Hand training data processing method, device, electronic device and storage medium

Abstract

The present application discloses a method, device, electronic device and storage medium for processing hand training data, the method comprising: obtaining a grasping task uploaded by a user device, the grasping task carrying the name of the object to be grasped and the operation steps for the object to be grasped, the operation steps being used to characterize the operation that the user needs to perform; generating a control scheme according to the object name and the operation steps, the control scheme being used to control the movement direction and adjustment angle of each joint on the hand function rehabilitation training device; sending a control instruction to the hand function rehabilitation training device, the control instruction being used to instruct the hand function rehabilitation training device to complete the grasping action and operation steps for the object to be grasped according to the operation of the control scheme. The present application is conducive to improving the intelligence and flexibility of the server in processing training data, improving the success rate of users using hand function rehabilitation training devices for grasping training, and optimizing the rehabilitation training effect.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a method, device, electronic device and storage medium for processing hand training data. Background Art

[0002] The hand function rehabilitation training device is a hand rehabilitation training device used to assist patients with hand function use disorders in rehabilitation training. When patients use existing hand function rehabilitation training devices for rehabilitation training, they all use their pre-configured programs for training, which can only train inherent content and cannot provide targeted auxiliary training for the needs of patients, resulting in poor training effects. Summary of the invention

[0003] The embodiments of the present application provide a hand training data processing method, device, electronic device and storage medium, in order to improve the intelligence and flexibility of the server in processing training data, improve the success rate of users using hand function rehabilitation training equipment for grasping training, and optimize the rehabilitation training effect.

[0004] In a first aspect, an embodiment of the present application provides a hand training data processing method, which is applied to a server of a hand function training system, wherein the hand function training system includes the server, a user device, and a hand function rehabilitation training device, wherein the server is communicatively connected to the user device, and the user device is communicatively connected to the hand function rehabilitation training device, and the method includes:

[0005] Acquire a grasping task uploaded by the user device, wherein the grasping task carries a name of an object to be grasped and operation steps for the object to be grasped, wherein the operation steps are used to represent an operation that the user needs to perform;

[0006] Generate a control scheme according to the item name and the operation steps, wherein the control scheme is used to control the activity direction and adjustment angle of each joint on the hand function rehabilitation training device;

[0007] A control instruction is sent to the hand function rehabilitation training device, wherein the control instruction is used to instruct the hand function rehabilitation training device to operate according to the control scheme to complete the grasping action and the operation steps for the object to be grasped.

[0008] In a possible example of the first aspect, generating a control solution according to the object name and the operation steps includes:

[0009] Acquire a target grasping joint for grasping the object to be grasped and a current position of the target grasping joint in a current grasping posture corresponding to the hand function rehabilitation training device;

[0010] Determining the size of the object to be grasped according to the current position of the target grasping joint;

[0011] Obtaining the standard weight of the object to be grasped according to the name of the object;

[0012] The control scheme is generated according to the size of the object to be grasped and the standard weight.

[0013] In a possible example of the first aspect, determining the size of the object to be grasped according to the current position of the target grasping joint includes:

[0014] Determining whether an adjustment task uploaded by the user device is acquired within a preset period of time after the grasping task is acquired;

[0015] If not obtained, determining first angle information of the target grasping joint at the current position, and determining the size of the object to be grasped according to the first angle information, the angle information including a target angle and a target direction corresponding to the target grasping joint;

[0016] If acquired, an adjustment instruction is sent to the hand function rehabilitation training device according to the adjustment task, wherein the adjustment instruction is used to instruct the target grasping joint to continuously increase the angle of operation so as to gradually adjust and shorten the distance between the target grasping joint and the object to be grasped;

[0017] When the pause task uploaded by the user device is acquired, a stop instruction is sent to the hand function rehabilitation training device, wherein the stop instruction is used to instruct the target grasping joint to stop adjusting;

[0018] Acquire second angle information corresponding to when the target grasping joint stops adjusting;

[0019] The size of the object to be grasped is determined according to the second angle information.

[0020] In a possible example of the first aspect, generating a control solution according to the object name and the operation steps further includes:

[0021] Determine the recommended gripping hand type according to the operation steps;

[0022] Comparing the recommended gripping hand type with the current gripping hand type to see whether they are consistent;

[0023] If they are consistent, generating the control scheme according to the current gripping hand type;

[0024] If they are inconsistent, the control scheme is generated according to the current gripping mode and the recommended gripping mode.

[0025] In a possible example of the first aspect, the generating the control scheme according to the current grasping hand type and the recommended grasping hand type includes:

[0026] Comparing the recommended grasping hand posture with the current grasping hand posture to determine a target adjustment joint;

[0027] Determining a current position of a target adjustment joint in the current grasping hand shape and a target adjustment position of the target adjustment joint corresponding to the recommended grasping hand shape;

[0028] The control scheme is generated according to the current position of the target adjustment joint and the target adjustment position.

[0029] In a possible example of the first aspect, after sending the control instruction to the hand function rehabilitation training device, the method includes:

[0030] Acquiring a gripping history of the hand function rehabilitation training device, wherein the gripping history includes a training record of the hand function rehabilitation training device executing the control scheme;

[0031] updating a recommendation scheme in a database according to the grasping history, wherein the recommendation scheme includes a training hand shape, a training object corresponding to the training hand shape, and a joint angle corresponding to the training object;

[0032] The recommendation plan is sent to the hand function rehabilitation training device when non-physical training is performed on the training hand shape.

