A hand-oriented sensory-motor integrated rehabilitation training system and control method

Abstract

The application provides a kind of hand-oriented sensory-motor integration rehabilitation training system and control method, system includes: vibrating bracelet, including flexion vibrator;Vibrating gloves, including palm vibrator;Soft hand rehabilitation robot, including soft hand driver, pressure sensor, finger clamp, pressure sensor is fixed between soft hand driver and finger;Pneumatic circuit module, to flexion vibrator and palm vibrator inflation and air extraction makes flexion vibrator and palm vibrator produce vibration, to soft hand driver inflation and air extraction makes it drive finger to flexion and extension movement;Pneumatic control module, including the controller of communication connection with pressure sensor, based on the finger spasm signal of pressure sensor acquisition determines the spasm type corresponding to finger spasm signal, controls the vibrator or soft hand driver of spasm type corresponding in pneumatic circuit module does not work.The application can formulate different sensory-motor integration rehabilitation training scheme according to the finger spasm state of patient.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a sensorimotor integration rehabilitation training system and control method for the hand. Background Technology

[0002] Damage to the nervous and cardiovascular systems can lead to hand dysfunction. Because the human hand has many joints and high flexibility, the recovery process is relatively difficult.

[0003] There are many forms of rehabilitation robots currently used for hand training, but they often only use functional electrical stimulation and cannot adaptively adjust the stimulation method according to the actual situation of different patients. Summary of the Invention

[0004] This invention provides a sensorimotor integrated rehabilitation training system and control method for the hand, which solves the shortcomings of existing technologies that cannot adaptively adjust the stimulation mode according to the actual situation of different patients, and realizes the stimulation and recovery of different muscles of the hand based on the actual situation of the patient.

[0005] This invention provides a sensorimotor integrated rehabilitation training system for the hand, comprising:

[0006] A vibrating wristband, comprising multiple flexor and extension vibrators, including a common finger extensor muscle vibrator, a superficial finger flexor muscle vibrator, and a deep finger flexor muscle vibrator, wherein the flexor and extension vibrators are used to apply vibration stimulation to the flexor and extension muscles of the fingers;

[0007] A vibrating glove, the vibrating glove including a palm vibrator, the palm vibrator being used to apply vibrational stimulation to the palm muscles;

[0008] A soft hand rehabilitation robot includes a soft hand actuator, a pressure sensor, and a finger gripper. The finger gripper is used to fix the pressure sensor between the soft hand actuator and the finger, and the soft hand actuator is used to drive the finger movement.

[0009] A pneumatic circuit module is connected to the flexion-extension vibrator, the palm vibrator, and the soft hand actuator. The pneumatic circuit module is used to inflate and de-inflate the flexion-extension vibrator and the palm vibrator to cause them to vibrate. The pneumatic circuit module is also used to inflate and de-inflate the soft hand actuator to cause it to drive the fingers to flex and extend. The pneumatic circuit module includes multiple solenoid valves, which are used to open or close the inflation and de-inflation passages for the flexion-extension vibrator, the palm vibrator, and the soft hand actuator.

[0010] The pneumatic control module includes a controller that is communicatively connected to the pressure sensor. The controller is used to determine the type of spasm corresponding to the finger spasm signal collected by the pressure sensor. When the spasm type is flexor spasm, the controller operates the extensor digitorum vibrator and the soft hand actuator. When the spasm type is extensor spasm, the controller operates the palm vibrator, the flexor digit profundus vibrator, the flexor digit superficialis vibrator, and the soft hand actuator. When the spasm type is no finger spasm, the controller operates the palm vibrator, the extensor digitorum vibrator, the flexor digit profundus vibrator, the flexor digit superficialis vibrator, and the soft hand actuator.

[0011] According to the present invention, a sensorimotor integrated rehabilitation training system for the hand is provided, wherein the pneumatic circuit module includes a positive pressure pneumatic circuit and a negative pressure pneumatic circuit; the positive pressure pneumatic circuit is connected to the flexion-extension vibrator, the palm vibrator and the soft hand actuator respectively, and the negative pressure pneumatic circuit is connected to the flexion-extension vibrator, the palm vibrator and the soft hand actuator respectively.

[0012] The positive pressure pneumatic circuit includes an air compressor, a pneumatic triplet, a positive pressure electro-proportional valve, a flow sensor, a pressure sensor, and a positive pressure solenoid valve;

[0013] The negative pressure pneumatic circuit includes a negative pressure electro-proportional valve, a negative pressure solenoid valve, and a vacuum pump.

