High-density electrode-based pressure feedback glove and hand function training system and method

Abstract

The application discloses a high-density electrode and pressure feedback glove-based hand function training system and method, which comprises an electrode pad assembly, a pressure sensor assembly and an auxiliary operation assembly. The hand function training system comprises a pressure feedback system. Each electrode on the electrode pad assembly is subjected to electric stimulation one by one through a set program. The pressure generated by each knuckle of a finger stimulated by the electrode is detected through the pressure sensor assembly, the activity of the target finger is evaluated, and then the optimal stimulating electrode group is obtained. The application has the characteristics of strong practicability and accurate control of output current intensity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation medicine, in particular to a hand function training system based on high-density electrodes and pressure feedback gloves. BACKGROUND

[0002] The hand is an important carrier for humans to complete information communication, emotional exchange, and the most delicate, flexible and complex motor function in daily life. Studies have shown that the upper limb function of a person accounts for 60% of the whole body function, and the finger function accounts for 90% of the upper limb function. Hand function rehabilitation of stroke patients with hemiplegia is an important link to restore the patient's ability of daily life activities, and is also a pain point and difficulty in the field of rehabilitation. Neuromuscular electrical stimulation is one of the commonly used methods to promote the recovery of hand function after stroke, which can increase muscle strength and quality, is non-invasive, easy to operate, and relatively inexpensive. However, its clinical application also has certain limitations. First, the electrode pads used in neuromuscular electrical stimulation (NMES) are mostly single or double pole structures, and the electrode pads are large, usually only activating a limited number of muscles, which also leads to poor selectivity of the muscles activated, which makes NMES mainly induce the collective movement of the fingers (opening and closing of the palm), rather than the separation movement and dexterity movement of the fingers. In order to induce hand movements with functional significance in clinical treatment, the stimulation current intensity used by NMES is often high, therefore, it is necessary to design a hand function training system based on high-density electrodes and pressure feedback gloves which has strong practicability and can accurately control the output current intensity. SUMMARY

[0003] The present application provides a hand function training system and method based on high-density electrodes and pressure feedback gloves, which can stimulate high-density electrodes and accurately control the output current intensity through pressure feedback.

[0004] Technical scheme: In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is:

[0005] A high-density electrode and pressure feedback glove based on a high-density electrode and pressure feedback glove, comprising an electrode pad assembly, a pressure sensor assembly, and an auxiliary running assembly, the electrode pad assembly and the pressure sensor assembly are installed on the auxiliary running assembly, wherein:

[0006] The electrode pad assembly is used to stimulate the nerve to realize the finger gripping mode, the electrode pad assembly is connected to the power supply, and the median nerve and ulnar nerve of the upper arm are stimulated asynchronously, so that multiple finger gripping modes can be realized.

[0007] The pressure sensor assembly is used to detect the pressure generated by each knuckle of the finger stimulated by the electrode when the finger is gripped.

[0008] The auxiliary operation component is used for physically assisting the fingers to operate, and can forcibly recover the operation memory of the finger muscles.

[0009] Preferably, the auxiliary operation component comprises a base plate, a first finger component, a second finger component, a third finger component, a fourth finger component, and a fifth finger component, and the base plate is connected with the first finger component, the second finger component, the third finger component, the fourth finger component, and the fifth finger component through connecting members respectively.

[0010] The second finger component, the third finger component, the fourth finger component, and the fifth finger component each comprise a first knuckle movement sleeve, a second knuckle movement sleeve, and a third knuckle movement sleeve, and the first knuckle movement sleeve is connected with the second knuckle movement sleeve through a connecting member, and the second knuckle movement sleeve is connected with the third knuckle movement sleeve through a connecting member.

[0011] The first finger component comprises a first knuckle movement sleeve one and a second knuckle movement sleeve one, and the first knuckle movement sleeve one and the second knuckle movement sleeve one are connected through a connecting member.