[0033] In a possible example of the first aspect, updating the recommendation scheme in the database according to the grasping history includes:

[0034] Determining, according to the grasping history, that the object grasped most by the training hand shape in the actual grasping training is the training object;

[0035] Determining the joint angle of the training hand shape with respect to the training object according to the grasping history;

[0036] The recommendation scheme for the training hand shape in the database is updated according to the training hand shape, the training object, and the joint angle.

[0037] In a second aspect, an embodiment of the present application provides a hand training data processing device, which is applied to a server of a hand function training system, wherein the hand function training system includes the server, a user device, and a hand function rehabilitation training device, wherein the server is communicatively connected to the user device, and the user device is communicatively connected to the hand function rehabilitation training device, and the hand training data processing device includes:

[0038] an acquisition unit, configured to acquire a grasping task uploaded by the user device, wherein the grasping task carries a name of an object to be grasped and operation steps for the object to be grasped, wherein the operation steps are used to represent an operation that the user needs to perform;

[0039] A generating unit, used for generating a control scheme according to the item name and the operation steps, wherein the control scheme is used for controlling the activity direction and adjustment angle of each joint on the hand function rehabilitation training device;

[0040] The sending unit is used to send a control instruction to the hand function rehabilitation training device, wherein the control instruction is used to instruct the hand function rehabilitation training device to operate according to the control scheme to complete the grasping action and operation steps for the object to be grasped.

[0041] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium that stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute some or all of the steps described in the first aspect of this embodiment.

[0043] It can be seen that in this embodiment, the server can obtain the grasping task uploaded by the user device, the grasping task carries the name of the object to be grasped and the operation steps for the object to be grasped, and the operation steps are used to characterize the operation that the user needs to perform; generate a control scheme according to the object name and the operation steps, and the control scheme is used to control the activity direction and adjustment angle of each joint on the hand function rehabilitation training device; send a control instruction to the hand function rehabilitation training device, and the control instruction is used to instruct the hand function rehabilitation training device to complete the grasping action and operation steps for the object to be grasped according to the control scheme. It can be seen that when executing the grasping task, the application can generate a control scheme for controlling the activity direction and adjustment angle of each joint on the hand function rehabilitation training device according to the object name and the operation steps of the object to be grasped uploaded by the user device, so as to instruct the hand function rehabilitation training device to assist the patient in grasping the object to be grasped for rehabilitation training according to the control scheme, which is conducive to improving the intelligence of the server in processing the grasping training data, thereby improving the adaptability of the control scheme and the object to be grasped, and then improving the success rate of the user using the hand function rehabilitation training device for grasping training, and optimizing the rehabilitation training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 It is a schematic diagram of the architecture of a hand function training system provided in an embodiment of the present application;

[0046] Figure 2 It is a structural schematic diagram of a hand function rehabilitation training device provided in an embodiment of the present application;

[0047] Figure 3 It is a flowchart of a hand training data processing method provided in an embodiment of the present application;

[0048] Figure 4 is a schematic diagram of an interface for generating a grasping task provided in an embodiment of the present application;

[0049] Figure 5 is a schematic diagram of an interface for generating an adjustment task provided in an embodiment of the present application;

[0050] Figure 6 This is a hand shape display diagram provided in an embodiment of the present application;

[0051] Figure 7 is a composition example diagram of an electronic device provided in an embodiment of the present application;

[0052] Figure 8 It is a functional unit composition block diagram of a first hand training data processing device provided in an embodiment of the present application;

[0053] Fig. 9 It is a block diagram of the functional units of a second hand training data processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0055] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0056] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0057] The embodiments of the present application are described below with reference to the accompanying drawings.

[0058] The technical solution of this application can be applied to Figure 1 The hand function training system 10 for hand function rehabilitation training equipment shown in the figure includes a server 110, a user device 120 and a hand function rehabilitation training equipment 130. The server 110 is connected to the user device 120 for communication, and the user device 120 is connected to the hand function rehabilitation training equipment 130 for communication.

[0059] Among them, the server 110 can be an outsourced server, a cloud server, an edge server, an intelligent robot, etc., which is not limited here.

[0060] The user device 120 may be a terminal device configured with a software application corresponding to the hand function rehabilitation training device 130 provided by the server 110, and the user device 120 may realize the relevant functions of the software application by communicating with the server 110. For example, the user device 120 may be a smart phone (such as an Android phone, an iOS phone, a Windows Phone phone, etc.), a smart computer (such as a tablet computer, a PDA, a laptop computer, a desktop computer, etc.), a driving recorder, a mobile Internet device (MID, Mobile Internet Devices) or a wearable device (such as a smart watch, a Bluetooth headset), etc. The above are only examples, not exhaustive, and include but are not limited to the above devices.

[0061] Among them, hand function rehabilitation training equipment is a rehabilitation training tool. Hand function rehabilitation training equipment is mainly used for continuous passive training activities of metacarpophalangeal joints, proximal interphalangeal joints and distal interphalangeal joints. Based on the theory of neuroplasticity and motor relearning, through repeated task-oriented training of the patient's injured hand, it promotes the reorganization and compensation of the nervous system, enhances the proprioception of the affected hand, induces active movement, prevents muscle atrophy, improves joint mobility, and assists the patient's injured hand to gradually recover fine movements such as grasping, holding, and pinching.

[0062] In a specific implementation, the hand function rehabilitation training device 130 may be configured with a communication unit, which may be used to communicate with the user device to receive control instructions from the user device, thereby controlling each joint of the hand function rehabilitation training device 130 to perform training according to the parameter information of the control scheme carried by the control instructions. Specifically, the user device 120 may be a smart phone or smart computer equipped with a software application corresponding to the hand function rehabilitation training device 130, and the hand function rehabilitation training device 130 may be connected to the user device 120 via a Bluetooth connection to receive the control instructions issued by the user device 120, thereby reducing production costs and ensuring the reliability of training.

