Hand rehabilitation device capable of customized rehabilitation according to hand shape

Abstract

A hand rehabilitation device capable of customized rehabilitation according to a hand shape, according to an embodiment of the present invention, includes: a photographing unit which photographs a hand shape of a user; an upper movement member which moves in contact with the upper surface of the user's hand; a lower movement member which moves in contact with the lower surface of the user's hand; and a housing to which the upper movement member and the lower movement member are movably coupled.

Description

Hand rehabilitation device that allows customized rehabilitation according to hand shape

[0001] The present invention relates to a hand rehabilitation device for performing rehabilitation exercises when there is limitation in movement of the hand or fingers.

[0002] Specifically, the present invention relates to a hand rehabilitation device capable of providing customized hand rehabilitation exercise according to the hand shape of a user performing rehabilitation exercise.

[0003] If you are unable to move your hand or fingers or have limited movement, rehabilitation exercises are usually necessary to restore normal movement, even if the cause of the condition is unknown.

[0004] In particular, in the case of stroke, even if treatment is given, hemiplegia and speech disorders can occur, and in relation to hemiplegia, it is common to be unable to move the hands or fingers or to have limited movement.

[0005] In order to rehabilitate this, various movements such as stretching, sensory stimulation, and muscle strengthening must be artificially provided, and research on various methods and devices for this purpose is continuously being conducted.

[0006] In particular, the hands have a greater number of joints than other body parts, such as the fingers. Consequently, if stiffness from hemiplegia persists, rehabilitation can take a long time. Therefore, there is a need for equipment that can periodically stretch stiffness in the hands or fingers.

[0007] Furthermore, if the movable elements of a rehabilitation exercise device are fixed to move along a specific path, there is a problem in that it cannot provide appropriate rehabilitation exercises depending on the shape of the user's hand performing the exercise. Therefore, there is a need for a device that can provide customized rehabilitation exercises based on the user's hand size, thickness, shape, and joint location.

[0008] The purpose of the present invention is to provide a hand rehabilitation exercise device that can periodically stretch hands or fingers when stiffness occurs in the hands or fingers.

[0009] In addition, it is an object of the present invention to provide a hand rehabilitation exercise device that can provide customized rehabilitation exercise according to the user's hand size, thickness, shape, joint position, etc.

[0010] In order to achieve the above-described purpose, a hand rehabilitation device capable of customized rehabilitation according to a hand shape according to one embodiment of the present invention comprises: a photographing unit for photographing a user's hand shape; an upper moving member that moves while making contact with the upper surface of the user's hand; a lower moving member that moves while making contact with the lower surface of the user's hand; and a housing in which the upper moving member and the lower moving member are movably coupled.

[0011] At this time, the device may further include a control unit that calculates the size, thickness, and joint positions of the hand based on the image of the user's hand captured by the shooting unit, and adjusts the movement paths of the upper moving member and the lower moving member based on the calculated values.

[0012] At this time, the control unit can extract user hand features using an artificial neural network by inputting the user hand image captured by the shooting unit.

[0013] At this time, the artificial neural network may correspond to a CNN (Convolutional Neural Network), RNN (Recurrent Neural Network), or GAN (Generative Adversarial Network) structure.

[0014] At this time, the photographing unit may include a first photographing unit attached to the housing to photograph the upper surface of the user's hand; and a second photographing unit attached to the housing to photograph the side surface of the user's hand.

[0015] At this time, the control unit can calculate the size, thickness, and joint position of the user's hand using the first image acquired from the first photographing unit and the second image acquired from the second photographing unit.

[0016] At this time, the housing includes an upper moving guide that guides movement of the upper moving member; and a lower moving guide that guides movement of the lower moving member, and the lower moving guide may include a first lower moving guide and a second lower moving guide positioned below the first lower moving guide.

[0017] At this time, the control unit can control the lower moving member to move along the first lower moving guide when the thickness of the user's hand exceeds a preset threshold, and can control the lower moving member to move along the second lower moving guide when the thickness of the user's hand is less than or equal to the preset threshold.

[0018] At this time, if the control unit cannot identify the shape of the hand in the image acquired from the photographing unit, the control unit can calculate the size, thickness, and joint positions of the hand using a combined image generated based on images acquired during a preset time unit.

