A multi-channel finger training rehabilitation device

Abstract

This invention relates to a multi-channel finger training and rehabilitation device, belonging to the field of hand function rehabilitation. It includes an active module, a data processing module, a wireless communication module, a core control module, a driven module, and an LCD finger flexion degree display module connected in sequence. The active module collects voltage change signals when each finger flexes or extends. The data processing module generates inflation commands, deflation commands, or angle display commands based on the voltage change signals. The wireless communication module transmits the voltage change signals, inflation commands, deflation commands, or angle display commands to the core control module. The core control module controls the inflation or deflation of the driven module according to the inflation or deflation commands, and controls the LCD finger flexion degree display module to display the degree of finger flexion according to the angle display commands. This invention improves the rehabilitation efficiency of the affected hand.

Description

Technical Field

[0001] This invention relates to the field of hand function rehabilitation, and in particular to a multi-channel finger training and rehabilitation device. Background Technology

[0002] Today, besides musculoskeletal injuries, there are increasingly more potential factors causing hand dysfunction, such as neurological diseases like stroke, Parkinson's disease, and high-level spinal cord injury, as well as hand and upper limb dysfunction caused by rheumatoid arthritis, coronary heart disease, chronic obstructive pulmonary disease, systemic sclerosis, cancer, and tumors themselves or after surgery. As people's demands for quality of life increase, attention to hand and upper limb function is growing. Therefore, hand dysfunction cannot be ignored, and hand function rehabilitation is indispensable.

[0003] Currently, all pneumatic finger training and rehabilitation devices on the market are divided into active and passive ends. The active end glove accurately collects finger movement information and controls the passive end glove to assist the affected hand in completing the same movements; the passive end glove operates in a pneumatic mode, using an air pump to inflate and deflate to mimic the movements of the human hand. This type of glove can help patients improve symptoms such as hand spasms, numbness, and paralysis, and can also promote the recovery of brain nerves and blood vessels. However, current rehabilitation gloves on the market still have the following shortcomings:

[0004] Inexpensive rehabilitation gloves only allow for grasping and gripping of the entire glove, and require manual activation; they lack mirroring functionality. Moderately priced gloves offer basic mirroring, but cannot differentiate between individual fingers and only support grasping and gripping movements. Furthermore, current finger rehabilitation training devices lack prognostic assessment and treatment feedback capabilities, limiting their application scenarios and preventing the formation of a complete clinical treatment system.

[0005] In summary, current finger rehabilitation training devices can only achieve grasping of the entire glove, and cannot differentiate and control each finger, lacking specificity, thus resulting in low rehabilitation efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-channel finger training and rehabilitation device to solve the problem that existing finger training and rehabilitation devices do not provide targeted rehabilitation training for the affected hand, resulting in low rehabilitation efficiency.

[0007] To achieve the above objectives, the present invention provides the following solution:

[0008] A multi-channel finger training and rehabilitation device includes an active end module, a data processing module, a wireless communication module, a core control module, a slave end module, and an LCD finger bending degree display module connected in sequence.

[0009] The active terminal module is used to collect voltage change signals when each finger is bent or extended; the voltage change signals include the voltage change signals of the thumb, index finger, middle finger, ring finger, and little finger;

[0010] The data processing module is used to generate inflation commands, deflation commands, or angle display commands based on the voltage change signal; the inflation commands include thumb inflation commands, index finger inflation commands, middle finger inflation commands, ring finger inflation commands, and little finger inflation commands; the deflation commands include thumb deflation commands, index finger deflation commands, middle finger deflation commands, ring finger deflation commands, and little finger deflation commands; the angle display commands include thumb angle display commands, index finger angle display commands, middle finger angle display commands, ring finger angle display commands, and little finger angle display commands.

[0011] The wireless communication module is used to transmit the voltage change signal, the inflation command, the deflation command, or the angle display command to the core control module;

[0012] The core control module is used to control the inflation or deflation of the driven module according to the inflation command or the deflation command; it is also used to control the LCD finger bending degree display module to display the finger bending degree according to the angle display command.