[0014] According to the present invention, a sensorimotor integrated rehabilitation training system for the hand is provided in which, when the positive pressure solenoid valve in the positive pressure pneumatic circuit is opened, the negative pressure solenoid valve in the negative pressure pneumatic circuit corresponding to the opened positive pressure solenoid valve is closed, and when the negative pressure solenoid valve in the negative pressure pneumatic circuit is opened, the positive pressure solenoid valve in the positive pressure pneumatic circuit corresponding to the opened negative pressure solenoid valve is opened.

[0015] According to the present invention, a sensorimotor integrated rehabilitation training system for the hand is provided, wherein the pneumatic control module further includes a host computer, the host computer including an input receiving module for receiving target data, and the controller for controlling the opening and closing frequency of the solenoid valve in the pneumatic circuit module based on the target data received through the input receiving module and the signals collected by the flow sensor and the air pressure sensor, so as to change the vibration frequency of the flexion-extension vibrator and the palm vibrator and the movement frequency of the soft hand actuator, and to control the opening ratio of the positive pressure electro-proportional valve and the negative pressure electro-proportional valve, so as to change the vibration amplitude of the flexion-extension vibrator and the palm vibrator and the movement direction and movement amplitude of the soft hand actuator.

[0016] According to the present invention, a sensorimotor integrated rehabilitation training system for the hand is provided, wherein the host computer further includes a display module for displaying the target data.

[0017] According to the present invention, a sensorimotor integrated rehabilitation training system for the hand is provided, wherein the soft hand actuator includes a soft actuator body and a first end cap with an air inlet. The soft actuator body includes a cavity for containing gas, and the air inlet on the first end cap communicates with the cavity.

[0018] The soft hand rehabilitation robot also includes a hand back gripper, which has a sliding groove and a bolt inside the sliding groove. The bolt is used to press and fix the soft hand actuator onto the back of the hand.

[0019] The present invention also provides a control method for the above-mentioned sensorimotor integrated rehabilitation training system for the hand, comprising:

[0020] The finger spasm signal collected by the pressure sensor is acquired, and the finger spasm signal is input into the trained finger spasm classifier;

[0021] Obtain the classification result output by the finger spasm classifier, and determine the spasm type based on the classification result;

[0022] When the spasm type is flexor spasm, the extensor digitorum vibrator and the soft hand actuator are controlled to work; when the spasm type is extensor spasm, the palm vibrator, the proximal flexor digitorum vibrator, the superficial flexor digitorum vibrator and the soft hand actuator are controlled to work; when the spasm type is no spasm in the fingers, the palm vibrator, the extensor digitorum vibrator, the proximal flexor digitorum vibrator, the superficial flexor digitorum vibrator and the soft hand actuator are controlled to work.

[0023] The finger spasm classifier is trained based on multiple sets of training data. Each set of training data includes sample finger spasm signals and the spasm type label corresponding to the sample finger spasm signals.

[0024] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method described above.

[0025] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method described above.

[0026] This invention provides a sensorimotor integration rehabilitation training system and control method for the hand. The system includes a pneumatic circuit module, a pneumatic control module, multiple flexor-extension vibrators for applying vibrational stimulation to the flexor and extensor muscles of the fingers, a palm vibrator for applying vibrational stimulation to the palm muscles, and a soft hand actuator for manually moving the fingers. A pressure sensor is fixed between the soft hand actuator and the fingers via a finger clamp. The pressure sensor can collect finger spasm signals. The controller in the pneumatic control module determines the corresponding spasm type based on the finger spasm signal. When the spasm type is flexor spasm... During a spasm, the vibrator for the extensor digitorum and the soft hand actuator are controlled to operate. When the spasm type is extensor spasm, the vibrator for the palm, the vibrator for the flexor digitorum profundus, the vibrator for the flexor digitorum superficialis, and the soft hand actuator are controlled to operate. When the spasm type is that there is no spasm in the fingers, the vibrator for the palm, the vibrator for the extensor digitorum profundus, the vibrator for the flexor digitorum profundus, the vibrator for the flexor digitorum superficialis, and the soft hand actuator are controlled to operate. This allows for intelligent detection of the type of finger spasm and the development of different sensorimotor integration rehabilitation training programs based on the patient's finger spasm status. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is one of the structural schematic diagrams of the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0029] Figure 2 This is the second structural schematic diagram of the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0030] Figure 3 This is one of the structural schematic diagrams of the soft hand rehabilitation robot in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0031] Figure 4 This is the second structural schematic diagram of the soft hand rehabilitation robot in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0032] Figure 5 This is the third structural schematic diagram of the soft hand rehabilitation robot in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0033] Figure 6This is the fourth structural schematic diagram of the soft hand rehabilitation robot in the sensorimotor integrated rehabilitation training system for the hand provided by this invention;

[0034] Figure 7 This is a schematic diagram of the pneumatic circuit module in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0035] Figure 8 This is a schematic diagram of the pneumatic control module in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0036] Figure 9 This is one of the structural schematic diagrams of the vibrating wristband in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0037] Figure 10 This is the second schematic diagram of the structure of the vibrating wristband in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0038] Figure 11 This is a schematic diagram of the flexion-extension vibrator in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0039] Figure 12 This is one of the structural schematic diagrams of the vibrating glove in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0040] Figure 13 This is the second schematic diagram of the structure of the vibrating glove in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention;

[0041] Figure 14 This is a schematic diagram of the process by which the controller determines spastic muscles in the sensorimotor integrated rehabilitation training system for the hand provided by the present invention.

