band, allowing it to be adjusted to size. The preferred design of the invention. In its structure, there are holders (32) for each finger. Again, for each finger there is also Force is applied by means of the motion transmission element (31). The grippers (32) are located at the joints of each finger. That is, the thumb has two grippers (32), 10 The other four fingers contain three grippers (32). The motion transmission element (31), passing through the holes in the holders (32), the rotation of the points where the holders (32) are located This ensures that it is central. To make it even clearer, passing through the retainer (32) because force is applied to the tendon and the retainers (32) are also in the joints The fingers can be bent at the places where the grippers (32) are located. 15 To enable the motion transmission element (31) to apply the mentioned force, at least one It is connected to the drive element (35) at its end. The transmission that provides the aforementioned connection It is a drive element (351). The mentioned drive element (35) is a DC motor. Rotational motion by doing so, it returns the aforementioned transfer element (351) and assigns 20 to the transfer element (351). The wrapped motion transmission element (31) also enables the pulling and swinging of the fingers. It provides this. It can also apply pushing force. Therefore, the fingers... It is capable of extension and flexion movements. To make it even clearer, the motor As it rotates, the transmission element (351) also rotates and the transmission element (351) also rotates It enables the tendons to move in a linear fashion. 25 The finger rehabilitation unit (30) includes at least one force distributor (33). force distributor(33), motion transmission element (31) two motion transmissions at one point on the hand It ensures that the element (31) is removed and the transmitted force is uniform. Therefore, the retainer (32) will be able to pass through both tendons. It is obvious that it has a structure that ensures the force is distributed equally and evenly to both tendons. It is ensured that the force is transmitted in this way. The force distributor (33) essentially transmits the motion at one end. a single hole into which the element (31) enters, and at the other end two motion transmission elements (31) exit. It contains two holes. In alternative configurations, the force distributor (33) is the motion transmission element. (31) can also be increased to more than two. 35 12 In the preferred configuration of the invention, the thumb and the other four fingers (index, middle, There is an independent drive element (35) for the ring and sparrow. This drive Positioning of the elements (35) ensures that the treatment can be applied effectively and correctly. This is of critical importance. Drive element (35) designed for the thumb, on the first axis (I) It is positioned. The first axis mentioned (I) is the natural axis of movement of the thumb. The natural axis of movement refers to the distance the finger extends when it is in a straight position. It is an axis. Because the thumb moves on a different axis than the other fingers, Positioning the drive element (35) in accordance with this axis ensures a more accurate movement. It ensures that the movement of the thumb is transmitted in this way. The first axis (I) only transmits the movement of the thumb. The movement is not limited to the direction of the hand, but can also occur between the two lateral surfaces (E) of the hand. The transmission element (31) (tendon) moves along the axis of extension of the thumb, driving It connects with the element (35) along this direction, namely the first axis (I). the connection, the thumb's natural gripping movement and the rehabilitation process 15 It supports. The drive element (35) is at least one of the upper surfaces (11) of the main unit (10). It is located inside the first chamber (14). In addition, the drive element (35) is mentioned It has the ability to move up and down inside the first chamber (14). This ensures both a safe working environment and allows for proper thumb movement. A suitable flexibility is offered within this range. 20 For the remaining four fingers, a single centered shape should be used, aligning with the axes of each finger. There is a drive element (35). The axis mentioned here is the second axis (II) The second axis (II) is the distance from the index finger to the little finger. It is located in the middle. However, it can also be positioned between the two lateral surfaces of the hand (E). 