Rehabilitation glove based on HASEL driver and control method thereof

Abstract

The invention provides a rehabilitation glove based on an HASEL driver and a control method of the rehabilitation glove. The rehabilitation glove comprises a wearing assembly, a driving assembly and a control assembly, wherein the wearing assembly can be attached to the hand of a user; the driving assembly is connected with the wearing assembly, the driving assembly comprises at least one HASEL lamination driver, and the HASEL lamination drivers are arranged at the positions corresponding to finger joints when the wearing assembly is attached to the hand of a user; the control power supply module is connected with the driving assembly and comprises a control circuit and a power supply unit, and the control circuit is used for outputting control signals of different modes so as to control the power supply unit to apply driving voltage to the HASEL laminated driver through the control signals and drive the HASEL laminated driver to generate deformation; and the wearable component generates an action corresponding to the control signal. The problem that other soft manipulator driving devices are huge and cumbersome is solved. Finger movement can be controlled by controlling the power supply module to provide voltage, and the portability and the use convenience of the device are improved.

Description

Technical Field

[0001] The present application relates to the technical field of rehabilitation tools, and in particular to a rehabilitation glove based on a HASEL driver and a control method thereof. Background Art

[0002] In recent years, stroke has brought a heavy burden to the health of Chinese residents. Hand function failure is one of the main manifestations of stroke. Improving the problem of hand function failure requires repeated task practice rehabilitation. Against this background, auxiliary equipment for hand function rehabilitation has emerged, aiming to help patients conduct high-intensity repetitive rehabilitation training.

[0003] Existing hand rehabilitation machines are divided into rigid rehabilitation gloves and soft rehabilitation gloves. Although rigid rehabilitation gloves have advantages in terms of freedom of movement and movement assistance, their rigid components have poor adaptability and compliance to the hands. When the movements do not match the actual movements of the hands, it may cause pressure on the finger joints, leading to discomfort or even secondary injuries. With the development of soft robots, soft rehabilitation gloves have improved the above problems of rigid gloves by virtue of their bionic properties and the characteristics of soft materials. However, soft rehabilitation gloves mostly use pneumatic or hydraulic drive modes. Both of these drive modes require large devices to achieve drive, which greatly affects the convenience of using rehabilitation gloves. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a rehabilitation glove based on a HASEL driver and a control method thereof, so as to improve the adaptability and convenience of the rehabilitation gloves.

[0005] In the first aspect, the present application proposes a rehabilitation glove based on a HASEL actuator, comprising: A wearable component, wherein the wearable component can fit on a user's hand; A drive assembly connected to the wearable assembly, the drive assembly comprising at least one HASEL laminated driver, the HASEL laminated driver being arranged at a position corresponding to a finger joint when the wearable assembly is attached to a user's hand; A control power supply module, wherein the control power supply module is connected to the driving component, and the control power supply module includes a control circuit and a power supply unit, wherein the control circuit is used to output control signals of different modes, so as to control the power supply unit to apply a driving voltage to the HASEL stack driver through the control signal, thereby driving the HASEL stack driver to deform, thereby causing the wearable component to produce an action corresponding to the control signal.

[0006] According to the technical solution provided in the embodiment of the present application, the HASEL stack driver is formed by a plurality of HASEL driver stacks, a driver partition is provided between every two adjacent HASEL drivers, the HASEL driver comprises a flexible shell filled with a liquid dielectric, a flexible electrode is provided outside the flexible shell, and the driving voltage is applied to the flexible electrode; the number of HASEL drivers contained in each of the HASEL stack drivers is the same or different.

[0007] According to the technical solution provided in the embodiment of the present application, a flexible support structure is provided on the outer side of the wearable component, and the HASEL laminated driver is provided on the flexible support structure.

[0008] According to the technical solution provided in the embodiment of the present application, the wearable component includes a plurality of finger sleeves that can be fitted to each finger; the flexible support structure includes a first flexible portion attached to each of the finger sleeves, and a plurality of second flexible portions arranged on the first flexible portion, an installation area is formed between every two adjacent second flexible portions of the same first flexible portion, and a HASEL laminated driver is arranged in each of the installation areas.