[0063] Please refer to FIG. 2 , which is a schematic diagram of the structure of a hand function rehabilitation training device provided in an embodiment of the present application. Figure 2 The hand function rehabilitation training device shown is a manipulator. Specifically, the manipulator 20 includes multiple joint drivers 21, a palm fixing belt 22, and a finger fixing belt 23. Each finger of the manipulator 20 corresponds to at least one joint driver 21. The joint driver 21 outputs driving information based on the control instruction of the user device, so that the corresponding finger on the manipulator 20 moves, so that the manipulator 20 can perform training movements. When the user uses the manipulator 20 for rehabilitation training, the injured hand is bound to the manipulator 20 through the palm fixing belt 22 and the finger fixing belt 23, and then the manipulator 20 performs training movements based on the control instruction, and drives the user's hand to perform corresponding training movements, thereby realizing the user's passive training.

[0064] See also Figure 3 , Figure 3 is a flow chart of a method for processing hand training data provided by an embodiment of the present application. The method can be applied in the following aspects: Figure 1 The server 110 in the hand function training system shown in FIG. Figure 3 As shown, the hand training data processing method includes:

[0065] Step S310: obtaining the grasping task uploaded by the user device.

[0066] The grasping task carries the name of the object to be grasped and the operation steps for the object to be grasped, and the operation steps are used to represent the operation that the user needs to perform. Specifically, the operation refers to the action performed by the user when grasping the object to be grasped.

[0067] Specifically, when a patient with hand function impairment has a need for grasping action training, the user device can input the name of the object to be grasped and the operation steps to be performed for the object to be grasped in the grasping task generation interface, so that the user device generates a grasping task and uploads it to the server. The grasping task generation interface is an application interface provided by the software application corresponding to the hand function rehabilitation training device.

[0068] For example, see Figure 4 When a patient with hand function impairment has a need for grasping movement training, the name of the object to be grasped can be entered in the name input control 411 in the grasping task generation interface 410 displayed on the user device, and the operation steps to be performed for the object to be grasped can be entered in the step input control 412. After the content input is completed, a selection operation (such as single-click, double-click, long press, etc.) can be performed on the confirmation control 413 to generate a grasping task, and the user device can upload the grasping task to the server.

[0069] Step S320: Generate a control plan according to the item name and the operation steps.

[0070] Among them, the control scheme is used to control the activity direction and adjustment angle of each joint on the hand function rehabilitation training equipment.

[0071] The activity direction is used to represent the movement direction of the joint, and the adjustment angle is used to represent the degree of flexion and extension of the joint.

[0072] Specifically, after the server obtains the grasping task, it can identify the name of the object and the operation steps carried by the grasping task to determine the target grasping shape for grasping the object to be grasped, and then further determine the activity direction and adjustment angle of each joint on the hand function rehabilitation training device when adjusted to the target grasping shape based on the target grasping shape.

[0073] In a specific implementation, after receiving a grasping task, the server can first determine whether there is a grasping scheme corresponding to the object name and operation steps pre-stored. If so, a control scheme can be generated according to the scheme, and the activity direction and adjustment angle of each joint recorded in the scheme can be determined as the content of the control scheme.

[0074] Step S330: sending a control instruction to the hand function rehabilitation training device.

[0075] The control instructions are used to instruct the hand function rehabilitation training device to run according to the control scheme to complete the grasping action and operation steps for the object to be grasped.

[0076] In a specific implementation, after the server generates a control scheme, it can generate a control instruction carrying the control scheme and send the control instruction to the user device, so that the control instruction can be forwarded to the hand function rehabilitation training device through the user device, thereby instructing the hand function rehabilitation training device to operate according to the control scheme to complete the grasping action and operation steps for the object to be grasped.

[0077] Alternatively, in a specific implementation, if the hand function rehabilitation training device can be directly connected to the server for communication, the server can send the control instruction to the hand function rehabilitation training device most directly, thereby improving the efficiency of information transmission.

[0078] It can be seen that in this embodiment, the server can obtain the grasping task uploaded by the user device, the grasping task carries the name of the object to be grasped and the operation steps for the object to be grasped, and the operation steps are used to characterize the operation that the user needs to perform; generate a control scheme according to the object name and the operation steps, and the control scheme is used to control the activity direction and adjustment angle of each joint on the hand function rehabilitation training device; send a control instruction to the hand function rehabilitation training device, and the control instruction is used to instruct the hand function rehabilitation training device to complete the grasping action and operation steps for the object to be grasped according to the control scheme. It can be seen that when executing the grasping task, the application can generate a control scheme for controlling the activity direction and adjustment angle of each joint on the hand function rehabilitation training device according to the object name and the operation steps of the object to be grasped uploaded by the user device, so as to instruct the hand function rehabilitation training device to assist the patient in grasping the object to be grasped for rehabilitation training according to the control scheme, which is conducive to improving the intelligence of the server in processing the grasping training data, thereby improving the adaptability of the control scheme and the object to be grasped, and then improving the success rate of the user using the hand function rehabilitation training device for grasping training, and optimizing the rehabilitation training effect.

[0079] If the server does not pre-store a grasping scheme corresponding to the object name and the operation steps, in a possible example, generating a control scheme based on the object name and the operation steps includes: obtaining a target grasping joint for grasping the object to be grasped and a current position of the target grasping joint in the current grasping hand shape corresponding to the hand function rehabilitation training device; determining the size of the object to be grasped according to the current position of the target grasping joint; obtaining the standard weight of the object to be grasped according to the object name; and generating the control scheme according to the size of the object to be grasped and the standard weight.