[0019] According to the present invention, a hand rehabilitation exercise device capable of periodically stretching a hand or finger when stiffness occurs can be provided.

[0020] In addition, the present invention can provide a hand rehabilitation exercise device that can provide customized rehabilitation exercise according to the user's hand size, thickness, shape, joint location, etc.

[0021] FIG. 1 is a perspective view showing the configuration of a hand rehabilitation device according to a first embodiment of the present invention.

[0022] FIGS. 2 to 7 are drawings for explaining the stretching process of the hand rehabilitation device according to the first embodiment of the present invention.

[0023] Figure 8 is a drawing showing the overall configuration of a hand rehabilitation device according to the second embodiment of the present invention.

[0024] FIG. 9 is another example of a movement guide of a hand rehabilitation device according to embodiments of the present invention.

[0025] Figure 10 is a drawing showing the overall configuration of a hand rehabilitation device according to a third embodiment of the present invention.

[0026] Figures 11 to 13 are examples of hand images acquired through the first photographing unit.

[0027] Figures 14 to 16 are examples of hand images acquired through the second photographing unit.

[0028] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. These embodiments are provided only to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals designate like elements throughout the specification.

[0029] Although terms such as "first" or "second" are used to describe various components, these components are not limited by such terms. Such terms may only be used to distinguish one component from another. Accordingly, a first component referred to below may also be a second component within the technical scope of the present invention.

[0030] The terminology used herein is for the purpose of describing embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise. As used herein, the terms "comprises" or "comprising" imply that a stated component or step does not exclude the presence or addition of one or more other components or steps.

[0031] In this specification, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

[0032] Unless otherwise defined, all terms used herein are to be interpreted as having a meaning commonly understood by those of ordinary skill in the technical field to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0033] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals, and redundant descriptions thereof will be omitted.

[0034] FIG. 1 is a perspective view showing the configuration of a hand rehabilitation device according to a first embodiment of the present invention.

[0035] FIGS. 2 to 7 are drawings for explaining the stretching process of the hand rehabilitation device according to the first embodiment of the present invention.

[0036] Referring to FIG. 1, the hand rehabilitation device (100) of the present invention includes a housing (110), an upper moving member (120), and a lower moving member (130).

[0037] The housing (130) forms the overall appearance of the hand rehabilitation device (100) and provides a space (S) within which the user's hand can be positioned. In addition, the upper movable member (120) and the lower movable member (130) are positioned in the space (S) and are moved while applying an external force to the user's hand or fingers.

[0038] There is no limitation on the shape of the housing (110) as long as a space (S) is formed inside in which the user's hand and the upper moving member (120) and the lower moving member (130) can move. Specifically, in the present embodiment, the housing (110) is formed with a lower plate (110a), a left plate (110b), and a right plate (110c).

[0039] A first movement guide (111) that guides the movement of the upper movement member (120) and a second movement guide (112) that guides the movement of the lower movement member (130) are formed on the left plate (110b) and the right plate (110c).

[0040] The first movement guide (111) and the second movement guide (112) perform the function of guiding the movement of the upper movement member (120) and the lower movement member (130) for effective stretching of the stiff user's fingers.

[0041] Meanwhile, as described later, the upper moving member (120) and the lower moving member (130) are formed in a cylindrical shape and move while rotating, so that the upper moving member (120) moves in the forward and backward directions, and the lower moving member (130) moves in the forward and backward directions and up and down directions, in order to provide effective stretching to the user's hands.

[0042] Accordingly, the first moving guide (111) is formed in the forward and backward directions, and the second moving guide (112) includes a fourth part (112b) formed in the forward and backward directions, a fifth part (112c) formed in the up and down directions and connected to the fourth part (112b), and a sixth part (112d) formed in the forward and backward directions and connected to the fifth part (112c).

[0043] Furthermore, the first moving guide (111) includes a first part (111a) formed in an up-down direction and a second part (111b) formed in a forward-backward direction and connected to the first part (111a), and the second moving guide (112) may further include a third part (112a) formed in an up-down direction and connected to the fourth part (112b).