[0009] According to the technical solution provided in the embodiment of the present application, the edge of the flexible support structure is sealed and connected with an insulating protection structure, and the insulating protection structure is wrapped around the outside of each of the HASEL stacked drivers.

[0010] According to the technical solution provided in the embodiment of the present application, the wearable component includes a back of the hand connected to the plurality of finger sleeve parts, and the control power supply module is arranged on the back of the hand.

[0011] According to the technical solution provided in the embodiment of the present application, the driving component includes a plurality of the HASEL stacked drivers, and the HASEL stacked drivers located in the same finger sleeve part are electrically connected through the flexible electrodes of the HASEL drivers, and the HASEL stacked drivers in different finger sleeve parts are electrically connected through conductive connectors.

[0012] In the second aspect, the present application proposes a control method for a rehabilitation glove based on a HASEL driver, which is implemented based on the rehabilitation glove based on the HASEL driver as described above, and includes the following steps: Receive the rehabilitation demand type of the user, retrieve and traverse the mode database, and determine whether the mode database has a universal rehabilitation mode matching the rehabilitation demand type; the mode database includes a plurality of preset rehabilitation types and a rehabilitation mode corresponding to each preset rehabilitation type, and each rehabilitation mode includes a corresponding control signal parameter combination, a driving voltage adjustment strategy, and an action sequence planning; If yes, start the first training process in a universal rehabilitation mode matching the rehabilitation demand type, and obtain the real-time temperature, real-time humidity and tremor frequency of the user's hand in real time; If the real-time temperature is greater than the first preset temperature, or the real-time humidity is greater than the first preset humidity, or the trembling frequency is greater than the first preset frequency, the first training process is stopped.

[0013] According to the technical solution provided in the embodiment of the present application, after determining whether there is a rehabilitation mode matching the rehabilitation demand type in the mode database, the following steps are also included: If not, obtain the user's medical diagnosis conclusion, retrieve and traverse the basic motion model library, and filter out the basic model corresponding to the medical diagnosis conclusion; Initiate an auxiliary diagnosis process of the rehabilitation glove to collect an auxiliary diagnosis result set of the user's hand, wherein the auxiliary diagnosis result set includes pressure distribution data when the user's hand maintains a plurality of different motion states; Based on the basic model and in combination with the auxiliary diagnosis result set, a customized rehabilitation mode is obtained, and the second training process is started with the customized rehabilitation mode.

[0014] According to the technical solution provided in the embodiment of the present application, after starting the second training process in the customized rehabilitation mode, the following steps are also included: Acquire a muscle strength sequence of a user in at least one training cycle, wherein the muscle strength sequence includes a plurality of training sections and an improvement rate of the muscle strength of the user's hand after each training section; If the muscle strength improvement rates gradually increase in sequence, the customized rehabilitation model is stored in the model database as a universal rehabilitation model.

[0015] Compared with the prior art, the beneficial effect of the present application is that the rehabilitation gloves of the present invention use a hydraulic self-healing electrostatic amplifier (HASEL driver) as a driving device, overcoming the problem of bulky and cumbersome driving devices of other soft manipulators. Only dry batteries are needed for power supply, and the finger movement can be controlled by providing voltage through a high-voltage power supply, which greatly improves the portability and convenience of the device. Patients can perform rehabilitation training anytime and anywhere without being restricted by large-scale driving equipment; at the same time, the gloves can accurately control the bending strength of the rehabilitation gloves' fingers by controlling the driving voltage, meeting the needs of rehabilitation exercises of different strengths, and providing personalized and adaptive rehabilitation training tools for patients at different rehabilitation stages. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of a rehabilitation glove based on a HASEL driver provided in an embodiment of the present application; Figure 2A schematic diagram of the structure of a HASEL stacked driver corresponding to a finger provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of the HASEL stack driver provided in an embodiment of the present application; Figure 4 This is a schematic diagram of the structure of the HASEL stacked driver provided in an embodiment of the present application after being flattened and unfolded.