[0013] Optionally, the active end module includes an active end glove, five strain gauge sensors, and five voltage amplification units;

[0014] The active end glove is worn on the patient's healthy hand. Each finger sleeve of the active end glove is equipped with a strain gauge sensor. The strain gauge sensor is connected to the voltage amplification unit. The voltage amplification unit is used to amplify the voltage change generated by the resistance change of the strain gauge sensor when the finger is bent or extended, to obtain the voltage change signal. The voltage amplification unit is connected to the data processing module.

[0015] Optionally, the data processing module includes five ADC acquisition channels, a data storage unit, a comparison unit, a bending degree determination unit, and an instruction generation unit;

[0016] The ADC acquisition channel is connected to the active terminal module, and the ADC acquisition channel is used to perform analog-to-digital conversion on the voltage change signal to form a voltage change value.

[0017] The data storage unit is connected to the ADC acquisition channel, and the data storage unit is used to store the voltage change value;

[0018] The comparison unit is connected to the ADC acquisition channel, and the comparison unit is used to compare the state value of the affected hand with the voltage change value.

[0019] The bending degree determination unit is connected to the ADC acquisition channel. The bending degree determination unit is used to compare the voltage change signal value with the preset range of bending angle to determine the degree of finger bending.

[0020] The instruction generation unit is connected to the comparison unit and the bending degree determination unit respectively. The instruction generation unit is used to generate the inflation instruction or the deflation instruction according to the comparison result, and to generate the angle display instruction according to the bending degree of the finger.

[0021] Optionally, the wireless communication module includes a first Bluetooth and a second Bluetooth; the first Bluetooth is connected to the data processing module; the second Bluetooth is connected to the core control module; the data processing module and the core control module transmit signals through the first Bluetooth and the second Bluetooth.

[0022] Optionally, the core control module includes 5 inflation control ports, 5 suction control ports, and an angle output port; the driven end module includes an inflation unit, a suction unit, a driven end glove, 5 Y-type tee connectors, and 5 airbags.

[0023] If the instruction received by the core control module is the inflation instruction, then the inflation control port outputs a high level and the air intake control port outputs a low level.

[0024] If the instruction received by the core control module is the air intake instruction, then the inflation control port outputs a low level and the air intake control port outputs a high level.

[0025] If the instruction received by the core control module is the angle display instruction, then the angle output port outputs the degree of finger bending;

[0026] The driven end glove is worn on the patient's affected hand, and each finger sleeve of the driven end glove is provided with an air bladder; the inflation unit and the suction unit are respectively connected to the two input ports of the Y-type tee connector, and the air bladder is connected to the output port of the Y-type tee connector; the inflation unit is connected to the inflation control port; the suction unit is connected to the suction control port; and the LCD finger flexion degree display module is connected to the angle output port.

[0027] Optionally, the inflation unit includes five first MOS transistors, five first two-way valves, and an inflation tank; one end of the first MOS transistor is connected to the inflation control port; the other end of the first MOS transistor is connected to the first end of the first two-way valve; the second end of the first two-way valve is connected to the inflation tank; and the third end of the first two-way valve is connected to one input port of the Y-type three-way connector.

[0028] Optionally, the intake unit includes five second MOS transistors, five second two-way valves, and an intake canister; one end of the second MOS transistor is connected to the intake control port; the other end of the second MOS transistor is connected to the first end of the second two-way valve; the second end of the second two-way valve is connected to the intake canister; and the third end of the second two-way valve is connected to the other input port of the Y-type three-way connector.

[0029] Optionally, it also includes a power module; the power module includes a first battery, a second battery, and a step-down unit;

[0030] The first battery is connected to the data processing unit; the second battery is connected to the step-down unit and the slave module respectively; the step-down unit is connected to the core control unit.