[0080] The current grasping shape refers to the hand shape currently used by the patient wearing the hand function rehabilitation training device to contact the object to be grasped. The target grasping joint refers to the joint among the multiple finger joints of the hand function rehabilitation training device used to grasp the object to be grasped. The current position of the target grasping joint can be represented by the current joint angle of the hand function rehabilitation training device.

[0081] In a specific implementation, the user can first move the hand wearing the hand function rehabilitation training device to the location of the object to be grasped, so as to get close to the object to be grasped, and initiate a grasping task. After receiving the grasping task, the server will obtain the current joint angles of each joint of the hand function rehabilitation training device, and compare the current joint angles with multiple pre-stored hand shapes to identify the current grasping shape adopted by the user, thereby determining the target grasping joint of the current grasping shape used to grasp the object to be grasped and the current position of the target grasping joint according to the current grasping shape.

[0082] Specifically, after determining the target grasping joint and the current position of the target grasping joint, the server can determine the volume of the object to be grasped according to the current position of the target grasping joint. At the same time, the standard weight of the object to be grasped is determined by searching the database or searching the Internet according to the name of the object, so as to determine the strength of grasping the object to be grasped according to the volume and standard weight of the object to be grasped, and then generate a corresponding control scheme. Among them, the strength of grasping the object to be grasped can be represented by the joint angle. Specifically, the server can store the corresponding relationship between the standard weight and the joint adjustment angle. For example, if the standard weight is 0kg-2.5kg, the joint adjustment angle is 2°. That is, for the object to be grasped with a standard weight of 0kg-2.5kg, the server will increase the joint angle corresponding to the volume of the object to be grasped by 2° to increase the interaction force between the object to be grasped and the user's hand, so as to avoid affecting the execution of the operation steps.

[0083] It can be seen that in this example, by determining the size of the object to be grasped according to the current position of the target grasping joint and generating a control scheme according to the size and standard weight of the object to be grasped, the flexibility and intelligence of the server in processing training data can be improved, and the adaptability of the generated control scheme and the object to be grasped can be improved, thereby improving the reliability of training.

[0084] In one possible example, determining the size of the object to be grasped according to the current position of the target grasping joint includes: determining whether the adjustment task uploaded by the user device is obtained within a preset time period after the grasping task is obtained; if not, determining the first angle information of the target grasping joint at the current position, and determining the size of the object to be grasped according to the first angle information, the angle information including the target angle and target direction corresponding to the target grasping joint; if obtained, sending an adjustment instruction to the hand function rehabilitation training device according to the adjustment task, the adjustment instruction is used to instruct the target grasping joint to continuously increase the angle of operation so as to gradually adjust and shorten the distance between the target grasping joint and the object to be grasped; sending a stop instruction to the hand function rehabilitation training device when the pause task uploaded by the user device is obtained, the stop instruction is used to instruct the target grasping joint to stop adjusting; obtaining the second angle information corresponding to the stop adjustment of the target grasping joint; and determining the size of the object to be grasped according to the second angle information.

[0085] The preset time period can be set according to the needs, and no further restrictions are imposed. In a specific implementation, the preset time period can be the preset time period when the hand function rehabilitation training device is in the current grasping hand shape after the grasping task is initiated.

[0086] Among them, the adjustment task is used to adjust the joint angle and movement direction of the target grasping joint.

[0087] In a specific implementation, the server can detect whether there is an adjustment task from the user device within a preset period of time after the grasping task is initiated. The adjustment task is triggered by Figure 5The adjustment start control 511 in the adjustment interface 510 shown is generated and reported to the server. If there is no gap between the user's hand and the object to be grasped, the user may not report the adjustment task to the server through the user device. At this time, the server has not obtained the adjustment task, and the joint angle of the target grasping joint at the current position can be determined as the first angle information, and the size of the object to be grasped can be determined according to the first angle information. Alternatively, if there is a gap between the user's hand and the object to be grasped, the user can report the adjustment task to the server through the user device. After the server obtains the adjustment task, it will send an adjustment instruction to the hand function rehabilitation training device after obtaining the adjustment task, so as to instruct the target grasping joint of the hand function rehabilitation training device to continuously move toward the object to be grasped to increase the joint angle, thereby gradually adjusting and shortening the distance between the target grasping joint and the object to be grasped, so that the user can grasp the object to be grasped. After grasping the object to be grasped, the user can generate a pause task by triggering the stop adjustment control 512 in the adjustment interface 510 displayed by the user device, and report the pause task to the server, so that the server sends a stop instruction to the hand function rehabilitation training device, thereby instructing the hand function rehabilitation training device to stop the joint adjustment action. The joint angle of the target grasping joint of the hand function rehabilitation training device at this time is the second angle information, and the server can determine the size of the object to be grasped according to the second angle information.

[0088] Specifically, the server can perform modeling according to the name of the object and the first angle information or the second angle information corresponding to the target grasping joint of the hand function rehabilitation training device to generate a model of the object to be grasped, thereby determining the size of the object to be grasped by measuring the size of the model.

[0089] It can be seen that in this example, by adjusting the joint angle of the target grasping joint through adjusting the task, the user's firm grasp of the object to be grasped can be improved, the accuracy of the server in obtaining the size of the object can be improved, and the reliability of the server in controlling the hand function rehabilitation training equipment for training can be improved.