[0017] The text annotations in the figure represent: 1. Wearable component; 2. Control power supply module; 3. Flexible support structure; 4. Insulation protection structure; 5. Flexible shell; 6. Driver partition; 7. Flexible electrode. DETAILED DESCRIPTION

[0018] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0019] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] Example 1 As mentioned in the background technology, in view of the problems in the prior art, this application proposes a rehabilitation glove based on a HASEL driver, such as Figure 1 As shown, including: A wearable component 1, wherein the wearable component 1 can fit on a user's hand; A drive assembly, the drive assembly is connected to the wearable assembly 1, the drive assembly includes at least one HASEL laminated driver, and the HASEL laminated driver is arranged at a position corresponding to a finger joint when the wearable assembly 1 is attached to the user's hand; Specifically, the HASEL laminated driver in the driving component is arranged at the position corresponding to the finger joint when the wearable component 1 fits the user's hand, and can accurately drive the finger joint movement to achieve good coordination with the human hand movement. At the same time, the wearable component 1 can fit the user's hand, ensuring the stability and comfort of the rehabilitation gloves during use, providing patients with a good wearing experience.

[0021] In a preferred embodiment, if Figure 3 , Figure 4As shown, the HASEL stacked driver is formed by stacking multiple HASEL drivers, and a driver partition 6 is provided between every two adjacent HASEL drivers. The HASEL driver includes a flexible shell 5, and the flexible shell 5 is filled with a liquid dielectric. The flexible shell 5 has a flexible electrode 7 outside, and the driving voltage is applied to the flexible electrode 7. The number of HASEL drivers included in each HASEL stacked driver is the same or different. Among them, the HASEL driver is a hydraulically self-healing electrostatic amplifier (full name: Hydraulically-AmplifiedSelf-Healing Electrostatic actuator).

[0022] A control power supply module 2 is connected to the driving component. The control power supply module 2 includes a control circuit and a power supply unit. The control circuit is used to output control signals of different modes, so as to control the power supply unit to apply a driving voltage to the HASEL stack driver through the control signal, drive the HASEL stack driver to deform, and thereby cause the wearable component 1 to generate an action corresponding to the control signal.

[0023] Specifically, the control circuit of the power supply module 2 can output control signals of different modes, and control the power supply unit to apply a driving voltage to the HASEL laminated driver through the control signal, thereby causing the wearable component 1 to generate an action corresponding to the control signal. This multi-mode control method can flexibly adjust the method and intensity of rehabilitation training according to the different rehabilitation needs, training stages and physical conditions of patients, further improving the practicality and adaptability of rehabilitation gloves.

[0024] The working principle of the scheme is described below: The control power supply module 2 controls the HASEL actuator by controlling the driving voltage on the flexible electrode 7. A HASEL actuator consists of a deformable flexible shell 5 (flexible or stretchable), which is covered with a pair of opposing flexible electrodes 7 and filled with liquid dielectric. When the driving voltage is applied to the flexible electrode 7, the Maxwell stress acts on the flexible shell and the liquid medium, thereby driving the local redistribution of the liquid medium, resulting in a change in the shape of the actuator. This working principle enables the HASEL actuator to use the hydraulic amplification principle (Pascal's law). Changing the size of the flexible electrode 7 relative to the flexible shell can change the stroke and output force (similar to a hydraulic system of a piston). The hydraulic pressure in the flexible shell is coupled to the Maxwell pressure: ,in, is the dielectric constant of the material system, E is the applied electric field, and the Maxwell pressure is independent of the electrode area. When the control power supply module 2 outputs the driving voltage, the flexible electrode 7 on the driver is driven by high voltage, and the Maxwell stress compresses the flexible electrode 7 together, thereby replacing the fluid in the electrode coverage area, increasing the hydraulic pressure in the area not covered by the electrode, and changing its shape, causing the continuum structure of the finger to elongate, while the strain on one side is limited to maintain the original length, thereby causing the finger to bend. As the voltage gradually increases, the compression area of ​​the electrode gradually increases, so that the bending angle of the finger gradually increases.