25 The second axis (II) can be in a direction parallel to the natural movement paths of the four fingers. like, in an angular range in accordance with the natural gripping movements of the fingers Therefore, the actuator element (35) is the natural direction of movement of the fingers. By positioning it in the middle, it applies equal force to all fingers. The fingers... In order for them to move correctly, the actuator found for these four fingers mentioned is 30 The element (35) must be in the correct position. The second axis (II), the sign Its adjustability between the thumb and little finger allows for a wide range of adjustment, making it suitable for different hands. It allows them to adapt to different structures and movement patterns. The position of the actuator element (35) that activates the four fingers is located in the middle of the fingers. This can make it difficult to place the arm into the device. The solution to this problem... as such, the drive element (35) is connected in such a way that it can return to the main unit (10) at least one 13 It is located in the second chamber (13). The second chamber (13) is around the axis to which the hand (E) extends. It can rotate (around the first axis (I) or the second axis (II)). When not in use, it is upright. By changing position, the arm can provide more space during insertion and removal of the device. When placed in the device, the second chamber (13) rotates again and the drive element (35) on top It is aligned with the fingers by coming to a position parallel to the surface (11). Also, the second 5 The drive element (13) in the chamber will also change the distance between it and the upper surface (11) It can move up and down inside the second chamber (13). In conclusion, positioning and adjusting the drive elements (35) ensures the correct torque. It is very important in terms of transmitting information to the fingers. 10 for the thumb and the other four fingers. such precise positioning of the drive elements (35) used, It increases the effectiveness of the treatment process and makes it easier for the patient to use the device. A motion transmission connected to a drive element (35) that provides drive to four fingers. 15 to ensure that the element (31) transmits the force physiologically appropriately to each finger. There is at least one motion guide unit (34). That is, the torque is efficiently distributed to the fingers. It ensures that the motion is transmitted in this way. A single motion transmission from the drive element (35) element (31), four finger four movement transmission with the mentioned motion guide unit (34) The element is duplicated in such a way that it will be (31). This process ensures the physiological naturalness and freedom of movement of the fingers. motion guide unit(34) for at least one provided in at least one enclosure (341) It contains a guide (342). The mentioned enclosure (341) is essentially a hollow rectangle. The guide (342) is partly in line with the fingers (the angle between them is also It is a cylindrical structure extending (may). The number of guides (342) is five. 25 The motion guide unit(34) is provided on each guide (342), on the guide Each contains at least one sliding element (343) that can move back and forth. Sliding element (343) is also connected to the motion transmission element (31). There are five sliding elements. The middle element (343) of the elements is not connected to the motion transmission element (31). Therefore, one motion transmission element (31) entering the motion steering unit (34) has four 30 The movement guide will have four sliding elements (343) for the finger. It comes out of the unit (34). That is, one motion transmission element (31) motion controller It enters the unit (34) and four motion transmission elements (31) exit. The motion guide unit (34) also has at least one 35 connecting elements (343) to each other. It includes connectors (344). The mentioned connectors (344) are flexible in structure. In this way, the sliding elements (343) slide on the guide (342) at different distances 14 It is possible. That is, the connecting element (344) and the sliding elements (343) are independent of each other. It allows movement while simultaneously restricting the amount of that movement. All of this... The structure also allows for the simulation of the physiological movement of the fingers. The structure described above includes the finger rehabilitation unit (30), flexion and 5 It enables the performance of extension movements. Finger rehabilitation unit (30) also abduction, adduction and opposition of the thumb (see Eng. thumb The thumb enables the movement of the thumb in opposition to flexion and extension. The opposition movement is the movement of the thumb towards the other fingers and towards them. It is defined as the ability to resist. Another definition is the palmar surface of the thumb and 10 The palmar surfaces of the other fingers may be brought together. This movement, It allows the tip of the thumb to touch the tips of the other fingers, and many parts of the hand... It is extremely important for it to fulfill its function. To achieve this, the finger rehabilitation unit (30) must have at least one first flexible 15 It includes a body (36). The first flexible body (36) mentioned is hollow. Flexible Because of its properties, it can expand and contract. The first flexible body (36), Abduction and adduction are achieved by moving the fingers further apart and closer together. and allows for thumb opposition exercises. To perform this, the first flexible body (36) with at least one finger at one end 20 It is connected at one end to another finger, palm, or hand. It can be attached to a point or fixed to any place other than the hand, thus fulfilling its function. It is able to achieve this. In the preferred configuration of the invention, at least one end must be connected to a... The finger is connected to at least one other finger at the other end. First The flexible body (36) is in the form of a bellows. Made of silicone rubber compound 25 It can be made of paper, elastomer, neoprene, polyurethane or in an alternative configuration. They may also be manufactured from materials covered with nylon fabric. The first flexible shell (36) allows at least one fluid to be conveyed and discharged into it. It contains at least one channel (361) which enables it to expand and contract. 