[0031] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0032] The multi-channel finger training and rehabilitation device of the present invention collects voltage change signals of each finger of the healthy hand through an active end module. These voltage change signals include those of the thumb, index finger, middle finger, ring finger, and little finger. A data processing module compares these voltage change signals with the state values ​​of the affected hand and generates inflation commands, deflation commands, or angle display commands. The inflation commands include those for the thumb, index finger, middle finger, ring finger, and little finger; the deflation commands include those for the thumb, index finger, middle finger, ring finger, and little finger; and the angle display commands include those for the thumb, index finger, middle finger, ring finger, and little finger. A core control module controls the inflation and deflation of the driven end module according to the inflation or deflation commands, and also controls an LCD finger bending degree display module to display the degree of finger bending according to the angle display commands. This invention collects voltage change signals from each finger of the healthy hand and controls the fingers of the affected hand accordingly. It can differentiate and control each finger and display the degree of finger bending, enabling targeted training of the fingers of the affected hand and improving the rehabilitation efficiency of the affected hand. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a structural diagram of the multi-channel finger training and rehabilitation device provided by the present invention;

[0035] Figure 2 A structural diagram of the active end portion of the multi-channel finger training and rehabilitation device provided by the present invention in an embodiment;

[0036] Figure 3 The diagram shows the structure of the driven end portion of the multi-channel finger training and rehabilitation device provided by the present invention in an embodiment. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] The purpose of this invention is to provide a multi-channel finger training and rehabilitation device to solve the problem that existing finger training and rehabilitation devices do not provide targeted rehabilitation training for the affected hand, resulting in low rehabilitation efficiency.

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] Figure 1 The structural diagram of the multi-channel finger training and rehabilitation device provided by the present invention is shown below. Figure 1 As shown, the multi-channel finger training and rehabilitation device includes an active end module, a data processing module, a wireless communication module, a core control module, a slave end module, and an LCD finger bending degree display module connected in sequence.

[0041] The active terminal module is used to collect voltage change signals when each finger is bent or extended; the voltage change signals include the voltage change signals of the thumb, index finger, middle finger, ring finger, and little finger.

[0042] Furthermore, the active end module includes an active end glove, five strain gauge sensors, and five voltage amplification units. In practical applications, the active end glove does not need to distinguish between left and right hands; that is, when the affected hand is the right hand, the active end glove can be worn on either the patient's left hand or the doctor's right hand, enabling both autonomous rehabilitation training and rehabilitation training assisted by a doctor.

[0043] The active end glove is worn on the patient's healthy hand. Each finger sleeve of the active end glove contains a strain gauge sensor. The strain gauge sensor is connected to the voltage amplification unit. The voltage amplification unit amplifies the voltage change generated by the resistance change of the strain gauge sensor when the finger bends or extends, obtaining the voltage change signal. The voltage amplification unit is connected to the data processing module. The working principle of the strain gauge sensor is based on the resistance strain effect, that is, when a conductor or semiconductor material undergoes mechanical deformation under the action of external force, its resistance value changes accordingly. This phenomenon is called the "strain effect." The strain gauge sensor is attached to the finger joint of the active end glove to collect the finger joint bending signal. When the finger joint bends, the resistance of the strain gauge sensor changes accordingly.

[0044] In practical applications, strain gauge sensors are installed at the finger joints of the active-end glove. When the finger bends or extends, the strain gauge sensor generates a bending signal (changing voltage) through the resistive strain effect. This changing voltage is amplified by a voltage amplification unit and then transmitted to the data processing module. The voltage amplification unit amplifies the minute voltage changes caused by the change in resistance due to the bending of the strain gauge sensor. The voltage amplification unit has two input terminals and one output terminal. The two input terminals are connected to the strain gauge sensor, and the output terminal is connected to the corresponding ADC acquisition channel of the data processing module, enabling the data processing module to read the voltage change signal.

[0045] The data processing module is used to collect the voltage change signal and generate inflation commands, deflation commands, or angle display commands based on the voltage change signal; the inflation commands include thumb inflation commands, index finger inflation commands, middle finger inflation commands, ring finger inflation commands, and little finger inflation commands; the deflation commands include thumb deflation commands, index finger deflation commands, middle finger deflation commands, ring finger deflation commands, and little finger deflation commands; the angle display commands include thumb angle display commands, index finger angle display commands, middle finger angle display commands, ring finger angle display commands, and little finger angle display commands.