[0090] In a possible example, generating a control scheme based on the object name and the operation steps also includes: determining a recommended gripping hand type based on the operation steps; comparing whether the recommended gripping hand type is consistent with the current gripping hand type; if they are consistent, generating the control scheme based on the current gripping hand type; if they are inconsistent, generating the control scheme based on the current gripping hand type and the recommended gripping hand type.

[0091] The recommended grasping hand shape refers to the hand shape recommended by the server for grasping the object to be grasped.

[0092] In a specific implementation, the server can determine the gripping hand type suitable for the operation step according to the operation step, and determine the gripping hand type as the recommended gripping hand type. For example, when the object to be gripped is a mineral water bottle, if the operation step is to move the mineral water bottle, the recommended gripping hand type can be as follows: Figure 6 If the operation step is to unscrew the cap of a mineral water bottle, the recommended gripping hand shape can be as follows: Figure 6 The "two-finger pinch" hand shape shown.

[0093] Specifically, before determining the recommended grasping hand type, the server may perform semantic recognition on the operation steps to improve the accuracy of the recommended grasping hand type determined by the server.

[0094] In a specific implementation, in order to further improve the accuracy of the recommended grasping hand type, the server can also store different grasping actions for different items. When determining the recommended grasping hand type, you can first search for the pre-selected grasping hand type corresponding to the item to be grasped according to the item name, and then determine the recommended grasping hand type from the pre-selected grasping hand types according to the operating steps. If the server does not search for the corresponding pre-selected grasping hand type according to the item name, it can identify and parse the item name to determine the shape of the item to be grasped, and then determine the pre-selected grasping hand type corresponding to the item to be grasped according to the shape, and then determine the recommended grasping hand type from the pre-selected grasping hand types according to the operating steps. This makes the recommended grasping hand type more suitable for the item to be grasped.

[0095] In a specific implementation, after determining the recommended gripping type, the recommended gripping type and the current gripping type can be compared to determine whether the recommended gripping type and the current gripping type are consistent. If they are consistent, the target gripping joint can be determined to have a moving direction and an adjustment angle during the execution of the operation steps based on the current gripping type according to the standard weight and size of the object to be grasped, thereby generating a control scheme. If they are inconsistent, it can be determined that the current gripping type is changed to the recommended gripping type, and the target gripping joint can be determined to have a moving direction and an adjustment angle during the entire process of executing the operation steps based on the recommended gripping type according to the standard weight and size of the object to be grasped, thereby generating a control scheme.

[0096] It can be seen that in this example, the recommended grasping type is determined according to the operation steps, and a control scheme is generated according to the current grasping type and the recommended grasping type. This can improve the accuracy of the server's processing of training data, improve the adaptation of the adopted grasping type and the object to be grasped, and optimize the training effect.

[0097] In one possible example, generating the control scheme based on the current grasping hand type and the recommended grasping hand type includes: comparing the recommended grasping hand type and the current grasping hand type to determine the target adjustment joint; determining the current position of the target adjustment joint in the current grasping hand type and the target adjustment position of the target adjustment joint corresponding to the recommended grasping hand type; generating the control scheme based on the current position of the target adjustment joint and the target adjustment position.

[0098] The target adjustment joint refers to the joint that needs to be adjusted when the hand function rehabilitation training device is adjusted from the current grasping shape to the recommended grasping shape. The current position and the target adjustment position can be represented by the joint angle.

[0099] Specifically, if the server obtains the adjustment task within a preset time period, the current position of the target adjustment joint in the current grasping hand shape refers to the position adjusted according to the adjustment task.

[0100] In a specific implementation, when the server generates the control scheme according to the current gripping type and the recommended gripping type, it can compare the recommended gripping type and the current gripping type. If the recommended gripping type and the current gripping type are inconsistent, the target adjustment joint that needs to be adjusted when the current gripping type is adjusted to the recommended gripping type is determined. Then the current position of the target adjustment joint in the current gripping type is determined, as well as the target adjustment position when adjusted to the recommended gripping type, which is adapted to the size and standard weight of the object to be grasped. Thus, the adjustment direction and adjustment angle of the target adjustment joint are determined according to the current position and the target adjustment position, thereby determining the control content in the process of changing the current gripping type to the recommended gripping type in the control scheme.

[0101] It can be seen that in this example, the target adjustment joint is determined by comparing the recommended grasping shape and the current grasping shape, and the control scheme is generated according to the current position of the target adjustment joint and the target adjustment position. This can ensure the accuracy of the generated control scheme adjustment, improve the intelligence and reliability of the server's data processing, and optimize the training effect.

[0102] In one possible example, after sending a control instruction to the hand function rehabilitation training device, the method includes: obtaining a grasping history of the hand function rehabilitation training device, the grasping history including a training record of the hand function rehabilitation training device executing the control scheme; updating a recommended scheme in a database according to the grasping history, the recommended scheme including a training hand shape, a training object corresponding to the training hand shape, and a joint angle corresponding to the training object; and sending the recommended scheme to the hand function rehabilitation training device when performing non-physical training for the training hand shape.

[0103] The grasping history is a training record of using the hand function rehabilitation training device multiple times with the same training hand shape to perform grasping action training. The recommended plan refers to the training plan recommended to the user when the user uses a fixed hand shape for non-object rehabilitation training.