[0012] Preferably, the connecting member comprises a first fixing member, a second fixing member, and a hinge plate, one end of the hinge plate is connected with the first fixing member through a bearing, and the other end of the hinge plate is connected with the second fixing member through a bearing.

[0013] Preferably, the electrode pad assembly is installed on the inner wall of the first knuckle movement sleeve, the second knuckle movement sleeve, and the third knuckle movement sleeve respectively, and the pressure sensor assembly is installed on the inner wall of the first knuckle movement sleeve, the second knuckle movement sleeve, and the third knuckle movement sleeve respectively.

[0014] Preferably, one side of the base plate is rotatably connected with a palm guard plate through a bearing, and the other side of the base plate is fixedly connected with the palm guard plate through a lock buckle.

[0015] Preferably, the palm guard plate is provided with a connecting hole, one end of the electrode pad assembly is connected with a power line, and the other end of the power line passes through the connecting hole. A line sensing device is arranged on the contact side wall of the connecting hole and the power line. The line sensing device comprises a shaft ball, a clamping rod, and an extension rod, wherein the shaft ball is arranged on the side wall of the connecting hole, the clamping rod is connected with the shaft ball, one end of the extension rod is connected with the side wall of the connecting hole, and the other end of the extension rod is connected with the clamping rod. The palm print sensing module is electrically connected with the extension rod.

[0016] Preferably, a knuckle driving control module is arranged, and the knuckle driving control module is used for driving the first knuckle movement sleeve, the second knuckle movement sleeve, the third knuckle movement sleeve, the first knuckle movement sleeve one, and the second knuckle movement sleeve one.

[0017] The utility model provides a kind of hand function training system based on high-density electrode and pressure feedback glove, using the above-mentioned based on high-density electrode and pressure feedback glove, including pressure feedback system, the pressure feedback system is electrically connected to electrode pad assembly and auxiliary operation component, data video is carried out by interface.The pressure feedback system includes power on-off unit, current control unit, drive unit, wherein:

[0018] The power on-off unit includes power connection module and palm print sensing module, the power connection module is used to confirm whether main power is connected.The palm print sensing module is used to determine the wearing condition of feedback glove according to the guard palm plate and to adjust the feedback glove.

[0019] The current control unit is electrically connected to electrode pad assembly by power line, the current control unit includes regional current sub-control unit and electrode group distribution unit, the regional current sub-control unit is used to control each electrode pad assembly to start and stop independently and to set the current intensity of individual electrode pad assembly.The electrode group distribution unit adjusts the stimulation sequence of electrode pad assembly according to demand.

[0020] The drive unit includes active unit and self-feedback unit, the active unit forces rehabilitation movement according to demand, the self-feedback unit provides adaptive auxiliary movement according to the pressure data provided by finger.The active unit and self-feedback unit are connected with knuckle drive control module, the knuckle drive control module is used to drive first knuckle movement sleeve, second knuckle movement sleeve, third knuckle movement sleeve, first knuckle movement sleeve one and second knuckle movement sleeve one under the control of active unit and self-feedback unit.

[0021] Preferably, the power on-off unit, current control unit and drive unit are connected with control system, the control system includes display and control board, the display is used to display data, and the control board is used to control data to control current intensity and stimulation sequence of electrode pad assembly.

[0022] Preferably, the electrode pad assembly is provided with first current stimulation source, the regional current sub-control unit is connected with second current stimulation source, the second current stimulation source adjusts the first current stimulation source according to received instruction, and the first current stimulation source controls the current intensity output by electrode pad assembly to finger,

[0023] A hand function training method based on high-density electrode and pressure feedback glove, using the above-mentioned based on high-density electrode and pressure feedback glove, each electrode on electrode pad assembly is electrically stimulated one by one through set program, the pressure generated by each knuckle of finger stimulated by electrode is detected through pressure sensor assembly, the activity of target finger is evaluated, and then the best stimulating electrode group is obtained.