[0046] Furthermore, the data processing module includes five ADC acquisition channels, a data storage unit, a comparison unit, a bending degree determination unit, and an instruction generation unit. In practical applications, the data processing module uses an STM32F103 chip to identify and analyze the finger bending degree signal acquired by the bending degree acquisition module (active end module), and transmits the processed signal to the core control module for control of the rehabilitation glove end (passive end module).

[0047] The ADC acquisition channel is connected to the voltage amplification unit. The ADC acquisition channel performs analog-to-digital conversion on the voltage change signal to generate a voltage change value. In practical applications, to achieve high efficiency and accuracy in program execution, the ADC acquisition program code is run within the SysTick_Handler interrupt function of the STM32F103 chip. This interrupt function is based on a 1ms time base, meaning it runs once every 1ms, thus achieving the effect of rapidly acquiring the voltage change of the strain gauge sensor at the finger joint.

[0048] Since this invention requires the use of a single ADC to acquire the varying voltages generated by multiple strain gauge sensors at different degrees of bending, single-channel ADC acquisition cannot meet the requirements. Therefore, this invention employs a multi-channel ADC acquisition method to achieve the goal of acquiring the varying voltages generated by multiple strain gauge sensors at different degrees of bending.

[0049] The data storage unit is connected to the ADC acquisition channel, and the data storage unit is used to store the voltage change value.

[0050] The comparison unit is connected to the ADC acquisition channel, and the comparison unit is used to compare the state value of the affected hand with the voltage change value.

[0051] The bending degree determination unit is connected to the ADC acquisition channel. The bending degree determination unit is used to compare the voltage change signal value with the preset range of bending angle to determine the degree of finger bending.

[0052] The instruction generation unit is connected to both the comparison unit and the bending degree determination unit. The instruction generation unit generates the inflation instruction or the deflation instruction based on the comparison result, and generates the angle display instruction based on the finger bending degree. In practical applications, the instruction generation unit also generates a shutdown instruction; that is, when the state value stabilizes near the acquired value, a shutdown instruction is generated to close all two-way valves.

[0053] like Figure 2As shown, strain gauge sensors are attached to the knuckles of the five fingers (fingers 1, 2, 3, 4, and 5) of the active-end glove. Pins A5, A6, A7, B0, and B1 of the STM32F103 chip are configured as five ADC acquisition channels to acquire the voltage change signal output by the voltage amplification unit corresponding to the strain gauge sensor, thus obtaining the signal indicating the degree of finger flexion. Pins A9 and A10 of the STM32F103 chip are configured as serial port pins for communication with the HC-05 Bluetooth module (first Bluetooth module). The STM32F103 chip is mounted on the STM32F103C8T6 minimum system board. The active-end glove and voltage amplification unit are not located on... Figure 2 As shown in the image.

[0054] The wireless communication module is used to transmit the voltage change signal, the inflation command, the deflation command, or the angle display command to the core control module.

[0055] Furthermore, the wireless communication module includes a first Bluetooth and a second Bluetooth; one end of the first Bluetooth is connected to the data processing module; the other end of the second Bluetooth is connected to the core control module. In practical applications, wireless transmission includes communication between the STM32F103 chip and the first Bluetooth, communication between the two Bluetooths, and communication between the second Bluetooth and the core control module. The two Bluetooths are responsible for transmitting the instructions issued by the STM32F103 chip to the core control module.

[0056] In practical applications, the wireless transmission module utilizes two HC-05 Bluetooth modules to transmit and receive data. The HC-05 Bluetooth module for transmitting (the first Bluetooth module) is connected to the STM32F103 chip, and the HC-05 Bluetooth module for receiving (the second Bluetooth module) is connected to the STM32F407 chip. Both are set to a baud rate of 115200. Once the two HC-05 Bluetooth modules are successfully paired and connected, their internal communication protocols are ignored, and they are used directly as serial ports. When a connection is established, the two HC-05 Bluetooth modules share the same channel, i.e., the same serial port. One HC-05 Bluetooth module (the first Bluetooth module) sends data to the channel, and the other HC-05 Bluetooth module (the second Bluetooth module) can receive data from the channel.