30 The fluid in question is air, but alternative configurations may use a different gas or water. Liquids such as these can also be present. Therefore, air can be carried through the first elastic channel (361). transmitted into the body (36) and air fills into the first flexible body (36) It is expanding. Therefore, the first flexible body, located between the two fingers, is also expanding. (36) As it widens, it makes the distance between the two fingers open up. Similarly, 35 With the evacuation of air from the channel (361), the first flexible body (36) shrinks, that is The volume is decreasing, which brings the two fingers closer together. The canal (361) essentially There is a hole. The first flexible body (36) is between two fingers in the preferred configuration. Although positioned in a certain way, it is connected to the finger at one end and the palm at the other. It also makes it possible to perform opposition, extension, and flexion movements of the thumb. It makes it possible. To enable this movement of the fluid, the first flexible body (36) must have the desired amount with at least one fluid management element (40) that enables inflation and vacuuming It can be connected. The fluid management element mentioned (40) is essentially a double-acting It is a pump. The fluid control element (40) is on the main unit (10). It is located. The fluid control element (40) works bi-directionally, both the first flexible 10 It can also inject fluid (air in the preferred configuration) into the shell (36) It can draw air out by creating a vacuum. Therefore, it can reach the desired pressure level. According to this, air can be sent to the first flexible body (36). In this way, the first flexible body (36), abduction and adduction (AA) and opposition exercises by expanding and contracting It ensures that it is done. The fluid management element (40), with the first flexible body (36) and at least 15 It can be connected by means of a small pipe (50). In the preferred configuration of the invention, the first flexible body (36) consists of two adjacent bodies. as it can be positioned between the fingers, more than two of a single first flexible body (36) As a result of the contact between the fingers, it is possible for the distance between the fingers to open and close. 20 is happening. Therefore, the finger rehabilitation unit (30) can be used via the first flexible trunk (36). In addition to abduction, adduction and opposition movement, using the tendon (31) 25 flexion (inward bending) and extension (outward opening) movements of the fingers In extension movement, the tendons (31) apply force to the fingers. It enables the tendons to open outwards actively. The flexion movement is either reversed by the tendons (31). by applying force in one direction (active flexion) or by the natural elasticity of muscles and joints This occurs passively. Wrist rehabilitation unit (20), after permanent loss of hand function It aims to rehabilitate the patient and restore wrist function. to perform wrist rehabilitation unit (20), flexion / extension (FE) (volar-dorsal flexion) exercises and ulnar / radial (UR) deviation exercises are added. It is also able to perform extension movements of fingers with spasticity. 35 16 The wrist rehabilitation unit includes at least one second flexible torso (22). The second flexible body (22) is hollow and can expand and contract thanks to its flexible nature. The second flexible trunk (22) involves wrist flexion / extension (FE) exercises and finger exercises. It performs extension movements. The wrist rehabilitation unit includes at least one third flexible torso (23). The third flexible trunk (23) allows him to perform ulnar / radial (UR) deviation exercises. It is known. In the preferred configuration, one second flexible body (22) and two There is a third flexible body (23). This second flexible body (22) is under the hand (E), The third flexible bodies (23) are located on either side of the hand (E); from the lower expression 10 The intention is to position it so that it is between the ground and the hand. To ensure this, the main unit (10) includes at least one slot (15). The aforementioned slot (15) is essentially the rectangular space located in the main unit (10). The second slot (15) The flexible body (22) is placed. The second flexible body (22), located under the hand (E), 15 flexion / extension of the wrist and additionally