[0024] Compared with the prior art, the present application has the following beneficial effects:

[0025] The current rehabilitation equipment recruits large motor units first and small motor units later, which is contrary to the order of muscle recruitment of the human body in normal physiological state, and is easy to cause the stimulated muscle to appear fatigue quickly, the output current intensity and the stimulation order of the electrode group are accurately controlled through the set program, the stimulation is quickly switched between each electrode pair, combined with the feedback of the hand pressure sensor, the best stimulation electrode group can be quickly and accurately positioned, and the tedious process of manually placing the stimulation electrode and finding the best stimulation part is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is the overall front view structure schematic diagram of the present application;

[0027] Figure 2 It is the back view schematic diagram of the present application;

[0028] Figure 3 It is the A area enlarged schematic diagram of the present application;

[0029] Figure 4 It is the telescopic rod non-operation schematic diagram of the present application;

[0030] Figure 5 It is the telescopic rod operation schematic diagram of the present application;

[0031] Figure 6 It is the system schematic diagram of the present application;

[0032] In the figure: 1 is a base plate, 2 is a first finger assembly, 3 is a second finger assembly, 4 is a third finger assembly, 5 is a fourth finger assembly, 6 is a fifth finger assembly, 7 is a connecting piece, 8 is a first knuckle movement sleeve, 9 is a second knuckle movement sleeve, 10 is a third knuckle movement sleeve, 11 is a first fixing piece, 12 is a second fixing piece, 13 is a hinge plate, 14 is a palm protection plate, 15 is a connecting hole, 16 is a shaft ball, 17 is a clamping rod, and 18 is a telescopic rod. DETAILED DESCRIPTION

[0033] The present application will be further illustrated below in combination with the drawings and specific examples, and it should be understood that these examples are only used to illustrate the present application and not used to limit the scope of the present application, and after reading the present application, the modifications of various equivalent forms of the present application by those skilled in the art all fall within the scope defined by the appended claims of the present application.

[0034] A high-density electrode and pressure feedback glove based on a high-density electrode and a pressure feedback glove, as shown in Figures 1-5 The electrode pad assembly, the pressure sensor assembly and the auxiliary operation assembly are all installed on the auxiliary operation assembly, wherein:

[0035] The electrode pad assembly is used to stimulate the nerve to realize the finger gripping mode. The electrode can make the deep forearm muscle contract by directly stimulating the nerve, and the stimulation mode is close to the physiological movement mode, which can reduce the discomfort of the patient and delay muscle fatigue. The electrode pad assembly is connected to the power supply to stimulate the median nerve and ulnar nerve of the upper arm asynchronously, and various finger gripping modes can be realized.

[0036] The pressure sensor assembly is used to detect the pressure generated by each knuckle of the finger stimulated by the electrode when the finger is gripped.

[0037] The auxiliary operation assembly is used to physically assist the finger to operate and forcibly restore the operation memory of the finger muscle.

[0038] In use, the electrode pad assembly is divided into several groups, and the surface of each group of electrode pads is divided into several array electrode pieces. The electrode pieces can be set with individual power supply and combined power supply, that is, the electrode pieces can be operated in the individual trial and error stage and the direct working stage according to the needs. In the individual trial and error stage, the best current intensity for stimulating the finger is determined according to the data obtained when each group of electrode pads is started only once, and then the best current intensity for stimulating the knuckle is selected by trial and error of individual electrode pieces. After the trial and error stage ends, the best current intensity is selected, and the pressure of the feedback glove is adjusted to ensure that the finger is in the most comfortable state for rehabilitation when the finger moves.