[0057] The core control module is used to control the inflation or deflation of the driven module according to the inflation command or the deflation command; it is also used to control the LCD finger bending degree display module to display the finger bending degree according to the angle display command. In practical applications, the core control module is an STM32F407 chip, which controls the opening and closing of the two-way valve according to the received command to control the inflation and deflation of the finger.

[0058] Furthermore, the core control module includes 5 inflation control ports, 5 suction control ports, and an angle output port.

[0059] If the instruction received by the core control module is the inflation instruction, then the inflation control port outputs a high level and the air intake control port outputs a low level.

[0060] If the instruction received by the core control module is the air intake instruction, then the inflation control port outputs a low level and the air intake control port outputs a high level.

[0061] If the instruction received by the core control module is the angle display instruction, then the angle output port outputs the degree of finger bending.

[0062] like Figure 3 As shown, pins A2 and A3 of the STM32F407 chip are configured as serial port pins for communication with the HC-05 Bluetooth module (second Bluetooth module); pins C0-C9 of the STM32F407 chip are configured as output pins, controlling the on / off state of the MOSFETs by outputting high and low levels; pins C0-C4 are five inflation control ports, and pins C5-C9 are five suction control ports. Corresponding pins of the FSMC are also configured to enable LCD display functionality. The STM32F407 chip is installed on the STM32F407ZGT6 minimum system board.

[0063] The driven module includes an inflation unit, an air intake unit, a driven glove, five Y-shaped tee connectors, and five airbags (airbag 1, airbag 2, airbag 3, airbag 4, and airbag 5). The Y-shaped tee connectors are not shown in the figure.

[0064] The driven end glove is worn on the patient's affected hand, and each finger sleeve of the driven end glove is provided with an air bladder; the inflation unit and the suction unit are respectively connected to the two input ports of the Y-type tee connector, and the air bladder is connected to the output port of the Y-type tee connector; the inflation unit is connected to the inflation control port; the suction unit is connected to the suction control port; and the LCD finger bending degree display module is connected to the angle output port.

[0065] The inflation unit includes five first MOS transistors, five first two-way valves, and an inflation tank; one end of the first MOS transistor is connected to the inflation control port; the other end of the first MOS transistor is connected to the first end of the first two-way valve; the second end of the first two-way valve is connected to the inflation tank; and the third end of the first two-way valve is connected to one input port of the Y-type three-way connector.

[0066] The intake unit includes five second MOS transistors, five second two-way valves, and an intake canister; one end of the second MOS transistor is connected to the intake control port; the other end of the second MOS transistor is connected to the first end of the second two-way valve; the second end of the second two-way valve is connected to the intake canister; and the third end of the second two-way valve is connected to the other input port of the Y-type three-way connector.

[0067] MOSFETs are used in switching circuits. When the negative terminal of the MOSFET is continuously on, a high-level signal triggers it. When the MOSFET is not triggered, the positive terminals of the input power supply and the controlled device are connected, while the negative terminal is not. After triggering, both the positive and negative terminals are connected, thus achieving the switching function. By grounding the negative terminal of the MOSFET and connecting the positive terminal to different pins of the STM32F407 chip, the switching state of the MOSFET is controlled by the different output levels of the pins, thereby controlling the opening and closing of the two-way valve.

[0068] The finger inflation / deflation control module (driven end module) is controlled by an STM32F407 chip. It controls the inflation / deflation of each finger and the degree of inflation / deflation by controlling the opening and closing of a two-way valve, so that the affected glove (driven end glove) mirrors the movement of the healthy hand.

[0069] The STM32F407 chip, based on received instructions, causes its ten pins C0-C9 to output high or low levels. When the level is high, the MOSFETs (first and second MOSFETs) are turned on, thereby connecting the corresponding two-way valve circuit, opening the two-way valve, allowing airflow, and realizing the inflation or deflation of the driven glove.