extension of the fingers with spasticity The patient is performing the movements. The patient is currently returning to a constant flexion position. because it has spasticity, the extension of the second flexible body (22) finger It also enables movement. The second flexible body (22) is connected to the housing (15) There can be plates between them, so the height adjustment of the second flexible body (22) is 20 This can be done. Thus, plates of different sizes can be placed in the slot, creating a second flexible slot. The need to regenerate the body (22) is eliminated. Second flexible body (22) In addition, it is connected in such a way that it can be separated into nests (15). As a result, the patient's different It allows them to perform finger extension and flexion exercises by holding objects. It can be given. That is, 25 including the area created by removing the flexible body underneath. The patient can hold different objects and use these objects with the finger rehabilitation unit (30). It can perform flexion and extension movements simultaneously. Therefore, it can perform all movements. In addition to being able to be done together, the fact that the components can be disassembled allows for individual use as well. It is also possible to perform certain movements. Both the second flexible body (22) and the third flexible body (23) accommodate varying wrist structures. at least two different They consist of at least two materials that have elasticity. To make it even clearer, During wrist movement, different points of the hand move by different amounts. For example, Movement is limited and the range of motion is restricted in the area near the wrist. However, finger 35 As you get closer to the ends, the amount of movement the hand makes increases, meaning a wider range of motion. This range of motion occurs (because the wrist is a pivot point). This situation makes proper wrist exercises important. 17 This can prevent it from being done in this way. Therefore, the second flexible body (22) and the third The flexible body (23) consists of at least two materials with different elasticity, enabling this movement. It supports. The parts formed by the mentioned materials are the first region (25) and the second region (26) is shown. That is, the first region (25) which has less elasticity. While it expands less through the second region (26) 5, which is the part towards the fingertips Its expansion increases as a result of having more elasticity than the first region (25). This also by making it possible to adapt to different wrists, for each patient every time. This eliminates the need for calibration. The first flexible body (22) and the second The flexible body (23) contains a region in addition to the first body (25) and the second body (26) and each It is also obvious that one might have different elasticity. 10 The second flexible shell (22) and the third flexible shell (23) can hold at least one fluid inside them. at least one channel that enables it to expand and contract by allowing transmission (361) It includes. The fluid in question is air. However, in alternative structures, it is different. It can also be a gas or liquids such as water. Therefore, air is transported through the channel (361) to the second 15 air is transmitted into the flexible body (22) and into the second flexible body (22) It expands as it fills. For this reason, it can be positioned under the hand and on either side. The second flexible body (22) and the third flexible body (23), flexion / extension as they expand (FE) exercises and ulnar / radial (UR) deviation exercises should be performed. It provides. Similarly, the second flexible body (22) 20 with the evacuation of air from the channel. and the third flexible body (23) contracts, that is, its volume decreases and the wrist moves in the opposite direction. It is made to move. To enable this movement of the fluid, namely the second flexible body (22) and the third flexible To ensure that the body (23) is inflated and vacuumed to the desired amount, at least one 25 It is linked to the other fluid management element (40). The mentioned fluid management element (40) is as described in the first flexible body (36). In this way, the second The flexible body (22) and the third flexible body (23) can expand and contract. Fluid management staff (40) and the second flexible body (22) and the third flexible body (23) each have at least one It can be connected via pipe (50). 30 The first flexible body (36) is associated with at least one valve. The second flexible body (22) and The third flexible body (23) is also associated with at least one valve. The valves mentioned are: Through this system, the inflation / vacuuming of the desired flexible bodies can be controlled. In this way, the degree of movement of each flexible body can be controlled. 