Instant feedback hand fine grasp training handle

Abstract

The application discloses a real-time feedback hand fine grasping training handle, which comprises a handle body, a rocker shaft, a rocker cap and an anti-skid belt; a communication module is arranged in the handle body; the rocker shaft is arranged at one end of the handle body; the rocker cap is connected with the rocker shaft, and a pressure sensor and a human body infrared induction sensor are arranged in the rocker cap; the pressure sensor and the human body infrared induction sensor are used for monitoring pressure change and temperature change of the rocker cap pressed by a hand of a person to be rehabilitated; the human body infrared induction sensor judges whether a finger posture of the patient is correct and can be improved by monitoring an area of the temperature change; and the monitored pressure and temperature information is sent to a receiving device through the communication module. The application can be used for hand rehabilitation training, such as various fine movements of fingers, and the application range is greatly improved; a wrist belt provided with an air bag for assisting movement is arranged at a wrist, so that the wrist belt can prevent the people with wrist dysfunction from being injured again and assist them in completing rehabilitation training of wrist joints.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation training, in particular to a real-time feedback hand fine grasping training handle. BACKGROUND

[0002] The existing game handle mainly has two kinds of gamepad and joystick, which are both connected game input devices. The gamepad is hand-held, and the disadvantages are that most of the products on the market need to be held by both hands, and there is no anti-falling device, which is easy to fall off from the hand and needs good hand function to operate. The joystick is fixed and integrated, and can only operate four directions of forward, backward, left and right, which is similar to the gear lever of a car. The disadvantage is that it has only a single mode, and is suitable for less games, and cannot exercise the function of the wrist and fingers. The handle with rehabilitation effect has intelligent rehabilitation training gloves and upper limb exoskeleton robots. The intelligent rehabilitation training gloves are equipped with interfaces and use electromyographic biofeedback technology to provide functional finger training. The disadvantage is that only the fingers can be passively moved, and only a single palm opening action can be achieved. The fine hand action cannot achieve the rehabilitation effect, such as spherical grasping, hook grasping, pair of fingers, three fingers, side pinching and other grasping mode action training. The upper limb exoskeleton robot is an upper limb rehabilitation robot that can be actively and passively trained. It is usually used for functional rehabilitation training of the shoulder and elbow. The disadvantage is that the device is complex, and it needs to be assisted to be put on and taken off, and cannot be completed independently. It lacks grasping mode training, and the cost is high. It can only be applied in hospitals and other places. The upper limb exoskeleton robots on the market have relatively rough workmanship, and cannot achieve fine function exercise of the hand. SUMMARY

[0003] The present application provides a real-time feedback hand fine grasping training handle, which aims to solve one of the technical problems in the prior art that there is a lack of a handle that can perform fine grasping training.

[0004] In view of the above problems of the prior art, according to one aspect of the present application, the present application adopts the following technical scheme:

[0005] A real-time feedback hand fine grasping training handle, comprising:

[0006] A handle body, a communication module is arranged in the handle body;

[0007] A rocker shaft is arranged at one end of the handle body;

[0008] A rocker cap is connected with the rocker shaft, a pressure sensor and a human body infrared induction sensor are arranged in the rocker cap; the pressure sensor and the human body infrared induction sensor are used for monitoring the change of pressure and the change of temperature of the rocker cap pressed and pinched by the hand of a person to be rehabilitated, and sending the monitored pressure and temperature information to a receiving device through the communication module;

[0009] Anti-skid bands, two ends of which are connected with the handle body, are used to fix the handle body relative to the arm of the person to be rehabilitated.

[0010] In order to better realize the present application, further technical solutions are:

[0011] Further, the communication module comprises a Bluetooth module.

[0012] Further, the handle body is provided with a notch on each side, which is connected with the two ends of the anti-skid band, and the anti-skid band is provided with a buckle for adjusting the length thereof.

[0013] Further, a wrist band is arranged on the handle body.