[0039] The auxiliary operation assembly includes a base plate 1, a first finger assembly 2, a second finger assembly 3, a third finger assembly 4, a fourth finger assembly 5, and a fifth finger assembly 6. The base plate 1 is connected to the first finger assembly 2, the second finger assembly 3, the third finger assembly 4, the fourth finger assembly 5, and the fifth finger assembly 6 through the connecting piece 7 to fit the feedback glove with the palm. The fingers are adapted to the first finger assembly 2, the second finger assembly 3, the third finger assembly 4, the fourth finger assembly 5, and the fifth finger assembly 6 in turn. Each finger is closely attached to the electrode pad assembly, which facilitates the trial and error of the electrode pad assembly and stimulates the finger.

[0040] The second finger assembly 3, the third finger assembly 4, the fourth finger assembly 5 and the fifth finger assembly 6 each comprise a first knuckle movement sleeve 8, a second knuckle movement sleeve 9 and a third knuckle movement sleeve 10, the first knuckle movement sleeve 8 and the second knuckle movement sleeve 9 are connected by a connecting piece 7, and the second knuckle movement sleeve 9 and the third knuckle movement sleeve 10 are connected by a connecting piece 7. The first finger assembly 2 comprises a first knuckle movement sleeve and a second knuckle movement sleeve, and the first knuckle movement sleeve and the second knuckle movement sleeve are connected by a connecting piece 7. Each finger can be disassembled for individual knuckle movement, and specific muscles of the forearm can be selectively activated to achieve various finger gripping modes. Each knuckle is bent and moved by the finger assembly and the connecting piece to achieve the effect of setting rehabilitation for the specified joint.

[0041] The current rehabilitation equipment first recruits large motor units and then recruits small motor units, which is contrary to the order of muscle recruitment of the human body in the normal physiological state, and is easy to cause the stimulated muscles to quickly fatigue. Through the set program, the output current intensity and the stimulation order of the electrode group are accurately controlled, the electric stimulation is quickly switched between each electrode pair, combined with the feedback of the hand pressure sensor, the best stimulation electrode group can be quickly and accurately positioned, and the tedious process of manually placing the stimulation electrode and finding the best stimulation part is avoided.

[0042] The connecting piece 7 comprises a first fixing piece 11, a second fixing piece 12 and a hinge plate 13, one end of the hinge plate 13 is connected with the first fixing piece 11 through a bearing, and the other end of the hinge plate 13 is connected with the second fixing piece 12 through a bearing.

[0043] Each finger can be disassembled for individual knuckle movement, and specific muscles of the forearm can be selectively activated to achieve various finger gripping modes. Each knuckle is bent and moved by the finger assembly and the connecting piece to achieve the effect of setting rehabilitation for the specified joint.

[0044] The electrode pad assembly is respectively installed in the inner wall of the first knuckle movement sleeve 8, the second knuckle movement sleeve 9 and the third knuckle movement sleeve 10. The pressure sensor assembly is respectively installed in the inner wall of the first knuckle movement sleeve 8, the second knuckle movement sleeve 9 and the third knuckle movement sleeve 10.

[0045] Through the set program, the output current intensity and the stimulation order of the electrode group are accurately controlled, the electric stimulation is quickly switched between each electrode pair, combined with the feedback of the hand pressure sensor, the best stimulation electrode group can be quickly and accurately positioned, and the tedious process of manually placing the stimulation electrode and finding the best stimulation part is avoided. The current rehabilitation equipment first recruits large motor units and then recruits small motor units, which is contrary to the order of muscle recruitment of the human body in the normal physiological state, and is easy to cause the stimulated muscles to quickly fatigue.

[0046] The one side of the substrate 1 is rotatably connected with the palm protection plate 14 through a bearing, and the other side of the substrate 1 is fixedly connected with the palm protection plate 14 through a lock buckle. When the palm is not embedded in the feedback glove, the palm protection plate is connected with the substrate through a single side wall bearing, the entrance caliber of the feedback glove is increased, the palm is easily inserted into the feedback glove, the palm is inserted into the feedback glove, the palm protection plate is closed, the palm protection plate is locked with the substrate, and the feedback glove and the palm are fixed.