35 18 To ensure that the hand (E) is positioned on either side of the main unit (10) on the top surface (11) It includes at least two frames (21). The frame in question is the third flexible body (23) It is a hollow rectangular structure in which it is located, with at least one open surface. Therefore, the third flexible body (23) extends from the aforementioned open surface towards the patient's hand (E). It can expand and contract. The frame (21) can be extended until it touches the wrist of the person in the lateral direction. It can be positioned with the help of the motor unit included within it. To make it even clearer... In order to make the wrist rehabilitation unit (20) frame by means of at least one actuator. (21) and bring the third flexible body (23) inside it closer to hand (E) It can displace [the object]. The aforementioned actuator can be an electromechanical actuator. At least one sensor (27) (tactile 10) can be placed on the surface of the third flexible body (23). The third flexible body (23) automatically detects the moment of contact with the wrist by including sensors. It can be determined as such. This allows for manual adjustment, i.e., a connection. the need to remove the element and then reattach it in the appropriate form to adjust it to the wrist However, in the alternative structure, the frames (21) are placed on the patient's wrist. Multiple 15 located on the top surface of the main unit (11) that can be moved closer or further away. It can also be connected via a hole. Additionally, it will allow the frames to be angled. In the figure, there is at least one adjustment mechanism (16) on the upper surface (11). The mentioned adjustment The mechanism (16) is essentially a groove. The frame is connected to the adjustment mechanism (16) by a pin. It can pass through and thus rotate around the point of contact, adjusting the angle of the frame. It is possible. Therefore, adjustment is possible according to the patient's hand (E). 20 Third flexible bodies (23) located on either side of the hand, ulnar / radial (UR) movements During this process, they perform complementary movements. That is, the third flexible movement on one side While the body (23) expands, the third flexible body (23) on the other side contracts. This In this way, the third flexible bodies (22) that are in constant contact with the hand do not restrict movement 25 It supports. To achieve this, the wrist rehabilitation unit (20) has at least one sensor (27) It includes. The mentioned sensor (27) monitors the movement in a controlled manner, the amount of pressure. It does so by adjusting. The sensor (27) is essentially a pressure sensor (touch sensor, 30 (tactile sensor) and the third flexible body (23) on one side of the hand (E) to the patient's hand Pressurization stops the moment contact is made (when the desired pressure is reached), the sensor is activated. He continues to hold on and push with his hand (E). After the wrist movement occurs Then, the third flexible body (23) on the other side of the hand (E) becomes active, while the first The third flexible body (23) remains passive and the hand (E) is pushed to the other side, i.e. 35 It is contracting. Here, the term "active" refers to the expanded third flexible body (23), i.e., air. 19 "Full" refers to the compressed state, while the term "passive" refers to the compressed state, meaning the air has been removed. is doing. To control the flow in order to perform the mentioned movement, on both sides of the hand The third flexible bodies (23) are associated with at least one valve. In this way, a 5 While air is transmitted to the third flexible body (23) on the side, the third flexible body on the other side The air in the fuselage (23) is being evacuated. That is, the third flexible fuselage (23) on one side When the hand (E) expands and pushes, performing the ulnar movement, the third flexible arm on the opposite side The trunk (23) contracts to support this movement. When the ulnar movement is complete, The air in the expanding third flexible body (23) is compressed through the valve into the opposite 10 The radial movement of the hand is thus transferred to the third flexible body (23) on the side. is provided. In the preferred configuration, the third flexible bodies (23) remaining on either side of the hand have two valves. They are connected. In this way, air transmission between the third flexible bodies (23) is 15 By providing optimal levels, a regular expansion and contraction is achieved, and The quality of rehabilitation is being improved. At least one to monitor, manage and direct the fluid management element (40). It may include a controller (not shown in the figures). The controller in question is the microprocessor 20 The first flexible body (36) and the second flexible body through software integrated into its circuit inflating the body (22) and the third flexible body (23) to the desired amounts or It ensures vacuuming. In other words, by controlling the air pump / vacuum, a specific It regulates air intake and exhaust processes in order to achieve the required pressure 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 This process ensures precise and controlled movements of flexible bodies. The wrist rehabilitation unit (20) includes at least one stabilizer (24). The aforementioned 30 stabilizer (24), second flexible body during extension and flexion movements of