[0014] Further, three air source devices are arranged in the wrist band, each air source device is connected with an air bag fixing device through an air source transmission channel, and each air bag fixing device is connected with a ulnar side air bag, a palmar middle air bag and a radial side air bag.

[0015] Further, a pressure sensor and a human body infrared sensing sensor are arranged in the handle body.

[0016] Further, the receiving device comprises a VR and a host computer.

[0017] Further, a surface electromyography signal acquisition system is arranged in the handle body.

[0018] Compared with the prior art, one of the beneficial effects of the present application is:

[0019] The instant feedback hand fine grasping training handle of the present application can be used for hand rehabilitation training, such as fine movements of fingers (side pinch, three-finger pinch, opposite pinch, columnar grasp, spherical grasp, hook-shaped grasp, etc.), and the application range is greatly improved; the wrist band provided with air bags for assisting movement is arranged on the wrist, which assists the wrist dysfunction population to complete wrist joint rehabilitation training, such as flexion and extension of the wrist joint, ulnar deviation and radial deviation. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are only a reference for some embodiments in the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 Fig. 1 is a structural schematic diagram of the instant feedback hand fine grasping training handle according to an embodiment of the present application;

[0022] Figure 2 Fig. 1 is a schematic view of a related structure comprising a wristband according to an embodiment of the present application;

[0023] Figure 3 Fig. 2 is a schematic view of a hand-held columnar rocker cap according to an embodiment of the present application;

[0024] Figure 4 Fig. 3 is a schematic view of a spherical lifting shape according to another embodiment of the present application;

[0025] Figure 5 Fig. 4 is a schematic view of a hook-shaped gripping shape according to an embodiment of the present application;

[0026] Figure 6 Fig. 5 is a schematic view of a pinched rocker cap according to an embodiment of the present application;

[0027] Figure 7 Fig. 6 is a schematic view of a side pinched rocker cap according to an embodiment of the present application;

[0028] Figure 8 Fig. 7 is a schematic view of a three-finger pinched rocker cap according to an embodiment of the present application;

[0029] Figure 9 Fig. 8 is a schematic view of a connection between a rocker cap and a handle body according to an embodiment of the present application;

[0030] Figure 10 Fig. 9 is a schematic view of a partial enlargement of a rocker shaft according to an embodiment of the present application;

[0031] Figure 11 Fig. 10 is a flow chart showing a gripping training process according to an embodiment of the present application.

[0032] In the drawings, the reference numerals correspond to the following names:

[0033] 1 - handle body, 2 - rocker shaft, 3 - rocker cap, 4 - socket, 5 - wristband, 6 - anti-slip band, 7 - buckle, 8 - spring, 9 - connecting piece, 14 - ulnar side air bag, 15 - palmar middle air bag, 16 - radial side air bag, 17 - air source transmission channel, 18 - air bag fixing device, 19 - air source device, 20 - pressure sensor. DETAILED DESCRIPTION

[0034] The present application will be further described in conjunction with the embodiments. However, the embodiments of the present application are not limited thereto.

[0035] Reference is made to Figures 1 to 2As shown, a real-time feedback hand fine grip training handle includes a handle body 1, a rocker shaft 2, a rocker cap 3 and an anti-skid belt 6; a communication module is arranged in the handle body 1; the rocker shaft 2 is arranged at one end of the handle body 1; the rocker cap 3 is connected with the rocker shaft 2, and a pressure sensor and a human body infrared sensing sensor are arranged in the rocker cap 3; the pressure sensor and the human body infrared sensing sensor are used for monitoring the pressure change and temperature change of the rocker cap 3 pressed by the hand of a person to be rehabilitated, that is, the pressure sensor is used for monitoring the force size of the patient, and then the monitored pressure and temperature information are sent to a receiving device through the communication module, and the receiving device can be a VR, a host (game) and the like; the anti-skid belt 6 is connected with the handle body 1 at both ends, and is used for relatively fixing the handle body 1 with the arm of the person to be rehabilitated.