[0044] In general, when a user's hand becomes stiff, the fingers are folded inward. Therefore, in the present embodiment, the upper movable member (120) is provided to be able to move up and down along the first part (111a), and the lower movable member (130) is provided to be able to move up and down along the third part (112a), so that a space can be formed in which the user's hand can easily enter the housing (110).

[0045] Since a portion of the entire movement path of the upper moving member (120) and the lower moving member (130) overlaps, the first moving guide (111) and the second moving guide (112) are formed so that there is a point of intersection.

[0046] In order to prevent the upper moving member (120) moving along the first moving guide (111) from falling into the second moving guide (112) while moving the moving guide (123), it is preferable that the width (d1) of the first moving guide (111) be formed larger than the width (d2) of the second moving guide (112).

[0047] The upper moving member (120) moves while making contact with the upper surface (A) of the hand, and the lower moving member (130) moves while making contact with the lower surface (B) of the hand.

[0048] Meanwhile, the upper surface (A) of the hand is defined as the surface with the palm, and the lower surface (B) of the hand is defined as the surface with the back of the hand. In addition, the upper movable member (120) and the lower movable member (130) may be formed with different diameters or widths depending on the purpose, but since the overall shape is the same, the overall shape will be described below based on the upper movable member (120).

[0049] The cross-sectional shape of the upper movable member (120) is not limited, but in the present embodiment, it is formed in a cylindrical shape. The upper movable member (120) includes a rotation axis to enable rotation, and may include a driving unit (123) for rotating the rotation axis.

[0050] The upper moving member (120) may include a contact portion (121) made of various materials that are harmless to the skin and have a coefficient of friction, etc., as it comes into contact with the user's hand during the stretching process. In addition, the contact portion (121) in the present embodiment may be configured to be detachable from the periphery of the upper moving member (120) for cleaning or replacement.

[0051] Since the contact portion (121) is provided to be detachable, contact portions (121) of various sizes can be adopted taking into consideration the size and thickness of the user's hand, etc.

[0052] Furthermore, although not shown, the surface of the contact portion (121) may be provided with protrusions or the like for applying stimulation to the user's hand.

[0053] And, guide projections (122) inserted into the first moving guide (111) may be formed at both ends of the upper moving member (120).

[0054] As described above, the overall shape of the lower moving member (130) is the same as that of the upper moving member (120), and accordingly, the lower moving member (130) also includes a rotation axis, a contact portion (131), a guide protrusion (132), and a driving portion (133).

[0055] Additionally, although not shown, a separate driving unit may be provided to provide driving force to move the upper moving member (120) and the lower moving member (130) along the first moving guide (111) and the second moving guide (112).

[0056] And since it is common for a typical stroke to result in hemiplegia, it could be implemented in a way that the user manually drives it using the opposite hand without a separate driving unit.

[0057] Referring to FIGS. 1 to 7, the process of stretching the user's hand while the upper moving member (120) and the lower moving member (130) of the present embodiment move will be described.

[0058] As shown in Fig. 1, the upper moving member (120) is positioned above the first part (111a) of the first moving guide (111), and the lower moving member (130) is positioned below the third part (112a) of the second moving guide (112), and the user puts his / her hand into the internal space (S) of the housing (110).

[0059] And the upper moving member (120) moves to the lower part of the first part (111a), and the lower moving member (130) moves to the upper part of the third part (112c) and comes into contact with the user's hand (see Fig. 2).

[0060] And as shown in FIGS. 3 and 4, the upper moving member (120) moves backward along the second part (111b) of the first moving guide (111) while passing through the user's palm.

[0061] It enters the inner side of the finger, and at this time, the upper moving member (120) may be configured to rotate for more effective entry or stretching.

[0062] Meanwhile, at this time, the lower moving member (130) moves backward along the fourth part (112b) of the second moving guide (112) to maintain the state of supporting the lower part of the hand.

[0063] And, according to the movement of the upper moving member (120) and the lower moving member (130), the user's hand is stretched from a folded state as in Fig. 2 to an unfolded state as in Fig. 4.

[0064] Through the process of FIGS. 5 to 7, a motion is made to bend the extended fingers inward again as in FIG. 4, and through this process, the user's fingers are repeatedly bent and extended, enabling stretching rehabilitation for stiffness due to hemiplegia.