the wrist (22) ensures that it remains fixed on it. The stabilizer (24) is the second flexible one located at the bottom. It is a belt provided on the body (22). Therefore, the wrist rehabilitation unit (20) improves wrist movements during the rehabilitation process. It ensures that it is done correctly and regularly. In addition, the second flexible body (22) and The third flexible bodies (23) are made of materials with different elasticities, each This makes it possible to adapt to the patient's wrist structure and allows for individual calibration. This eliminates the need for further care. This makes the rehabilitation process more effective and patient-specific. It presents an adaptable structure that reduces the workload of the physiotherapist. In light of all that has been said, the invention works as follows: Rehabilitation platform (1), 5 Finger and wrist for patients who have lost hand (E) and wrist movement functions By providing exercises on a single device, it optimizes the treatment process. The patient's arm The first chamber (14) is opened for placement. The patient places his arm in the positioning area. (12) by placing the glove (G) and using the holder (32) with the glove (G) He is wearing the connected finger rehabilitation unit (30). First chamber (14) 10 and the drive elements (35) located in the second chamber (13) are wrapped around the transmission element (351) flexion and extension movements via the motion transmission element (31) It provides fluid management to the first flexible body (36) connected to the fingers. air is transmitted through the element (40) and the first flexible air is vacuumed. Adduction and abduction of the fingers as a result of the expansion and contraction of the trunk (36) 15 movements are provided. In addition, the thumb and palm of the first flexible body (36) With its positioning between them, the opposition movement of the thumb also It can be accomplished. When wrist exercises are requested, wrist rehabilitation unit (20) 20 It is used. Second flexible body (22), third flexible bodies (23) and fluid management With the help of elements (40), flexion, extension and ulnar / radial deviation of the wrist and Finger extension movements can be performed. Second flexible body (22) The second flexible body (22), which expands with the transmitted air, is made of materials with different elasticities. Because of their formation, they are located in different regions, namely the first region (25) and the second region (26) 25 By expanding in varying amounts, it adapts perfectly to the patient's wrist, allowing for exercises. This allows for the correct execution. Similarly, the third flexible bodies (23) because it consists of at least two different materials with different elasticities, it allows fluid transmission. It can expand and contract to fit the wrist. Therefore, finger rehabilitation unit (30) and wrist rehabilitation unit (20) through comprehensive and Efficient rehabilitation is provided. Rehabilitation platform (1) for each patient By adapting to physiological needs, it eliminates the need for individual calibration. and minimizes the need for physiotherapist intervention. 35 for hands and wrists of all sizes. With the ability to adapt, the rehabilitation process becomes more effective and personalized. It is possible to perform each of the mentioned actions together or individually. 21 By providing and adapting it to each patient type, its area of use has been significantly expanded. It has been increased. 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 technically expert 5 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. 22 REFERENCE NUMBERS GIVEN IN THE FIGURE 1 Rehabilitation Platform Main Unit 11 Top Surface 5 12 Positioning Zones 13 Second Chamber 14 First Reservoir Nest 16 Karat Mechanism 10 Wrist Rehabilitation Unit 21 Frames 22 Second Flexible Body 23 Third Flexible Body 24 Stabilizer 15 First Region 26 Second Region 27 Sensors Finger Rehabilitation Unit 31 Motion Transmission Elements 20 32 Holders 33 Power Distributor 34 Motion Directional Units 341 Preservation 342 Guide 25 343 Sliding Elements 344 Liaisons 35 Drive Elements 351 Transfer Elements 36 First Flexible Body 30 361 Channels 40 Fluid Management Elements 50 Pipes (E) Hand (G) Glove 35 (I) First Axis (II) Second Axis
Claims
23 REQUESTS 1. The invention is a rehabilitation platform for the rehabilitation of the hand and wrist of patients (1) Its unique feature is that it allows hand and wrist rehabilitation to be performed in a single device. (12) 5 at least one positioning zone that allows the patient to place his arm. It must contain at least one main unit (10) to enable the patient to do finger exercises to provide at least one finger rehabilitation unit (30), mentioned finger rehabilitation unit (30) at least one that applies force to the fingers containing a motion transmission element (31), the mentioned motion transmission element (31) It must contain at least one drive element (35) that provides drive, the patient’s wrist exercises 10 to enable it to do so, at least one wrist rehabilitation unit (20) It includes.