[0036] The present application can also judge whether the patient's finger posture is correct or not and whether it can be improved by monitoring the area of temperature change through the human body infrared sensing sensor. By using temperature compensation technology, the infrared light emitted by the hand can be accurately judged to perceive displacement, and the corresponding data is transmitted, so as to trigger the intelligent device of linkage control, such as VR, host (game) and the like.

[0037] As shown, the human body infrared sensing sensor is arranged in the form of a field effect tube. Figure 10 As shown, it includes a field effect tube 20 arranged on the upper end of the rocker shaft 2, a substrate 21 arranged above the field effect tube 20, a sensitive element 22 arranged on the substrate 21, and a light filtering window 23 arranged on the rocker cap 3. The field effect tube 20 serves as an amplifier of electrical signals and also serves as a support for the sensitive element 22, so that the internal structure is simple. By being arranged on the upper end of the rocker shaft 2, the field effect tube 20 plays a role of raising the sensitive element 22 and improves the infrared detection performance. The light filtering window 23 is arranged on the surface of the rocker cap 3. When the sensitive element 22 detects heat change, a certain amount of electronic signal will be generated, which will be fed back to the system. The arrangement of the infrared sensing sensor in the present application includes but is not limited to the above technical solutions.

[0038] The above communication module includes but is not limited to a Bluetooth module.

[0039] The connection mode of the rocker cap 3 and the rocker shaft 2 is preferably detachable connection. The rocker shaft is connected with the rocker cap, the rocker cap can be replaced, pressing the rocker cap and the rocker shaft can produce click effect, and pushing the rocker cap and the rocker shaft can control the moving direction of the control key (such as cursor, character in game interface and the like). The rocker cap 3 includes replaceable finger control caps of various fine grip modes, each finger control cap is matched with a groove and a sensor of a fine grip mode, and has good adaptability to different hand movements. It is not limited to the grip modes shown in Figure 3 , Figure 4 and Figure 5 , and can also apply double-hand cooperative action and the like.

[0040] The structure of the rocker cap 3 includes but is not limited to the patterns of Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 . The number and position of the corresponding set pressure receptors 20 can be different to meet the monitoring requirements of columnar grip, spherical grip, hook grip, pinch, side pinch, three-finger pinch, etc. For example, for pinch, pressure receptors can be arranged in the grooves on both sides;

[0041] The rocker cap can be designed with grooves that conform to human ergonomics, better accommodate fingers, make finger holding more stable, and fix hand holding posture. The surface of the rocker cap can be optionally installed with various sensory stimulation pieces, and the sensory stimulation mode can be selected including but not limited to: different roughness patch stimulation (such as sandpaper material, plush material, smooth material, etc.), temperature stimulation (ice feeling, heat feeling), vibration stimulation, electric stimulation, etc.

[0042] The surface of the groove of the structure of the rocker cap 3 can be optionally installed with various sensory stimulation pieces to promote sensory reeducation and sensory recovery of users with sensory disorders. The sensory stimulation mode can be selected including but not limited to: different roughness tactile stimulation (such as sandpaper material, plush material, smooth material, etc.), temperature stimulation (ice feeling, heat feeling), vibration stimulation, electric stimulation, etc.

[0043] In addition to the rocker control mode of connecting the rocker cap 3 with the handle body 1 through the rocker shaft 2, the control mode of setting buttons or the whole handle swinging can also be used.

[0044] For the setting mode of the anti-slip band 6, it can be directly connected with the handle body 1, the purpose is to facilitate its relative fixation with the arm to prevent the handle body 1 from slipping during rehabilitation training. As shown in Figure 1 , the handle body 1 is provided with a socket 4 connected with both ends of the anti-slip band 6, and the anti-slip band 6 is provided with a buckle 7 for adjusting the length thereof. The buckle 7 can have any existing technical structure, the purpose is to facilitate the adjustment of the length of the anti-slip band 6, which can be easily realized in the prior art, and the structure of the buckle 7 will not be described in this embodiment.