[0070] like Figure 3 As shown, the LCD finger flexion degree display module is controlled by an STM32F407 chip and is responsible for displaying the flexion angle of the active finger (i.e., the healthy hand) on the LCD screen (LCD finger flexion degree display module). After receiving certain rehabilitation treatment, patients can wear an active end glove and voluntarily flex their fingers. The LCD screen will then display the angle of the voluntary flexion, providing clinicians with information on the patient's rehabilitation level. This helps doctors to conduct prognostic assessments and develop further treatment plans.

[0071] In one specific embodiment, the multi-channel finger training and rehabilitation device of the present invention further includes a power module; the power module includes a first battery, a second battery, and a step-down unit; the first battery is connected to the data processing unit; the second battery is connected to the step-down unit and the driven module respectively; the step-down unit is connected to the core control unit.

[0072] like Figure 2 As shown, Figure 2 The 3.3V battery mentioned is the first battery. Figure 3 The 12V battery in the middle is the second battery, and the 10V-8V to 5V step-down module is the step-down unit.

[0073] The specific working principle of the multi-channel finger training and rehabilitation device of the present invention is as follows:

[0074] The active module is worn on the patient's healthy hand. When the healthy hand bends or extends, the strain gauge sensor generates a changing voltage. The voltage amplification unit amplifies this voltage change signal. To make the affected hand follow the movement of the healthy hand, a state value can be assigned to the affected hand in the STM32F103 chip's program. The initial state value of the affected hand must be equal to the ADC acquisition value (voltage change signal) of its corresponding initial action. After ADC acquisition, the ADC acquisition value when the palm is in a normally extended state is obtained. This value is set as the initial state value of the affected hand and written to an SD card, where it is stored using the data storage unit.

[0075] By comparing the state value of the affected hand with the ADC (Analog-to-Digital Converter) value in the STM32F103 chip, the value corresponding to the strain gauge sensor of that finger changes accordingly. The greater the degree of finger bending, the smaller the value acquired by the ADC. When the healthy finger is bent, the state value of the affected hand is greater than the acquired value, requiring a decrease in the state value. This necessitates sending an inflation command (opening signal of the two-way valve of the inflation unit and closing signal of the two-way valve of the intake unit) to the STM32F407 chip. This causes the STM32F407 chip to control the opening of the two-way valve of the inflation unit and the closing of the two-way valve of the intake unit, thus bending the affected hand. When the healthy hand is open, the state value of the affected hand is less than the acquired value, requiring an increase in the state value. This necessitates sending a deflation command (opening signal of the two-way valve of the intake unit and closing signal of the two-way valve of the intake unit) to the STM32F407 chip. The STM32F407 chip controls the opening of the two-way valve of the inhalation unit and the closing of the two-way valve of the inflation unit, thus allowing the affected hand to unfold. Simultaneously, the corresponding state value in the STM32F103 chip approaches the acquired value. When the state value stabilizes near the acquired value, a closing command is sent to the STM32F407 chip. The STM32F407 chip outputs a low level on pins C0-C9, closing both the two-way valves of the inhalation and inflation units, allowing the affected hand to stably maintain the same movement as the healthy hand. Therefore, this invention achieves the following movement of the affected fingers.

[0076] To further meet the rehabilitation needs of patients, the approximate angle of different finger bends is displayed on the LCD screen. Since the strain gauge sensor generates different ADC values ​​depending on the degree of bend, the voltage changes of the strain gauge sensor are first collected when the finger is hyperextended, normally straight, bent at 45 degrees, bent at 90 degrees, and bent at 110 degrees. Two adjacent values ​​form an interval. When the healthy hand moves, I only need to determine the magnitude of the ADC value relative to the interval boundary, classifying it into the corresponding interval to determine the range of finger bend angle.

[0077] In order to obtain the degree of finger bending more intuitively and accurately, this invention aims to display the palm and corresponding finger joints on an LCD screen and use different colors to represent the degree of finger joint bending.

[0078] To display a hand on an LCD screen, use the Img2Lcd image acquisition software. Open the selected hand image in the software and modify the relevant configuration parameters to generate the corresponding array. Place the array into the project file of the STM32F407 chip, and then write an image drawing function to display the hand on the LCD screen.

[0079] The location of finger joints is shown by drawing circles on the fingers. The coordinates of each finger joint on the LCD screen are found, and a circle is drawn at each coordinate using a pre-written circle-drawing function to represent the finger joint.