2. A rehabilitation platform (1) according to claim 1, whose feature is; thumb flexion and at least one actuator element (35) that enables it to perform extension movements 15 including and the aforementioned drive element (35) on the first axis (I) It is its positioning.
3. A rehabilitation platform (1) according to claim 1 or 2, the feature of which is; thumb 20 where the driving element (35) is located and connected to the main unit (10). It must contain at least one primary chamber (14).
4. According to claim 1, a rehabilitation platform (1) whose feature is; sign, middle, ring and at least the fingers that enable flexion and extension movements. it includes a drive element (35) and the said drive element (35) is the second axis 25 (II) is that it is located on it.
5. A rehabilitation platform (1) according to claim 1 or 4, and its feature is; sign, medium, the main drive element (35) which drives the ring and little fingers is located It must contain at least one second reservoir (13) connected to unit (10). 30 6. According to claim 5, it is a rehabilitation platform (1) and its feature is the second mentioned. the main unit (10) can rotate around the second axis (II) of the reservoir (13). It is the fact that they are linked. 35 24 7. According to claim 1, it is a rehabilitation platform (1) and its feature is; finger rehabilitation unit (30) motion transmission element (31) and the patient’s glove (G) It contains at least one connecting retainer (32).
8. According to claim 1, a rehabilitation platform (1) and its feature is; finger rehabilitation 5 unit (30) must contain at least one force distributor (33).
9. According to claim 1, a rehabilitation platform (1) whose characteristic is; the drive element (35), at least one transmission element that enables connection with the motion transmission element (31). (351) is included. 10 10. According to claim 1, a rehabilitation platform (1) whose characteristic is; drive element (35) It is a DC motor.
11. According to claim 1, a rehabilitation platform (1) and its feature is; finger rehabilitation 15 unit (30) contains motion control unit (34).
12. According to claim 11, it is a rehabilitation platform (1) and its feature is the movement mentioned. The router unit (34) must contain at least one manual (342) and the said manual (342) It must contain at least one sliding element (343) that can move on it. 20 13. According to claim 12, a rehabilitation platform (1) is characterized by its sliding mechanism. The number of elements (343) is five and the sliding elements (343) It contains at least one liaison (344) that enables them to connect with each other.
14. According to claim 1, it is a rehabilitation platform (1) and its feature is; finger rehabilitation abduction of the fingers by connecting the unit (30) with at least one finger, to enable the adduction and opposition movement of the thumb a structure that expands when at least one fluid is passed through it and when the fluid is discharged from it. It contains at least one first flexible body (36) that shrinks when it is made. 30 15. According to claim 14, it is a rehabilitation platform (1) and its feature is; the first mentioned The flexible body (36) is in the form of a bellows.
16. According to claim 1, a rehabilitation platform (1) is characterized by; the wrist mentioned 35 To enable the rehabilitation unit to perform (20) ulnar / radial movements, a structure that expands when at least one fluid is passed through it and when the fluid is discharged from it. It contains at least one third flexible body (23) that shrinks when it is compressed.