[0025] In a preferred embodiment, a flexible support structure 3 is provided on the outer side of the wearable component 1, and the HASEL laminated driver is provided on the flexible support structure 3.

[0026] Optionally, a thermoplastic polyurethane elastomer rubber (TPU) with good flexibility and certain strength is selected to make the flexible support structure 3 to form a soft skeleton. Through the mold injection molding process, it is made to fit closely to the outer contour of the wearable component 1. For example, when the wearable component 1 is a soft glove, the flexible support structure 3 is like a "skeleton" and is laid along the outer surface of the palm, fingers and other parts of the glove. During the manufacturing process, a precision mold is used to ensure the fit between the flexible support structure 3 and the wearable component 1, to ensure that there is no gap between the two, and to avoid displacement or wrinkles during use.

[0027] Furthermore, if Figure 2 As shown, the wearable component 1 includes a plurality of finger sleeves that can be fitted on each finger; the flexible support structure 3 includes a first flexible portion attached to each of the finger sleeves, and a plurality of second flexible portions provided on the first flexible portion, an installation area is formed between every two adjacent second flexible portions of the same first flexible portion, and a HASEL laminated driver is provided in each of the installation areas.

[0028] Specifically, the wearable component 1 has five finger sleeves that fit with five fingers respectively, and a specific slot or groove is set on the flexible support structure 3 corresponding to each finger sleeve as an installation area. Optionally, three installation areas are set on the flexible support structure 3 corresponding to each finger sleeve for installing the HASEL laminated driver. The size and shape of these installation areas are precisely matched with the corresponding HASEL laminated driver, and the HASEL laminated driver is firmly fixed on the flexible support structure 3 by interference fit or glue bonding to ensure that it will not loosen during the driving process.

[0029] Specifically, the number of layers of the HASEL laminated driver in each installation area is different. For example, at the hand joints, the joints close to the fingertips usually require smaller driving force and more delicate bending movements, while the joints close to the palm require larger driving force to achieve a larger bending. This can be achieved by setting HASEL laminated drivers with different numbers of layers, so the number of layers of the HASEL laminated driver close to the fingertips is the smallest, and the thickness of each layer of the driver is about 2 mm.

[0030] Working principle: The HASEL laminated driver with a large number of layers has a larger interaction area between the dielectric and the electrode inside, and can generate a greater driving force under the same driving voltage of the control power module 2. For example, a HASEL laminated driver with a large number of layers is installed at the metacarpophalangeal joint. When the control power module 2 applies the driving voltage, it can generate a greater force to drive the metacarpophalangeal joint to perform a larger bending movement, meeting the needs of large bending of the metacarpophalangeal joint when making a fist. The HASEL laminated driver with a small number of layers is relatively more flexible and can produce more obvious deformation under a smaller change in driving voltage. When it is installed at the fingertip joint, when the control power module 2 outputs the corresponding control signal and driving voltage, it can respond more accurately to achieve subtle bending movements of the fingertip joint, such as fine control of the fingertip joint when pinching small objects.

[0031] In a preferred embodiment, the edge of the flexible support structure 3 is sealed and connected to an insulating protection structure 4, and the insulating protection structure 4 is wrapped around the outside of each of the HASEL stacked drivers.

[0032] Specifically, the insulating protective structure 4 is an insulating soft shell made of TPU material. The insulating protective structure 4 is made into a shape that can completely wrap the HASEL laminated driver. During the wrapping process, it is ensured that all parts of the HASEL laminated driver are covered by the insulating protective structure 4 without any exposed parts; since the HASEL laminated driver involves the application of voltage during operation, the insulating protective structure 4 can effectively prevent the user from getting an electric shock and ensure the user's personal safety. In addition, it can block external impurities such as moisture and dust from entering the interior, prevent these impurities from damaging the HASEL laminated driver, and extend the service life of the rehabilitation gloves. The sealed connection with the flexible support structure 3 further enhances the protective effect, ensures the stability of the internal environment, and enables the HASEL laminated driver to work in a safe and stable environment.

[0033] In a preferred embodiment, the wearable component 1 includes a back of the hand connected to the plurality of finger sleeves, and the control and power supply module 2 is disposed on the back of the hand.