[0047] The palm protection plate 14 is provided with a connecting hole 15, one end of the electrode pad assembly is connected with a power line, and the other end of the power line passes through the connecting hole 15. The connecting hole is provided with a line sensing device on the contact side wall of the power line. The line sensing device comprises a shaft ball 16, a clamping rod 17 and an extension rod 18, wherein the shaft ball 16 is arranged on the side wall of the connecting hole 15, the clamping rod 17 is connected with the shaft ball 16, one end of the extension rod 18 is connected with the side wall of the connecting hole 15, and the other end of the extension rod 18 is connected with the clamping rod 17. The palm print sensing module is electrically connected with the extension rod 18. One end of the power line is connected with the electrode pad assembly, the other end of the power line is connected with the power supply through the connecting hole, and the inner surface of the palm protection plate is provided with an assembly sensor. When the palm is inserted into the feedback glove, the power supply is started, and invalid power consumption is avoided.

[0048] The system comprises a knuckle driving control module for driving the first, second and third knuckle movement sleeves 8, 9 and 10.

[0049] A hand function training system based on a high-density electrode and a pressure feedback glove, as shown in Figure 6 The system comprises a pressure feedback system, which comprises a power on-off unit, a current regulation unit, a driving unit and a control system connection.

[0050] The power on-off unit comprises a power connection module and a palm print sensing module. The power connection module is used to confirm whether the main power is connected. The palm print sensing module is used to determine the wearing state of the feedback glove according to the palm protection plate 14 and to adjust the feedback glove. The palm print sensing module is electrically connected with the extension rod. When the palm is confirmed to enter the glove, the palm print sensing module receives the confirmation data, drives the extension rod to extend and push the clamping rod, the clamping rod moves according to the shaft ball, and the two clamping rods fix the power line, so as to avoid the influence of the power line on the fitting between the palm and the feedback glove, and ensure that the electrode pad assembly is always attached to the palm.

[0051] The current regulating unit is electrically connected with the electrode pad assembly through a power line, and the current regulating unit includes a regional current sub-control unit and an electrode group distribution unit. The regional current sub-control unit is used for regulating and stopping each electrode pad assembly independently and setting the current intensity of the individual electrode pad assembly. The electrode group distribution unit adjusts the stimulation sequence of the electrode pad assembly according to the requirement.

[0052] The driving unit includes a main unit and a self-feedback unit. The main unit forcibly performs rehabilitation exercise on the finger according to the requirement, and the self-feedback unit performs adaptive auxiliary exercise according to the pressure data provided by the finger. The main unit and the self-feedback unit are connected with a knuckle driving control module. The knuckle driving control module is used for driving the first knuckle movement sleeve 8, the second knuckle movement sleeve 9, the third knuckle movement sleeve 10, the first knuckle movement sleeve 1 and the second knuckle movement sleeve 1 to operate under the control of the main unit and the self-feedback unit.

[0053] The control system accurately controls the output current intensity and the stimulation sequence of the electrode group through a set program, and records and displays the data input by the pressure feedback glove. The power start-stop unit, the current regulating unit and the driving unit are connected with the control system. The control system includes a display and a control panel. The display is used for displaying data, and the control panel is used for regulating data to regulate the current intensity and the stimulation sequence of the electrode pad assembly.

[0054] The electrode pad assembly is provided with a first current stimulation source. The regional current sub-control unit is connected with a second current stimulation source. The second current stimulation source adjusts the first current stimulation source according to the received instruction. The first current stimulation source controls the current intensity output by the electrode pad assembly to the finger,

[0055] A hand function training method based on a high-density electrode and a pressure feedback glove. The method uses the above-mentioned high-density electrode and pressure feedback glove. Each electrode on the electrode pad assembly is electrically stimulated one by one through a set program. The pressure generated by each knuckle of the finger stimulated by the electrode is detected by the pressure sensor assembly. The activity of the target finger is evaluated, and the best stimulation electrode group is obtained.