17. According to Claim 1, it is a rehabilitation platform (1) and its feature is; the wrist mentioned flexion / extension of the wrist and extension of the finger of the rehabilitation unit (20) 5 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. It contains a flexible body (22).
18. According to claim 16, it is a rehabilitation platform (1) and its feature is; the second 10 mentioned. flexible body (22) consisting of at least two materials with different elasticity It is the fact that.
19. According to claim 16, it is a rehabilitation platform (1) and its feature is; the third mentioned 15 flexible body (23) consisting of at least two materials with different elasticity It is the fact that.
20. According to claim 14, it is a rehabilitation platform (1) and its feature is; the first mentioned The flexible body (36) must contain at least one channel.
21. According to claim 16, it is a rehabilitation platform (1) and its feature is; second flexible the body (22) must contain at least one channel.
22. According to claim 16, it is a rehabilitation platform (1) and its feature is; third flexible the body (23) must contain at least one channel. 25 23. According to claim 14, it is a rehabilitation platform (1) and its feature is; first flexible the first flexible body (36) with the desired pressure value of the fluid (36) at least one fluid that enables the transmission and vacuuming of the transmitted fluid. It is that it is connected with the management staff (40). 30 24. According to claim 16, it is a rehabilitation platform (1) and its feature is; second flexible the second flexible body (22) with the desired pressure value of the fluid (22) at least one fluid that enables the transmission and vacuuming of the transmitted fluid. It is that it is connected with the management staff (40). 35 26 25. According to claim 16, it is a rehabilitation platform (1) and its feature is; third flexible the body (23), the fluid with the desired pressure value to the third flexible body (23) at least one fluid that enables the transmission and vacuuming of the transmitted fluid. It is that he is in contact with the management staff (40).
26. A rehabilitation platform (1) according to claim 20 or 21, and its feature is; mentioned The fluid management element (40) is a double-acting pump.
27. According to claim 14, it is a rehabilitation platform (1) and its feature is; first flexible There must be at least one 10 that connects the shell (36) to the fluid management element (40). It contains pipes (50).
28. According to claim 16, it is a rehabilitation platform (1) and its feature is; second flexible at least one that enables the body (22) to connect with the fluid management element (40) It contains pipes (50). 15 29. According to claim 16, it is a rehabilitation platform (1) and its feature is; third flexible at least one that enables the shell (23) to connect with the fluid management element (40) It contains pipes (50).
30. According to claim 16, it is a rehabilitation platform (1) and its feature is; third flexible The body (23) should have two of them, positioned on either side of the hand.
31. According to claim 1, a rehabilitation platform (1) is characterized by having at least a main unit (10). It contains a nest (15). 25 32. A rehabilitation platform (1) according to claim 16 or 26, and its feature is; second flexible the body (22) is located in the mentioned slot (15).
33. According to claim 1, a rehabilitation platform (1) has the following features; main unit (10) upper 30 It contains at least two frames (21) on its surface (11).
34. A rehabilitation platform (1) according to claim 16 or 28, and its feature is; third The flexible bodies (23) are positioned within frames (21). 35 27 According to claim 1, a rehabilitation platform (1) is characterized by the fixation of the hand (E). to provide at least one stabilizer (24) of the wrist rehabilitation unit (20) It includes. According to claim 1, it is a rehabilitation platform (1) and its feature is wrist rehabilitation 5 the unit must contain at least one sensor (27).
37. According to claim 35, it is a rehabilitation platform (1) and its feature is; mentioned The sensor (27) is a tactile sensor.
38. A rehabilitation platform (1) according to claims 16, 32 or 35, and its characteristic is; By positioning the sensor (27) on the third flexible body (23), the third the flexible body (23) automatically adjusts to the patient's wrist to ensure that the frame (21) moves closer to (E) and further away from the hand (E). It must contain at least one propellant. 15 39. According to claim 37, it is a rehabilitation platform (1) and its feature is; mentioned The actuator is an electromechanical actuator.