[0104] In a specific implementation, after completing a physical grasping training for a certain object to be grasped, the server can obtain the grasping history to obtain multiple training records including this training record, and these multiple training records are all training records of physical grasping training using the same training hand shape as this physical grasping training. The server can determine whether it is necessary to update the existing recommended scheme for the training hand shape based on multiple training records. If no update is required, the existing recommended scheme can be maintained, and the existing recommended scheme can be recommended as the user's training scheme when the user subsequently uses the training hand shape for rehabilitation training. If it is determined that an update is required, the existing recommended scheme can be updated, and the updated recommended scheme can be recommended as the user's training scheme when the user subsequently uses the training hand shape for non-physical rehabilitation training.

[0105] In one possible example, updating the recommendation scheme in the database based on the grasping history includes: determining, based on the grasping history, that the object grasped most by the training hand type in actual grasping training is the training object; determining, based on the grasping history, the joint angles of the training hand type with respect to the training object; and updating the recommendation scheme for the training hand type in the database based on the training hand type, the training object and the joint angles.

[0106] In a specific implementation, after completing a physical grasping training, the server can obtain the grasping history of the physical grasping training using the same training hand shape as the physical grasping training. The grasping history includes training records of grasping multiple different objects using the training hand shape. The server can count the number of training records for each object in the grasping history, and determine the object with the largest number of training records as the object grasped most by the training hand shape, that is, the training object. If the training object is consistent with the training object corresponding to the existing recommended scheme, it is determined that no update is required. If the training object is inconsistent with the training object corresponding to the existing recommended scheme, it is determined that an update is required. At this time, the object with the largest number of training records can be determined as the training object corresponding to the updated recommended scheme, and the joint angle for the training object in the grasping history record can be determined as the joint angle corresponding to the updated recommended scheme for the training hand shape. When the user subsequently uses the training hand shape for non-physical rehabilitation training, the updated recommended scheme will be recommended as the user's training scheme.

[0107] For example, see Figure 6When the user performs rehabilitation training without physical objects, the user can select any one of the training hand shapes shown in the training interface 610, including "two-finger pinch", "three-finger pinch", "side pinch", "hook grasp", "column grasp", "ball grasp" and "compound fist pinch", to perform rehabilitation training without physical objects. When the user selects one of the training hand shapes, the server will send the recommended plan corresponding to the hand shape to the hand function rehabilitation training device to instruct the hand function rehabilitation training device to control the joint angles of each joint according to the recommended plan for rehabilitation training.

[0108] It can be seen that in this example, by determining the object that the training hand grasps most in the grasping history as the training object, and updating the recommended solution corresponding to the training hand shape according to the training object and its corresponding joint angle, it is beneficial to improve the reliability of the server's processing of training data, improve the accuracy of training movements, and optimize the training effect.

[0109] It can be seen that in this example, by obtaining the grasping history after completing a physical grasping training, and updating the recommended plan in the database according to the grasping history, so as to send the recommended plan to the hand function rehabilitation training device when conducting non-physical training for the training hand shape, the intelligence and accuracy of the server's processing of training data can be improved, so that users can be more in line with real life when conducting non-physical rehabilitation training, improve the practicality of rehabilitation training, and optimize the training effect.

[0110] The electronic device 70 in the present application may be structured as follows: Figure 7 As shown, the electronic device 70 is a server, which can be used to execute the above method. Specifically, the electronic device 70 may include a processor 710, a memory 720, a communication interface 730, and one or more programs 721, wherein the one or more programs 721 are stored in the above memory 720 and are configured to be executed by the above processor 710, and the one or more programs 721 include instructions for executing any step in the above method embodiment.

[0111] Among them, the communication interface 730 is used to support the communication between the electronic device 70 and other devices. The processor 710 can be, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, units and circuits described in conjunction with the disclosure of the embodiments of the present application. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0112] The memory 720 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SynchLink DRAM, SLDRAM), and direct memory bus random access memory (Direct Rambus RAM, DRRAM).

[0113] In a specific implementation, the processor 710 is used to execute any step in the above method embodiment, and when performing data transmission such as sending, the communication interface 730 can be selectively called to complete the corresponding operation.

[0114] It should be noted that the structural diagram of the above-mentioned electronic device 70 is only an example, and the specific components included may be more or less, and no sole limitation is made here.

[0115] The present application can divide the functional units of the electronic device according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0116] Figure 8 1 is a functional unit block diagram of a first hand training data processing device provided in an embodiment of the present application. The first hand training data processing device 80 includes:

[0117] An acquisition unit 810 is used to acquire a grasping task uploaded by the user device, wherein the grasping task carries a name of an object to be grasped and operation steps for the object to be grasped, wherein the operation steps are used to represent an operation that the user needs to perform;

[0118] A generating unit 820, configured to generate a control scheme according to the item name and the operation steps, wherein the control scheme is used to control the activity direction and adjustment angle of each joint on the hand function rehabilitation training device;

[0119] The sending unit 830 is used to send a control instruction to the hand function rehabilitation training device, wherein the control instruction is used to instruct the hand function rehabilitation training device to operate according to the control scheme to complete the grasping action and operation steps for the object to be grasped.

[0120] In one possible example, in terms of generating a control scheme based on the object name and the operation steps, the generating unit is specifically used to: obtain a target grasping joint for grasping the object to be grasped and a current position of the target grasping joint in the current grasping posture corresponding to the hand function rehabilitation training device; determine the size of the object to be grasped according to the current position of the target grasping joint; obtain the standard weight of the object to be grasped according to the object name; and generate the control scheme according to the size of the object to be grasped and the standard weight.