[0080] After determining the angle, a range of finger bending angles is obtained. The function that displays colors on the LCD screen is called to display the corresponding colors at different finger joints to show the degree of bending of each finger. Since there are four different ranges, four different colors can be displayed.

[0081] The multi-channel finger training and rehabilitation device of the present invention has the following advantages:

[0082] (1) It can precisely control the mirror-following movement of each finger, enabling the affected hand to maintain the same movement as the healthy hand, which is more helpful in improving the patient's hand dysfunction.

[0083] (2) Active end gloves can distinguish between left and right hands and can be used in different application scenarios. They are suitable for rehabilitation therapists to assist patients in treatment and for patients to perform self-treatment. When rehabilitation therapists assist patients in treatment, they should choose an active end glove on the same side as the patient's affected hand, which helps with mirror-following control. When patients perform self-treatment, they should choose an active end glove on the opposite side of the affected hand, and the healthy hand should wear the active end glove to control the movement of the affected hand.

[0084] (3) It has a prognostic assessment function. The multi-channel finger training and rehabilitation device has an LCD display screen to show the degree of bending of the healthy finger, which can assess the degree of rehabilitation of the affected hand and help clinicians to carry out further rehabilitation treatment. After a period of treatment, the patient can wear a glove on the healthy side and bend the finger voluntarily. The range of angles that the patient voluntarily bends will then be displayed on the LCD screen, which helps clinicians to assess the patient's level of rehabilitation and develop a further rehabilitation treatment plan.

[0085] Compared to existing technologies, this invention enables precise acquisition of multi-channel hand signals from the active glove, transmits signals wirelessly to achieve hand tracking, and drives the driven glove to complete mirror-image movements. Furthermore, it allows selection of different modes based on various scenarios: a therapist-controlled patient mode and a patient-controlled mode, thus breaking away from traditional rehabilitation training methods.

[0086] In addition, an LCD screen can be connected to dynamically display the range of hand flexion angles, thereby obtaining movement information of the affected hand to facilitate the assessment of prognosis and treatment efficacy. After the patient has received treatment for a period of time, the patient wears an active end glove on the affected hand and voluntarily flexes the fingers. The angle of voluntary flexion is displayed on the LCD screen, which helps clinicians determine the degree of recovery of the affected hand and develop further rehabilitation treatment plans.

[0087] As described above, this device overcomes the limitations of current rehabilitation gloves on the market, which can achieve basic mirroring functions but cannot differentiate control of each finger and only offer grasping and gripping movements. Furthermore, it overcomes the shortcomings of limited application scenarios and incomplete clinical evaluation functions. This invention is a low-cost device with diverse application modes and prognostic assessment capabilities, fully capable of being used for clinical evaluation.