[0065] Referring to Fig. 5, the lower movable member (130) moves upward along the fifth part (112c) and guides the spread fingers to move inward. In this process, the lower movable member (130) may be configured to rotate around a rotational axis for more effective movement or stretching. In this case, the upper movable member (120) moves backward along the second part (111b) to avoid interference with the upward movement of the lower movable member (130).

[0066] As a result of the movement of the upper moving member (120) and the lower moving member (130) as shown in FIG. 5, the user's fingers are initially bent as shown in FIG. 6.

[0067] And as shown in Fig. 7, the lower moving member (130) moves forward along the sixth part (112d) of the second moving guide (112), thereby secondarily bending the user's finger.

[0068] And through this process, the user's fingers are stretched and closed.

[0069] After the process is performed, the upper moving member (120) moves to the upper part of the first part (111a) of the first moving guide (111). Then, the lower moving member (130) moves to the lower part of the third part (112a) of the second moving guide (112) to form the same position as in Fig. 1.

[0070] And as the process described above is repeated, the user's hand undergoes a repetitive stretching process.

[0071] Figure 8 is a drawing showing the overall configuration of a hand rehabilitation device according to the second embodiment of the present invention.

[0072] Meanwhile, the overall configuration of the hand rehabilitation device of the second embodiment of the present invention is similar to that of the first embodiment described above, so the following description focuses on the differences.

[0073] Referring to FIG. 8, in this embodiment, the first moving guide (211) is formed on the left plate (210a) of the housing (210), and the second moving guide (212) is formed on the right plate (210c) of the housing (210).

[0074] Therefore, unlike the first embodiment, the first movement guide (211) and the second movement guide (212) do not need to intersect each other.

[0075] FIG. 9 is another example of a movement guide of a hand rehabilitation device according to embodiments of the present invention.

[0076] Referring to FIG. 9, an upper movement guide (111) that guides the movement of the upper movement member (120), a first lower movement guide (112-1) that guides the movement of the lower movement member (130) and a second lower movement guide (112-2) are formed on the left plate (110b) or the right plate (110c).

[0077] The first lower movement guide (112-1) and the second lower movement guide (112-2) are arranged vertically to guide the movement of the lower movement member (110) according to the shape of the user's hand. The first lower movement guide (112-1) and the second lower movement guide (112-2) can be arranged vertically in a parallel manner.

[0078] For example, if the user's hand size exceeds a first threshold or the user's hand thickness exceeds a second threshold, the movement of the lower movable member (110) can be guided along the first lower movable guide (112-1). That is, by keeping the gap between the upper movable member (120) and the lower movable member (110) wide, hand rehabilitation exercise according to the hand size can be provided.

[0079] In addition, for example, when the user's hand size is less than or equal to the first threshold or the user's hand thickness is less than or equal to the second threshold, the movement of the lower movable member (110) can be guided along the second lower movable guide (112-2). That is, the gap between the upper movable member (120) and the lower movable member (110) can be kept narrower than when moving along the first lower movable guide (112-1), thereby providing hand rehabilitation exercise according to the hand size.

[0080] Although only the first lower movement guide (112-1) and the second lower movement guide (112-2) are shown in FIG. 9, additional lower movement guides may be provided to provide rehabilitation exercise suitable for the shape of the user's hand, and their shapes are not limited to those shown in FIG. 9.

[0081] As a portion of the entire movement path of the upper moving member (120) and the lower moving member (130) overlaps, the upper moving guide (111) and the lower moving guide (112-1, 112-2) are formed so that there is a point of intersection.

[0082] In order to prevent the upper moving member (120) moving along the upper moving guide (111) from falling into the lower moving guide (112-1, 112-2) during the movement process, it is preferable that the width (d1) of the upper moving guide (111) be formed larger than the width (d2) of the lower moving guide (112-1, 112-2). At this time, the widths (d2) of the first lower moving guide (112-1) and the second lower moving guide (112-2) may be formed to be the same.

[0083] Figure 10 is a drawing showing the overall configuration of a hand rehabilitation device according to a third embodiment of the present invention.

[0084] The overall configuration of the hand rehabilitation device of this embodiment is similar to the embodiments described above, so the differences will be described below.