[0034] Specifically, the control power supply module 2 is installed on the back of the hand, which is convenient for the user to operate and control. The user can easily adjust the control signal through the control button on the back of the hand or an external device (such as a mobile phone APP) connected to the control power supply module 2 to control the action of the rehabilitation glove. At the same time, the relatively flat and stable position of the back of the hand is conducive to the fixation and protection of the control power supply module 2.

[0035] In a preferred embodiment, the driving assembly includes a plurality of the HASEL stacked drivers, and the HASEL stacked drivers located in the same finger sleeve part are electrically connected through the flexible electrode 7 of the HASEL driver, and the HASEL stacked drivers in different finger sleeve parts are electrically connected through a conductive connector.

[0036] Specifically, for the HASEL laminated actuators located in the same finger sleeve, the electrical conductivity of the flexible electrodes 7 is utilized to connect them in series in sequence by welding or connecting with conductive glue. During the connection process, it is ensured that the connection between the flexible electrodes 7 is firm and the resistance is small to ensure that the current can pass smoothly. At the same time, the connection parts are insulated to prevent the occurrence of short circuits.

[0037] Example 2 Based on Example 1, this example proposes a control method for a rehabilitation glove based on a HASEL driver, comprising the following steps: S1. Receive the rehabilitation demand type of the user, retrieve and traverse the mode database, and determine whether the mode database has a universal rehabilitation mode matching the rehabilitation demand type; the mode database includes a plurality of preset rehabilitation types and a rehabilitation mode corresponding to each preset rehabilitation type, and each rehabilitation mode includes a corresponding control signal parameter combination, a driving voltage adjustment strategy, and an action sequence planning; Specifically, the control signal parameter combination includes at least the frequency, amplitude, and waveform of the voltage; the driving voltage adjustment strategy is the initial value setting of the voltage, the rate of voltage change, whether a constant voltage output is required, or an increasing or decreasing voltage strategy at different stages; the action sequence planning is the action sequence, amplitude, and duration of each finger joint at different time points.

[0038] S2. If yes, start the first training process in a general rehabilitation mode matching the rehabilitation demand type, and obtain the real-time temperature, real-time humidity and tremor frequency of the user's hand in real time; S3. If the real-time temperature is greater than a first preset temperature, or the real-time humidity is greater than a first preset humidity, or the trembling frequency is greater than a first preset frequency, then stop the first training process.

[0039] Specifically, a high-performance microprocessor is built into the control power supply module 2 of the rehabilitation glove, and the microprocessor is connected to a touch screen or a Bluetooth module (for connecting to an external mobile device). The user inputs the rehabilitation demand type through the touch screen or mobile phone APP, such as "enhance hand grip strength" and "restore finger joint flexibility". The mode database is stored in the flash memory chip of the control power supply module 2. The mode database uses the preset rehabilitation type as a node, and each node is associated with a corresponding rehabilitation mode. After receiving the rehabilitation demand type, the microprocessor traverses the database and compares the demand type with the preset rehabilitation type. If the match is successful, the microprocessor generates a corresponding control signal through the control circuit according to the control signal parameter combination stored in the rehabilitation mode, and controls the power supply unit to output a suitable driving voltage according to the driving voltage adjustment strategy. In order to obtain the real-time temperature, real-time humidity and tremor frequency of the user's hand in real time, high-precision temperature sensors, humidity sensors and acceleration sensors are built into the finger sleeve and palm sleeve of the rehabilitation glove. These sensors transmit data to the microprocessor in real time, and the microprocessor analyzes and judges the data.

[0040] In a preferred embodiment, after determining whether the pattern database contains a rehabilitation pattern matching the rehabilitation requirement type, the method further includes the following steps: If not, obtain the user's medical diagnosis conclusion, retrieve and traverse the basic motion model library, and filter out the basic model corresponding to the medical diagnosis conclusion; Initiate an auxiliary diagnosis process of the rehabilitation glove to collect an auxiliary diagnosis result set of the user's hand, wherein the auxiliary diagnosis result set includes pressure distribution data when the user's hand maintains a plurality of different motion states; Based on the basic model and in combination with the auxiliary diagnosis result set, a customized rehabilitation mode is obtained, and the second training process is started with the customized rehabilitation mode.