[0088] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0089] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A multi-channel finger training and rehabilitation device, characterized in that, It includes an active module, a data processing module, a wireless communication module, a core control module, a slave module, and an LCD finger bending degree display module; The active terminal module is used to collect voltage change signals when each finger is bent or extended; the voltage change signals include the voltage change signals of the thumb, index finger, middle finger, ring finger, and little finger; The active end module includes an active end glove, five strain gauge sensors, and five voltage amplification units; The active end glove is worn on the patient's healthy hand. Each finger sleeve of the active end glove is equipped with a strain gauge sensor. The strain gauge sensor is attached to the knuckle of the active end glove to collect the finger joint flexion signal. When the finger joint is flexed, the resistance of the strain gauge sensor changes accordingly. The strain gauge sensor is connected to the voltage amplification unit. The voltage amplification unit is used to amplify the voltage change generated by the resistance change of the strain gauge sensor when the finger is flexed or extended, to obtain the voltage change signal. The voltage amplification unit is connected to the data processing module. The data processing module is used to generate inflation commands, deflation commands, or angle display commands based on the voltage change signal; the inflation commands include thumb inflation commands, index finger inflation commands, middle finger inflation commands, ring finger inflation commands, and little finger inflation commands; the deflation commands include thumb deflation commands, index finger deflation commands, middle finger deflation commands, ring finger deflation commands, and little finger deflation commands; the angle display commands include thumb angle display commands, index finger angle display commands, middle finger angle display commands, ring finger angle display commands, and little finger angle display commands. The data processing module includes 5 ADC acquisition channels, a data storage unit, a comparison unit, a bending degree determination unit, and an instruction generation unit; The ADC acquisition channel is connected to the voltage amplification unit, and the ADC acquisition channel is used to perform analog-to-digital conversion on the voltage change signal to form a voltage change value. The data storage unit is connected to the ADC acquisition channel, and the data storage unit is used to store the voltage change value; The comparison unit is connected to the ADC acquisition channel. The comparison unit is used to compare the state value of the affected hand with the voltage change value. The state value of the affected hand is assigned by the program. When the healthy finger is bent, the state value of the affected hand is greater than the voltage change value, so the state value is decreased. When the healthy palm is open, the state value of the affected hand is less than the voltage change value, so the state value is increased. The bending degree determination unit is connected to the ADC acquisition channel. The bending degree determination unit is used to compare the voltage change signal value with the preset range of bending angle to determine the degree of finger bending. The instruction generation unit is connected to the comparison unit and the bending degree determination unit respectively. The instruction generation unit is used to generate the inflation instruction or the deflation instruction according to the comparison result, and to generate the angle display instruction according to the bending degree of the finger. The wireless communication module is used to transmit the voltage change signal, the inflation command, the deflation command, or the angle display command to the core control module; The wireless communication module includes a first Bluetooth and a second Bluetooth; the first Bluetooth is connected to the data processing module; the second Bluetooth is connected to the core control module; the data processing module and the core control module transmit signals through the first Bluetooth and the second Bluetooth. The core control module is used to control the inflation or deflation of the driven module according to the inflation command or the deflation command; it is also used to control the LCD finger bending degree display module to display the finger bending degree according to the angle display command.

2. The multi-channel finger training and rehabilitation device according to claim 1, characterized in that, The core control module includes 5 inflation control ports, 5 suction control ports, and an angle output port; the driven end module includes an inflation unit, a suction unit, a driven end glove, 5 Y-type tee connectors, and 5 airbags. If the instruction received by the core control module is the inflation instruction, then the inflation control port outputs a high level and the air intake control port outputs a low level. If the instruction received by the core control module is the air intake instruction, then the inflation control port outputs a low level and the air intake control port outputs a high level. If the instruction received by the core control module is the angle display instruction, then the angle output port outputs the degree of finger bending; The driven end glove is worn on the patient's affected hand, and each finger sleeve of the driven end glove is provided with an air bladder; the inflation unit and the suction unit are respectively connected to the two input ports of the Y-type tee connector, and the air bladder is connected to the output port of the Y-type tee connector; the inflation unit is connected to the inflation control port; the suction unit is connected to the suction control port; and the LCD finger flexion degree display module is connected to the angle output port.

3. The multi-channel finger training and rehabilitation device according to claim 2, characterized in that, The inflation unit includes five first MOS transistors, five first two-way valves, and an inflation tank; one end of the first MOS transistor is connected to the inflation control port; the other end of the first MOS transistor is connected to the first end of the first two-way valve; the second end of the first two-way valve is connected to the inflation tank; and the third end of the first two-way valve is connected to one input port of the Y-type three-way connector.

4. The multi-channel finger training and rehabilitation device according to claim 2, characterized in that, The intake unit includes five second MOS transistors, five second two-way valves, and an intake canister; one end of the second MOS transistor is connected to the intake control port; the other end of the second MOS transistor is connected to the first end of the second two-way valve; the second end of the second two-way valve is connected to the intake canister; and the third end of the second two-way valve is connected to the other input port of the Y-type three-way connector.

5. The multi-channel finger training and rehabilitation device according to claim 1, characterized in that, It also includes a power module; the power module includes a first battery, a second battery, and a step-down unit; The first battery is connected to the data processing unit; the second battery is connected to the step-down unit and the slave module respectively; the step-down unit is connected to the core control unit.

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