[0121] In one possible example, in terms of determining the size of the object to be grasped according to the current position of the target grasping joint, the generating unit is further specifically used to: determine whether the adjustment task uploaded by the user device is obtained within a preset time period after the grasping task is obtained; if not obtained, determine the first angle information of the target grasping joint at the current position, and determine the size of the object to be grasped according to the first angle information, the angle information including the target angle and target direction corresponding to the target grasping joint; if obtained, send an adjustment instruction to the hand function rehabilitation training device according to the adjustment task, the adjustment instruction is used to instruct the target grasping joint to continuously increase the angle of operation, so as to gradually adjust and shorten the distance between the target grasping joint and the object to be grasped; send a stop instruction to the hand function rehabilitation training device when the pause task uploaded by the user device is obtained, the stop instruction is used to instruct the target grasping joint to stop adjusting; obtain the second angle information corresponding to the stop adjustment of the target grasping joint; determine the size of the object to be grasped according to the second angle information.

[0122] In one possible example, in terms of generating a control scheme based on the object name and the operating steps, the generating unit is further specifically used to: determine a recommended gripping hand type based on the operating steps; compare whether the recommended gripping hand type is consistent with the current gripping hand type; if they are consistent, generate the control scheme based on the current gripping hand type; if they are inconsistent, generate the control scheme based on the current gripping hand type and the recommended gripping hand type.

[0123] In one possible example, in terms of generating the control scheme based on the current grasping hand type and the recommended grasping hand type, the generating unit is specifically further used to: compare the recommended grasping hand type and the current grasping hand type to determine the target adjustment joint; determine the current position of the target adjustment joint in the current grasping hand type and the target adjustment position of the target adjustment joint corresponding to the recommended grasping hand type; generate the control scheme based on the current position of the target adjustment joint and the target adjustment position.

[0124] In one possible example, the first hand training data processing device also includes an updating unit, which is used to: after sending a control instruction to the hand function rehabilitation training device, obtain the grasping history of the hand function rehabilitation training device, and the grasping history includes the training record of the hand function rehabilitation training device executing the control scheme; update the recommended scheme in the database according to the grasping history, and the recommended scheme includes the training hand shape, the training objects corresponding to the training hand shape, and the joint angles corresponding to the training objects; and send the recommended scheme to the hand function rehabilitation training device when performing non-physical training for the training hand shape.

[0125] In one possible example, in terms of updating the recommendation scheme in the database according to the grasping history, the updating unit is specifically used to: determine according to the grasping history that the object grasped most by the training hand type in actual grasping training is the training object; determine according to the grasping history the joint angles of the training hand type for the training object; and update the recommendation scheme for the training hand type in the database according to the training hand type, the training object and the joint angles.

[0126] In the case of using an integrated unit, the functional unit composition block diagram of the second hand training data processing device provided in the embodiment of the present application is as follows: Fig. 9 As shown. Fig. 9 In the embodiment, the second hand training data processing device 90 includes: a processing module 920 and a communication module 910. The processing module 920 is used to control and manage the actions of the first hand training data processing device 80, for example, the steps performed by the acquisition unit 810, the generation unit 820 and the sending unit 830, and / or other processes for performing the technology described herein. The communication module 910 is used to support the interaction between the second hand training data processing device 90 and other devices. Fig. 9 As shown, the second hand training data processing device 90 may further include a storage module 930 , and the storage module 930 is used to store program codes and data of the second hand training data processing device 90 .

[0127] Among them, the processing module 920 can be a processor or a controller, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logic boxes, modules and circuits described in conjunction with the disclosure of the embodiments of the present application. The processor can also be a combination that implements a computing function, for example, including a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 910 can be a transceiver, an RF circuit or a communication interface, etc. The storage module 930 can be a memory.

[0128] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. The above first hand training data processing device 80 or the second hand training data processing device 90 can execute the above Figure 3 The steps performed by the server in the hand training data processing method shown.

[0129] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiments, and the above computer includes a server.

[0130] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0131] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0132] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0133] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0134] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0135] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0136] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing the relevant hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0137] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for processing hand training data, characterized in that: A server applied to a hand function training system, the hand function training system comprising the server, a user device and a hand function rehabilitation training apparatus, the server being communicatively connected to the user device, the user device being communicatively connected to the hand function rehabilitation training apparatus, the method comprising: Acquire a grasping task uploaded by the user device, wherein the grasping task carries a name of an object to be grasped and operation steps for the object to be grasped, wherein the operation steps are used to represent an operation that the user needs to perform; Acquire a target grasping joint for grasping the object to be grasped and a current position of the target grasping joint in the current grasping posture corresponding to the hand function rehabilitation training device, wherein the current position of the target grasping joint is represented by a current joint angle of the hand function rehabilitation training device; Determining the size of the object to be grasped according to the current position of the target grasping joint; Acquire the standard weight of the object to be grasped and at least one preselected grasping hand type corresponding to the object to be grasped according to the name of the object; Determining a recommended gripping hand type from the at least one preselected gripping hand type according to the operation steps; Comparing the recommended gripping hand type with the current gripping hand type; When the recommended grasping posture is consistent with the current grasping posture, a first control scheme is generated according to the current grasping posture, the size of the object to be grasped and the standard weight, wherein the first control scheme includes the activity direction and adjustment angle of the target grasping joint during the entire process of executing the operation steps determined by the hand function rehabilitation training device based on the current grasping posture according to the size of the object to be grasped and the standard weight, wherein the activity direction is used to characterize the joint movement direction of the target grasping joint, and the adjustment angle refers to the joint angle of the target grasping joint that needs to be adjusted; When the recommended grasping hand posture is inconsistent with the current grasping hand posture, a second control scheme is generated according to the current grasping hand posture, the recommended grasping hand posture, the size of the object to be grasped and the standard weight, the second control scheme includes changing the current grasping hand posture to the recommended grasping hand posture, and determining the activity direction and adjustment angle of the target grasping joint in the whole process of executing the operation steps based on the recommended grasping hand posture according to the size of the object to be grasped and the standard weight; A control instruction is sent to the hand function rehabilitation training device, wherein the control instruction is used to instruct the hand function rehabilitation training device to operate according to the first control scheme or the second control scheme to complete the grasping action and the operation steps for the object to be grasped.