[0085] Referring to Fig. 10, the housing (310) of the present embodiment further includes an upper plate (310d) that shields the upper portion of the space (S). In addition, a first moving guide (313) is provided on the upper plate (310d) so as to be able to move forward and backward.

[0086] And the upper moving member (330) further includes a connecting portion (334) that is movably connected to the first moving guide (313) so that the upper moving member (330) is positioned at a certain distance from the bottom surface of the upper plate (310d).

[0087] And a second moving guide (312) is formed on at least one of the left plate (310a) and the right plate (310c).

[0088] That is, in this embodiment, the first moving guide (313) is formed on the upper plate (310d), so that interference that occurs due to partial overlap of the moving paths of the upper moving member (320) and the lower moving member (130) can be avoided.

[0089] Meanwhile, as the first moving guide (313) in this embodiment is formed on the upper plate (310d), the connecting portion (324) may be configured to be able to move in the up-and-down direction to secure space for the user's hand to enter.

[0090] In addition, the rehabilitation device according to an embodiment of the present invention further includes a photographing unit (340-1, 340-2) for photographing the shape of the user's hand.

[0091] At this time, the photographing unit may include a first photographing unit (340-1) for photographing the upper surface of the user's hand and a second photographing unit (340-2) for photographing the side surface of the user's hand. The first photographing unit (340-1) may be formed by being attached to the upper plate (310d), and the second photographing unit (340-2) may be formed on the left plate (310a) or the right plate (310c).

[0092] Although not shown in FIG. 10, a device according to one embodiment of the present invention may further include a control unit that calculates the size, thickness, and joint positions of a hand based on an image of a user's hand captured by the capturing unit, and adjusts the movement paths of the upper moving member and the lower moving member based on the calculated values.

[0093] At this time, the control unit may be formed by being attached to the hand rehabilitation exercise device, but may also be configured to be separately connected via a separate cable.

[0094] At this time, the control unit can extract user hand features using an artificial neural network by inputting an image of the user's hand captured by the camera unit. At this time, the artificial neural network may correspond to a convolutional neural network (CNN), a recurrent neural network (RNN), or a generative adversarial network (GAN) structure.

[0095] At this time, the control unit can calculate the size, thickness, and joint position of the user's hand using the first image acquired from the first photographing unit (340-1) and the second image acquired from the second photographing unit (340-2).

[0096] At this time, the control unit can guide the path of the lower moving member differently depending on the size of the user's hand. For example, if the thickness of the user's hand exceeds a preset threshold, the control unit can control the lower moving member to move along the first lower moving guide, and if the thickness of the user's hand is below the preset threshold, the control unit can control the lower moving member to move along the second lower moving guide.

[0097] At this time, if the control unit cannot identify the complete hand shape within the image acquired from the photographing unit, the control unit can calculate the size, thickness, and joint positions of the hand using a combined image generated based on images acquired during a preset time unit.

[0098] Figures 11 to 13 are examples of hand images acquired through the first photographing unit.

[0099] Depending on the formation position and angle of the first shooting unit (340-1), there are cases where the entire user's hand shape can be acquired, as in Fig. 11, and cases where only a part of the user's hand shape can be acquired, as in Figs. 12 and 13.

[0100] The control unit can extract hand features from the acquired image if it can identify the complete hand shape from the acquired image, as shown in Fig. 11. That is, the control unit uses the acquired image as input and an artificial neural network to derive the size, thickness, and joint positions of the hand.

[0101] However, if the shape of the hand cannot be identified in the acquired image as in Fig. 12 or Fig. 13, or if only a portion of the shape of the hand can be identified, the control unit can create a combined image using another acquired image within a preset time. That is, if the acquired image taken at time t is as in Fig. 12, and the image acquired at time t+1 is as in Fig. 13, the two images can be combined to create a combined image including the shape of the entire hand.

[0102] In order to perform the above process, the control unit may perform a step of determining whether a complete hand shape exists in the acquired image.

[0103] Figures 14 to 16 are examples of hand images acquired through the second photographing unit.

[0104] As with the first shooting unit (340-1), depending on the formation position and angle of the second shooting unit (340-2), there are cases where the entire user's hand shape can be acquired as in FIG. 14, and cases where only a part of the user's hand shape can be acquired as in FIG. 15 and FIG. 16.

