Development and Clinical Application of Hemiplegic-Finger's Functional Recovery Training Device for Facilitating Voluntary Figure Movements with Objective-Exercise-Inducing

促进重复运动疗法（Kawahira therapy）作为四肢和手指偏瘫的康复疗法是一种有效的方法。通过诱导拉伸反射，该方法可以实现和促进肢体或手指的有意自愿运动。本文报道了一种偏瘫平行机构功能恢复训练装置，用于偏瘫手指，以促进目标运动诱导的自主动作。本文讨论了该装置的运动系统、传感系统和控制系统。实验证明了该装置的性能。

As a rehabilitation therapy for Hemiplegic limbs and fingers, Facilitation Repeated Exercise Therapy (Kawahira Therapy) is an effective technique. By inducing stretch reflex, the approach can realize and facilitate intended voluntary movements of limb or finger. This paper reports a functional recovery training device with hemiplegic parallel mechanism for hemiplegic fingers, to facilitate voluntary figure movements with objective-exercise-inducing. The motion system, sensing system and control system about the device are discussed in this paper. The performances of the device are shown by some experiments.