2. The method according to claim 1, characterized in that The step of determining the size of the object to be grasped according to the current position of the target grasping joint comprises: Determining whether an adjustment task uploaded by the user device is acquired within a preset period of time after the grasping task is acquired; If not obtained, determining first angle information of the target grasping joint at the current position, and determining the size of the object to be grasped according to the first angle information, wherein the first angle information includes a target angle and a target direction corresponding to the target grasping joint; If acquired, an adjustment instruction is sent to the hand function rehabilitation training device according to the adjustment task, wherein the adjustment instruction is used to instruct the target grasping joint to continuously increase the angle of operation so as to gradually adjust and shorten the distance between the target grasping joint and the object to be grasped; When the pause task uploaded by the user device is acquired, a stop instruction is sent to the hand function rehabilitation training device, wherein the stop instruction is used to instruct the target grasping joint to stop adjusting; Acquire second angle information corresponding to when the target grasping joint stops adjusting; The size of the object to be grasped is determined according to the second angle information.

3. The method according to claim 1, characterized in that When the recommended grasping hand type is inconsistent with the current grasping hand type, generating a second control scheme according to the current grasping hand type, the recommended grasping hand type, the size of the object to be grasped and the standard weight includes: Comparing the recommended grasping hand posture with the current grasping hand posture to determine a target adjustment joint; Determine a current position of a target adjustment joint in the current grasping hand shape and a target adjustment position of the target adjustment joint corresponding to the recommended grasping hand shape, wherein the target adjustment position is represented by a joint angle; The control content of the process of changing the current grasping mode to the recommended grasping mode in the second control scheme is determined according to the current position of the target adjustment joint and the target adjustment position. The control content includes the adjustment direction and adjustment angle of the target adjustment joint corresponding to the process of changing the current grasping mode to the recommended grasping mode.

4. The method according to claim 1, characterized in that After sending the control instruction to the hand function rehabilitation training device, the method includes: Acquiring a gripping history of the hand function rehabilitation training device, wherein the gripping history includes a training record of the hand function rehabilitation training device executing the first control scheme or the second control scheme; updating a recommendation scheme in a database according to the grasping history, wherein the recommendation scheme includes a training hand shape, a training object corresponding to the training hand shape, and a joint angle corresponding to the training object; The recommendation plan is sent to the hand function rehabilitation training device when non-physical training is performed on the training hand shape.

5. The method according to claim 4, characterized in that The updating of the recommendation scheme in the database according to the grasping history comprises: Determining, according to the grasping history, that the object grasped most by the training hand shape in the actual grasping training is the training object; Determining the joint angle of the training hand shape with respect to the training object according to the grasping history; The recommendation scheme for the training hand shape in the database is updated according to the training hand shape, the training object, and the joint angle of the training hand shape for the training object.

6. A hand training data processing device, characterized in that: A server applied to a hand function training system, the hand function training system comprising the server, a user device and a hand function rehabilitation training apparatus, the server being communicatively connected to the user device, the user device being communicatively connected to the hand function rehabilitation training apparatus, the hand training data processing device comprising: an acquisition unit, configured to acquire a grasping task uploaded by the user device, wherein the grasping task carries a name of an object to be grasped and operation steps for the object to be grasped, wherein the operation steps are used to represent an operation that the user needs to perform; A generating unit, used for obtaining a target grasping joint for grasping the object to be grasped and a current position of the target grasping joint in the current grasping posture corresponding to the hand function rehabilitation training device, wherein the current position of the target grasping joint is represented by the current joint angle of the hand function rehabilitation training device; determining the size of the object to be grasped according to the current position of the target grasping joint; obtaining a standard weight of the object to be grasped and at least one preselected grasping posture corresponding to the object to be grasped according to the name of the object; determining a recommended grasping posture from the at least one preselected grasping posture according to the operating steps; comparing the recommended grasping posture with the current grasping posture; and generating a first control scheme according to the current grasping posture, the size of the object to be grasped and the standard weight when the recommended grasping posture is consistent with the current grasping posture, wherein the first control scheme includes the The hand function rehabilitation training device determines the activity direction and adjustment angle of the target grasping joint in the whole process of executing the operation steps based on the current grasping hand shape according to the size of the object to be grasped and the standard weight, the activity direction is used to characterize the joint movement direction of the target grasping joint, and the adjustment angle refers to the joint angle that the target grasping joint needs to be adjusted; and when the recommended grasping hand shape and the current grasping hand shape are inconsistent, a second control scheme is generated according to the current grasping hand shape, the recommended grasping hand shape, the size of the object to be grasped and the standard weight, the second control scheme includes changing the current grasping hand shape to the recommended grasping hand shape, and determining the activity direction and adjustment angle of the target grasping joint in the whole process of executing the operation steps based on the recommended grasping hand shape according to the size of the object to be grasped and the standard weight; A sending unit is used to send a control instruction to the hand function rehabilitation training device, wherein the control instruction is used to instruct the hand function rehabilitation training device to operate according to the first control scheme or the second control scheme to complete the grasping action and operation steps for the object to be grasped.

7. An electronic device, characterized in that: The method comprises a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the steps in the method according to any one of claims 1 to 5.

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