[0041] Specifically, the control power supply module 2 is connected to the electronic medical record system of the hospital via Bluetooth or Wi-Fi, and after obtaining the user's authorization, the medical diagnosis conclusion, such as "hand nerve damage, accompanied by muscle atrophy", is extracted from the electronic medical record system. The basic motion model library is stored in another storage area of ​​the control power supply module 2, and a plurality of basic models are stored in a linked list structure. The microprocessor traverses the linked list according to the medical diagnosis conclusion, and selects the basic model that matches the diagnosis conclusion, such as the basic motion model for nerve damage and muscle atrophy. When the auxiliary diagnosis process is started, the pressure sensor array of the finger sleeve and the palm sleeve of the rehabilitation glove starts working, and the user follows the system prompts to make different action states such as fisting, stretching, and pinching in turn. The pressure sensor transmits the collected pressure distribution data to the microprocessor, and the microprocessor stores these data in a temporary data buffer to form an auxiliary diagnosis result set. Based on the screened basic model and the data in the auxiliary diagnosis result set, the microprocessor adjusts the parameters of the basic model to adapt it to the data characteristics in the auxiliary diagnosis result set. After generating a customized rehabilitation mode, the microprocessor starts the second training process according to the control signal parameter combination and driving voltage adjustment strategy of the mode.

[0042] In a preferred embodiment, after starting the second training process in the customized rehabilitation mode, the following steps are also included: Acquire a muscle strength sequence of a user in at least one training cycle, wherein the muscle strength sequence includes a plurality of training sections and an improvement rate of the muscle strength of the user's hand after each training section; If the muscle strength improvement rates gradually increase in sequence, the customized rehabilitation model is stored in the model database as a universal rehabilitation model.

[0043] Specifically, an electromyographic sensor is built into the finger sleeve of the rehabilitation glove to detect the changes in the electrical signals of the user's hand muscles, thereby calculating the muscle strength. Each training cycle is set to one month, with one training section per week. After each training section, the electromyographic sensor collects the electrical signals of the user's hand muscles, converts the electrical signals into muscle strength values ​​through the algorithm built into the microprocessor, and calculates the muscle strength improvement rate after the training section. The microprocessor stores the muscle strength improvement rate of each training section in an array to form a muscle strength sequence. After a training cycle, the microprocessor analyzes the muscle strength sequence to determine whether the improvement rate of each muscle strength gradually increases in sequence. If the conditions are met, the microprocessor copies the relevant data of the customized rehabilitation mode (including control signal parameter combination, drive voltage adjustment strategy, action sequence planning, etc.) from the temporary storage area to the general rehabilitation mode storage area of ​​the mode database, and updates the index of the database for subsequent rapid retrieval and call.

[0044] It should be noted that the wearable component 1 of the present application is not limited to soft gloves, but can be any other injured part of the human body to assist in the rehabilitation training of the injured part. Therefore, other rehabilitation devices based on the HASEL driver are also within the scope of protection of the present invention.

[0045] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A rehabilitation glove based on HASEL actuator, characterized in that: include: A wearable component (1), wherein the wearable component (1) can fit on a user's hand; A drive component, the drive component is connected to the wearable component (1), the drive component comprises at least one HASEL laminated driver, the HASEL laminated driver is arranged at a position corresponding to a finger joint when the wearable component (1) is attached to a user's hand; A control power supply module (2), the control power supply module (2) being connected to the drive component, the control power supply module (2) comprising a control circuit and a power supply unit, the control circuit being used to output control signals of different modes, so as to control the power supply unit to apply a driving voltage to the HASEL laminated driver through the control signal, thereby driving the HASEL laminated driver to produce a deformation, thereby causing the wearable component (1) to produce an action corresponding to the control signal.