[0056] A plurality of small electrode pads are placed on the skin above the hand muscles to activate the specified muscle group. The muscle group receives different electrode stimulation, and activity data is automatically generated. The activity data is obtained by the pressure feedback system. At the same time, the data of finger movement is obtained. The pressure feedback system can quantify the force generated when each finger moves, and can be displayed in real time through the display screen to evaluate the activity of the patient's finger when electrically stimulated.

[0057] When the optimal stimulation current intensity is selected, the current data is set as E 电流At the same time, the current intensity is increased by one level, recorded as E+1 电流 For the maximum current intensity of the electrode, the upper limit value of the current intensity is set to reduce the current injury to the finger nerve. Since the finger nerve is in a damaged state at this time, it cannot sensitively perceive the real-time situation caused by the current stimulation. The level of current intensity is set as a system default setting, which can be redefined according to the requirements.

[0058] After the trial and error stage, different fingers are stimulated separately. If the stimulation current required by different knuckles of the same finger is different, the corresponding current intensity is adjusted for different knuckles. Compared with the previous single hand stimulation, this current stimulation scheme is more detailed and targeted for each knuckle. Each finger will touch the pressure sensor when stimulated. The pressure sensor transmits data to the driving unit under force. The driving unit determines the matching stimulation power intensity. Real-time current intensity data is transmitted to the current control unit. The current control unit sets the current data to lock the maximum current value at the current intensity increased by one level, ensuring the stability of the rehabilitation process. At the same time, the electrode pad assembly obtains the current intensity required by each knuckle and matches in turn.

[0059] The above is only the preferred embodiment of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the principles of the present application, several improvements and refinements can be made. These improvements and refinements should also be considered within the scope of protection of the present application.

Claims

1. A glove based on high-density electrodes and pressure feedback, characterized in that, The system includes an electrode pad assembly, a pressure sensor assembly, and an auxiliary operation assembly. The electrode pad assembly and the pressure sensor assembly are both mounted on the auxiliary operation assembly. The electrode pad assembly is used to stimulate nerves to achieve a finger grasping pattern; The pressure sensor assembly is used to detect the pressure generated by the fingers when they are gripped by electrodes on each phalanx. The auxiliary operation component is used to physically assist the fingers in operation; The auxiliary operation component includes a base plate (1), a first finger component (2), a second finger component (3), a third finger component (4), a fourth finger component (5), and a fifth finger component (6). The base plate (1) is connected to the first finger component (2), the second finger component (3), the third finger component (4), the fourth finger component (5), and the fifth finger component (6) respectively via connectors (7). The second finger assembly (3), the third finger assembly (4), the fourth finger assembly (5), and the fifth finger assembly (6) all include a first knuckle movement sleeve (8), a second knuckle movement sleeve (9), and a third knuckle movement sleeve (10). The first knuckle movement sleeve (8) and the second knuckle movement sleeve (9) are connected by a connector (7), and the second knuckle movement sleeve (9) and the third knuckle movement sleeve (10) are connected by a connector (7). The first finger assembly (2) includes a first knuckle movement sleeve and a second knuckle movement sleeve, which are connected by a connector (7). One side of the substrate (1) is rotatably connected to a palm guard plate (14) via a bearing, and the other side of the substrate (1) is fixedly connected to the palm guard plate (14) via a latch; the palm guard plate (14) is provided with a connection hole (15), the electrode pad assembly is connected to one end of the power cord, and the other end of the power cord passes through the connection hole (15); a line sensing device is provided on the contact side wall between the connection hole and the power cord; the line sensing device includes a ball bearing (16), a clamping rod (17), and a telescopic rod (18), wherein: the ball bearing (16) is located on the side wall of the connection hole (15), the clamping rod (17) is connected to the ball bearing (16), one end of the telescopic rod (18) is connected to the side wall of the connection hole (15), and the other end of the telescopic rod (18) is connected to the clamping rod (17); the palm print sensing module is electrically connected to the telescopic rod (18); Once the palmprint sensor module receives confirmation data and confirms that the palm has entered the glove, it drives the telescopic rod to extend and push the clamping rod. The clamping rod moves according to the bending movement of the pivot ball, and the two clamping rods fix the power cord in place. The program allows each electrode on the electrode pad assembly to be electrically stimulated one by one. The pressure sensor assembly detects the pressure generated by each phalanx of the finger stimulated by the electrodes, assesses the movement of the target finger, and thus obtains the optimal stimulation electrode set.