[0105] The control unit can extract hand features from the acquired image if it can identify the complete hand shape from the acquired image, as shown in Fig. 14. That is, the control unit uses the acquired image as input and an artificial neural network to derive the size, thickness, and joint positions of the hand.

[0106] However, if the shape of the hand cannot be identified in the acquired image as in Fig. 15 or Fig. 16, or if only a portion of the shape of the hand can be identified, the control unit can create a combined image using another acquired image within a preset time. That is, if the acquired image taken at time t is as in Fig. 15, and the image acquired at time t+1 is as in Fig. 16, the two images can be combined to create a combined image including the shape of the entire hand.

[0107] In order to perform the above process, the control unit may perform a step of determining whether a complete hand shape exists in the acquired image.

[0108] The specific implementations described in the present invention are exemplary and do not limit the scope of the present invention in any way. For the sake of brevity of the specification, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the lines connecting or connecting members between components depicted in the drawings are merely representative of functional connections and / or physical or circuit connections, and may be replaced or represented as various additional functional connections, physical connections, or circuit connections in an actual device. In addition, unless specifically mentioned as “essential,” “important,” etc., a component may not be absolutely necessary for the application of the present invention.

[0109] Therefore, the idea of ​​the present invention should not be limited to the embodiments described above, and not only the scope of the patent claims described below but also all scopes equivalent to or equivalently modified from the scope of the patent claims are considered to fall within the scope of the idea of ​​the present invention.

Claims

1. A photographing unit that photographs the shape of the user's hand; An upper moving member that moves while making contact with the upper surface of the user's hand; A lower moving member that moves while making contact with the lower surface of the user's hand; and A housing in which the upper movable member and the lower movable member are combined so as to be movable; A hand rehabilitation device capable of customized rehabilitation according to hand shape, characterized by including:

2. In claim 1, The above device A hand rehabilitation device capable of customized rehabilitation according to hand shape, characterized in that it further includes a control unit that calculates the size, thickness, and joint positions of the hand based on the image of the user's hand captured by the above-mentioned capturing unit, and adjusts the movement paths of the upper moving member and the lower moving member based on the calculated values.

3. In claim 2, The above control unit A hand rehabilitation device capable of customized rehabilitation according to hand shape, characterized in that the user's hand features are extracted using an artificial neural network by inputting a user's hand image captured by the above-mentioned shooting unit.

4. In claim 1, The above artificial neural network A hand rehabilitation device capable of customized rehabilitation according to hand shape, characterized by a structure corresponding to a CNN (Convolutional Neural Network), RNN (Recurrent Neural Network), or GAN (Generative Adversarial Network).

5. In claim 2, The above filming department A first photographing unit attached to the housing to photograph the user's hand surface; and A hand rehabilitation device capable of customized rehabilitation according to the shape of the hand, characterized in that it includes a second photographing unit attached to the housing and photographing the side of the hand of the user.

6. In claim 5, The above control unit A hand rehabilitation device capable of customized rehabilitation according to hand shape, characterized in that the size, thickness, and joint positions of the user's hand are calculated using the first image acquired from the first photographing unit and the second image acquired from the second photographing unit.

7. In claim 2, The above housing An upper movement guide that guides the movement of the upper movement member; and Includes a lower movement guide that guides the movement of the lower movement member, A hand rehabilitation device capable of customized rehabilitation according to the shape of the hand, characterized in that the lower movement guide includes a first lower movement guide and a second lower movement guide positioned lower than the first lower movement guide.

8. In claim 7, The above control unit When the thickness of the user's hand exceeds a preset threshold, the lower moving member is controlled to move along the first lower moving guide, A hand rehabilitation device capable of customized rehabilitation according to hand shape, characterized in that the lower moving member is controlled to move along the second lower moving guide when the thickness of the user's hand is below a preset threshold.

9. In claim 2, The above control unit A hand rehabilitation device capable of customized rehabilitation according to hand shape, characterized in that if the hand shape cannot be identified in the image acquired from the above-mentioned photographing unit, the size, thickness, and joint positions of the hand are calculated using a combined image generated based on images acquired over a preset time unit.

Images