2. The rehabilitation glove based on the HASEL actuator according to claim 1, characterized in that: The HASEL stack driver is formed by stacking a plurality of HASEL drivers, a driver partition (6) is provided between every two adjacent HASEL drivers, the HASEL driver comprises a flexible shell (5), the flexible shell (5) is filled with a liquid dielectric, the flexible shell (5) has a flexible electrode (7) outside, and the driving voltage is applied to the flexible electrode (7); the number of HASEL drivers contained in each of the HASEL stack drivers is the same or different.

3. The rehabilitation glove based on HASEL actuator according to claim 2, characterized in that: A flexible support structure (3) is provided on the outer side of the wearable component (1), and the HASEL laminated driver is provided on the flexible support structure (3).

4. The rehabilitation glove based on the HASEL actuator according to claim 3, characterized in that: The wearable component (1) comprises a plurality of finger sleeves that can be fitted on each finger; the flexible support structure (3) comprises a first flexible portion attached to each of the finger sleeves, and a plurality of second flexible portions arranged on the first flexible portion, an installation area is formed between every two adjacent second flexible portions of the same first flexible portion, and each of the installation areas is provided with a HASEL laminated driver.

5. The rehabilitation glove based on HASEL actuator according to claim 4, characterized in that: The edge of the flexible support structure (3) is sealed and connected to an insulating protection structure (4), and the insulating protection structure (4) is wrapped around the outside of each HASEL stack driver.

6. The HASEL actuator-based rehabilitation glove according to claim 4, characterized in that: The wearable component (1) comprises a back of the hand connected to a plurality of the finger sleeve parts, and the control and power supply module (2) is arranged on the back of the hand.

7. The rehabilitation glove based on HASEL actuator according to claim 3, characterized in that: The driving assembly comprises a plurality of HASEL stacked drivers, wherein the HASEL stacked drivers located in the same finger sleeve part are electrically connected via the flexible electrodes (7) of the HASEL drivers, and the HASEL stacked drivers in different finger sleeve parts are electrically connected via conductive connectors.

8. A control method for a rehabilitation glove based on a HASEL driver, implemented based on the rehabilitation glove based on a HASEL driver as claimed in any one of claims 1 to 7; characterized in that: The following steps are involved: Receive the rehabilitation demand type of the user, retrieve and traverse the mode database, and determine whether the mode database has a universal rehabilitation mode matching the rehabilitation demand type; the mode database includes a plurality of preset rehabilitation types and a rehabilitation mode corresponding to each preset rehabilitation type, and each rehabilitation mode includes a corresponding control signal parameter combination, a driving voltage adjustment strategy, and an action sequence planning; If yes, start the first training process in a universal rehabilitation mode matching the rehabilitation demand type, and obtain the real-time temperature, real-time humidity and tremor frequency of the user's hand in real time; If the real-time temperature is greater than the first preset temperature, or the real-time humidity is greater than the first preset humidity, or the trembling frequency is greater than the first preset frequency, the first training process is stopped.

9. The control method of the rehabilitation glove based on the HASEL driver according to claim 8, characterized in that: After determining whether the pattern database contains a rehabilitation pattern that matches the rehabilitation requirement type, the following steps are also included: If not, obtain the user's medical diagnosis conclusion, retrieve and traverse the basic motion model library, and filter out the basic model corresponding to the medical diagnosis conclusion; Initiate an auxiliary diagnosis process of the rehabilitation glove to collect an auxiliary diagnosis result set of the user's hand, wherein the auxiliary diagnosis result set includes pressure distribution data when the user's hand maintains a plurality of different motion states; Based on the basic model and in combination with the auxiliary diagnosis result set, a customized rehabilitation mode is obtained, and the second training process is started with the customized rehabilitation mode.

10. The control method of the rehabilitation glove based on the HASEL driver according to claim 9, characterized in that: After starting the second training process in the customized rehabilitation mode, the following steps are also included: Acquire a muscle strength sequence of a user in at least one training cycle, wherein the muscle strength sequence includes a plurality of training sections and an improvement rate of the muscle strength of the user's hand after each training section; If the muscle strength improvement rates gradually increase in sequence, the customized rehabilitation model is stored in the model database as a universal rehabilitation model.

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