[0045] Figure 1 In the handle body 1, a wrist sleeve 5 can also be arranged. As shown in Figure 2 , Figure 2A preferred structure containing the wrist sleeve 5 is shown, specifically, three air source devices 19 are arranged in the wrist sleeve 5, each air source device 19 is connected with an air bag fixing device 18 through an air source transmission channel 17, and each air bag fixing device 18 is connected with the ulnar air bag 14, the palmar middle air bag 15 and the radial air bag 16 respectively. When the patient cannot smoothly move the wrist joint flexion and extension or ulnar deviation or radial deviation, the air bags 14 / 15 / 16 are inflated by the air source device to help the patient achieve the wrist joint flexion and extension or ulnar deviation or radial deviation.

[0046] The wrist sleeve 5 can stabilize the wrist joint to promote hand movement, and assist and guide the wrist joint flexion and extension, ulnar deviation and radial deviation, so as to achieve the purpose of wrist joint rehabilitation training.

[0047] Figure 2 In the wrist air bag power device in the embodiment, the air source power can be replaced by electric power. For example, if the wrist muscle function of the user is good, a hard wrist joint activity glove (cotton is added on the inside to improve comfort) can be used to assist in controlling the wrist activity. If the user can control the wrist activity independently, the air bag can be removed to become a common movement wrist band, which also has the effect of stabilizing the wrist joint to promote hand movement.

[0048] The rocker shaft 2 and the handle body 1 can be respectively provided with a pressure sensor and a human body infrared sensing sensor. The movement position or position change of the rocker shaft 2 and the handle body 1 is detected by the two pressure sensors and the human body infrared sensing sensor.

[0049] The embedding port 4 in the above embodiment can be a groove arranged on both sides of the middle section of the handle body 1, and of course can also be other structures.

[0050] The charging port 8 can be arranged at the bottom of the handle body 1, and the battery in the handle body 1 is chargeable.

[0051] The instant feedback hand fine grasping training handle in the above embodiment is based on the function of the existing game handle, the size of the handle is reduced, the handle conforms to the palm mechanics structure of the human body, the element (the pressure sensor and the temperature sensor in the above embodiment) specially sensing the fine hand movement is added on the rocker of the finger part, and the device (the wrist sleeve and the air bag in the above embodiment) assisting the wrist movement and rehabilitation training is additionally arranged on the wrist, so as to improve the use feeling of the handle for the people with hand function disorder, increase the atmosphere of rehabilitation training through the game, and achieve the purpose that the handle is suitable for a wider range of rehabilitation training, including but not limited to the games requiring the fine hand movement such as columnar grasping, spherical grasping, hook-like grasping, opposite pinching, side pinching, three-finger pinching and the like.

[0052] Surface electromyography (SEMG) refers to the continuous observation of changes in muscle activity throughout various processes. It is a diagnostic method significant for motor function, with important practical value in fatigue assessment, efficacy analysis of muscle work, and evaluation of muscle function. Its advantages include simplicity, non-invasiveness, and ease of use. Because SEMG signals not only reflect the flexion and extension states and intensity of joints but also the shape, position, orientation, and movement information of the hand during gesture completion, SEMG sensors have unique advantages in gesture recognition, especially fine motor recognition. The handle body 1 of this invention can also be equipped with a SEMG signal acquisition system, allowing continuous observation of changes in muscle activity throughout various processes. The acquired SEMG signals can then be wirelessly transmitted to a computer via methods such as Bluetooth or WiFi. These signals include force, angle, and acceleration, which is beneficial for assessing the patient's muscle function. For example, during use, information can be collected from the muscle bellies of four muscles in the forearm: the extensor pollicis brevis, the extensor digitorum communis (near the wrist), the flexor digitorum superficialis, and the flexor carpi ulnaris.