2. The high-density electrode and pressure feedback glove according to claim 1, characterized in that: The connector (7) includes a first fixing member (11), a second fixing member (12), and a hinge plate (13). One end of the hinge plate (13) is connected to the first fixing member (11) through a bearing, while the other end of the hinge plate (13) is connected to the second fixing member (12) through a bearing.

3. The high-density electrode and pressure feedback glove according to claim 2, characterized in that: The electrode pad assembly is installed on the inner wall of the first knuckle movement sleeve (8), the second knuckle movement sleeve (9), and the third knuckle movement sleeve (10), respectively; the pressure sensor assembly is installed on the inner wall of the first knuckle movement sleeve (8), the second knuckle movement sleeve (9), and the third knuckle movement sleeve (10), respectively.

4. The high-density electrode and pressure feedback glove according to claim 3, characterized in that: It includes a knuckle drive control module, which is used to drive the first knuckle movement sleeve (8), the second knuckle movement sleeve (9), the third knuckle movement sleeve (10), the first knuckle movement sleeve one, and the second knuckle movement sleeve one.

5. A hand function training system based on high-density electrodes and a pressure feedback glove, characterized in that: The glove based on high-density electrodes and pressure feedback as described in claim 1 includes a pressure feedback system, wherein the pressure feedback system includes a power start / stop unit, a current regulation unit, and a drive unit, wherein: The power start / stop unit includes a power connection module and a palm print sensing module. The power connection module is used to confirm whether the main power supply is connected. The palm print sensing module is used to determine the wearing status of the feedback glove based on the palm protector (14) and to adapt and adjust the feedback glove accordingly. The current control unit is electrically connected to the electrode pad assembly via a power line. The current control unit includes a regional current control unit and an electrode group allocation unit. The regional current control unit is used to control the independent start and stop of each electrode pad assembly and set the current intensity of each individual electrode pad assembly. The electrode group allocation unit adjusts the stimulation sequence of the electrode pad assemblies according to the requirements. The driving unit includes an active unit and a self-feedback unit. The active unit performs forced rehabilitation exercises on the fingers according to the needs, and the self-feedback unit performs adaptive auxiliary exercises based on the pressure data provided by the fingers. Both the active unit and the self-feedback unit are connected to the knuckle driving control module. The knuckle driving control module is used to drive the first knuckle movement sleeve (8), the second knuckle movement sleeve (9), the third knuckle movement sleeve (10), the first knuckle movement sleeve one, and the second knuckle movement sleeve one to operate under the control of the active unit and the self-feedback unit.

6. The hand function training system based on high-density electrodes and pressure feedback gloves according to claim 5, characterized in that: The system includes a control system. The power supply start / stop unit, current regulation unit, and drive unit are all connected to the control system. The control system includes a display and a control panel. The display is used to display data, and the control panel is used to regulate the data to regulate the current intensity and the stimulation sequence of the electrode pad assembly.

7. The hand function training system based on high-density electrodes and pressure feedback gloves according to claim 6, characterized in that: The electrode pad assembly is provided with a first current stimulation source, and the regional current control unit is connected to a second current stimulation source. The second current stimulation source adjusts the first current stimulation source according to the received command, and the first current stimulation source controls the current intensity output by the electrode pad assembly to the finger.

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