[0053] Based on the results of electromyographic biofeedback, the therapist can learn about muscle contraction and relaxation, and obtain hand gesture signals. Based on the visualized and digital observation results, the therapist can connect to a muscle electrical stimulation device to stimulate the responding muscles according to the electromyographic biofeedback information, promote the corresponding muscle contraction, and improve hand movement.

[0054] like Figure 11 As shown, Figure 11 A flowchart illustrating a grip training process is provided. Pressure and temperature information detected by pressure sensors and human infrared sensors, along with handle movement signals and surface electromyography (EMG) signals from the wrist, are transmitted via a communication module to a receiving device (such as a host computer). This receiving device includes an analysis module, a motion design module, and a display module. The analysis module includes, but is not limited to, feature extraction and classification, analyzing the effective components in the EMG signals corresponding to forearm movements. The relevant data of these effective components is then sent to the motion design and evaluation module. This module compares the received training information with stored rehabilitation training programs and, based on their deficiencies, develops a training plan suitable for the patient. During this step, the rehabilitation training movements can also be manually adjusted. The generated new training plan is then sent to the display module for display, allowing the patient to perform targeted training according to the new plan.

[0055] This invention converts electromyographic signals and pressure sensor signals into visualized data, which can be linked to multimedia games to provide patients with FLASH animation scenarios for different training purposes. This allows patients to intuitively understand the process of muscle control training, helping them improve muscle relaxation, endurance, control, and precision, thereby enhancing training compliance and enjoyment, and increasing patients' active participation. Therapists can also use this feedback to provide verbal reminders or passive assistance to patients.

[0056] The pressure sensor on the rocker cap 3 in the above embodiments can be a thin-film flexible pressure sensor. Multiple thin-film flexible pressure sensors can be configured according to the shape of the rocker cap 3, or, within the bending range of the thin-film flexible pressure sensor, it can be shaped into a curved surface and arranged at corresponding positions on the rocker cap 3. Alternatively, strain gauges or other types of pressure sensors can also be used.

[0057] like Figure 9 As shown, Figure 9 The diagram illustrates a structure in which a joystick cap is connected to a handle body. The joystick shaft 2 can be hollow inside. The pressure sensor and human infrared sensor in the joystick cap 3 can transmit data to a communication module located in the handle body 1 via a thin data cable. The communication module then establishes a signal connection with other devices wirelessly, transmitting the relevant data of the pressure sensor and human infrared sensor to the other devices.

[0058] Continue as Figure 9 As shown, the upper end of the joystick shaft 2 is connected to the joystick cap 3, and the lower end of the joystick shaft 2 is spherical and connected to the spring 8 and the connector 9. A rotation sensing module is located below the connector 9. The joystick cap 3 drives the joystick shaft 2 to rotate, and the joystick shaft 2 drives the connector 9 to move. The connector 9 is sensed by the sensing module when it moves, and the corresponding electrical signal is transmitted to the control system. That is, the signal can be transmitted to receiving devices such as VR devices and host computers via Bluetooth modules, so that rehabilitation trainees can play games. The electrical signals of game operation are transmitted to the computer, which analyzes and calculates to determine the direction of movement and displacement. The game control method can adopt existing game control technology, which will not be elaborated on in this invention. This invention introduces pressure and temperature parameters into the traditional game solution. In the future, corresponding games that can embed pressure and temperature parameters can be developed in receiving devices such as VR devices and host computers.

[0059] In summary, the hand training handle with a susceptor matches the rocker cap 3 to the exercise mode, installs the handle to the receiving device such as VR device, host computer, etc. through the communication module containing Bluetooth module, adjusts the anti-skid belt 6 to the optimal length through the buckle 7 and fixes it on the hand, the anti-skid belt 6 should be worn without crossing the metacarpophalangeal joint and in the proximal end of the metacarpophalangeal joint, and the thumb should not exceed the first metacarpophalangeal joint. Different hand fine motor skills such as side pinch, three-finger pinch, and pair pinch can be practiced on different rocker caps 3, the pressure receptors in each rocker cap 3 are in different positions, and the grooves are also different, which adapt to different pinch actions, allowing the hand functionally disabled population to re-learn and recover hand function in a simpler way. The stereoscopic pressure receptors installed on the surface or groove of the rocker cap 3 can facilitate the real-time collection of the user's muscle contraction and pinch action, and timely feedback through visual signals. When the patient cannot smoothly move the wrist joint flexion and extension or ulnar deviation or radial deviation, the air source device inflates the air bags 14 / 15 / 16 to help the patient achieve the wrist joint flexion and extension or ulnar deviation or radial deviation of the wrist movement. The surface electromyography (SEMG) acquisition system arranged in the handle body 1 continuously observes the changes of muscle activity in various processes, which can then be visually presented to the therapist in data or graphics on the display screen, and the therapist can treat the patient according to the data.

[0060] The various embodiments described in this specification are presented by way of example, and each embodiment is not necessarily composed of all features described with respect to that embodiment. Each embodiment describes a specific feature or description that can be included in at least one implementation of the subject matter recited in the broadest aspect of the specification. The same or similar features are not necessarily included in all embodiments. Therefore, it is not necessary that every implementation of the subject matter described in this specification includes each and every feature described with respect to one or more of the embodiments.

[0061] In this specification, "one embodiment", "another embodiment", "an embodiment", etc. refer to specific features, structures, or characteristics described in connection with that embodiment that are included in at least one embodiment of the subject matter broadly described in this specification. The same or similar expressions appearing in multiple places in the specification do not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, it is claimed that the implementation of this feature, structure, or characteristic in combination with other embodiments also falls within the scope of the present application.

[0062] Although the present application has been described herein with reference to a number of explanatory embodiments thereof, it is understood that various other modifications and implementations can be devised by those skilled in the art without departing from the principles of the present application. More specifically, various modifications and improvements can be made to the components of the subject matter combination layout and / or the layout within the scope of the present application and claims. In addition to modifications and improvements to the components and / or layout, other uses will also be apparent to those skilled in the art.

Claims

1. An instant feedback hand fine grip training handle characterized by The utility model relates to a kind of rehabilitation training device, including: Handle body (1), communication module is arranged in the handle body (1), the communication module includes Bluetooth module, pressure receptor (20) and human infrared sensing sensor are arranged in the handle body (1), surface myoelectricity signal acquisition system is arranged in the handle body (1); Rocker shaft (2), it is arranged in one end of the handle body (1); Rocker cap (3), it is connected with the rocker shaft (2), pressure receptor and human infrared sensing sensor are arranged in the rocker cap (3);The pressure receptor and human infrared sensing sensor are used to monitor the pressure change and temperature change that the rocker cap (3) is pressed and pinched by the person to be rehabilitated, and the pressure and temperature information monitored are sent to receiving equipment by the communication module, and the receiving equipment includes VR and host computer; Antiskid band (6), two ends are connected with the handle body (1), for relatively fixed with the handle body (1) and the arm of the person to be rehabilitated; The handle body (1) two sides are provided with the inlay (4) connected with the two ends of the antiskid band (6), and buckle (7) for adjusting the length of the antiskid band (6) is arranged on the antiskid band (6); Wrist sleeve (5) is arranged on the handle body (1); Three air source devices (19) are arranged in the wrist sleeve (5), each air source device (19) is connected with air bag fixing device (18) by one air source transmission channel (17), each air bag fixing device (18) is connected with ulnar side air bag (14), palm side middle air bag (15) and radial side air bag (16) respectively; The control mode of the rocker shaft (2) and rocker cap (3) is replaced by the mode of game key.

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