[0042] Figure 15 This is a flowchart illustrating the control method provided by the present invention;

[0043] Figure 16 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0045] The following is combined with Figures 1-14 The present invention describes a sensorimotor integrated rehabilitation training system for the hand, such as... Figure 1 As shown, the system includes a pneumatic circuit module 1, a pneumatic control module 2, a vibrating glove 30, a vibrating wristband 40, and a soft hand rehabilitation robot 50.

[0046] Specifically, the vibrating wristband 40 includes multiple flexor-extension vibrators. The vibrators in the system provided by this invention are equipped with air inlets / outlets for the inflow of external gas and the outflow of gas from the vibrating cavity. The vibrating diaphragm contacts the human muscles to provide vibration stimulation to the corresponding muscles of the hand. The flexor-extension vibrators are used to apply vibration stimulation to the flexor and extensor muscles of the fingers. The flexor-extension vibrators may include a deep flexor digitorum vibrator 3, a superficial flexor digitorum vibrator 4, and a common extensor digitorum vibrator 6, such as... Figure 2 and Figure 9 As shown, the vibration bracelet 40 also includes a vibration bracelet strap 5. The flexor digitorum profundus vibrator 3, flexor digitorum superficialis vibrator 4, and extensor digitorum commonis vibrator 6 are attached to the extensor digitorum commonis, flexor digitorum superficialis, and flexor digitorum profundus muscles via the vibration bracelet strap 5, and are simultaneously connected to the pneumatic circuit module 1 via an air tube 14. When the vibration bracelet 40 is worn on the arm, the flexor digitorum profundus vibrator 3, flexor digitorum superficialis vibrator 4, and extensor digitorum commonis vibrator 6 can respectively apply vibrational stimulation to the flexor digitorum profundus, flexor digitorum superficialis, and extensor digitorum commonis muscles.

[0047] like Figure 9 and Figure 10 As shown, the vibrating wristband 40 also includes a hook and loop fastener 401, a digit extensor muscle fixing groove 402, a digit superficial flexor muscle fixing groove 403, a digit profundus flexor muscle fixing groove 404, and a hook and loop fastener 405. Figure 11 As shown, the shapes of the extensor digitorum vibrator 6, the flexor digitorum superficialis vibrator 4, and the flexor digitorum profundus vibrator 3 are respectively matched with the corresponding fixing grooves. The hook side 401 and the loop side 405 of the Velcro are attached to bind the sensory vibration bracelet to the arm. The fixing grooves 402, 403, and 404 of the extensor digitorum superficialis vibrator are respectively used to fix the extensor digitorum vibrator 6, the flexor digitorum superficialis vibrator 4, and the flexor digitorum profundus vibrator 3 in the designated positions so that they vibrate the corresponding muscles.

[0048] The vibrating glove 30 includes a palm vibrator 16, which is used to apply vibrational stimulation to the palm muscles. Figure 2 As shown, the vibrating glove 30 also includes a wearable glove 15, which conforms to the muscles of the palm 19 and is connected to the pneumatic circuit module 1 via an air tube 14. Figure 12 As shown, the wearable glove 15 is provided with a slot 151 for fixing the palm vibrator 16. The palm vibrator 16 is fixed in the wearable glove 15 and can be used to apply vibration to the thumb opponens and little finger opponens muscles, etc. Figure 13As shown, the palm vibrator 16 is provided with an air inlet / outlet 17 for inflating the cavity of the palm vibrator 16 and evacuating the cavity, so that the wall of the palm vibrator 16 vibrates, thereby applying vibration to the corresponding muscles.

[0049] The soft hand rehabilitation robot includes a soft hand actuator, a pressure sensor, and a finger gripper. The finger gripper is used to fix the pressure sensor between the soft hand actuator and the finger, and the soft hand actuator is used to drive finger movement. Figure 2 and Figure 3 As shown, the soft hand rehabilitation robot 50 includes a soft hand actuator 12, a finger gripper 13, and a pressure sensor 21. The finger gripper 13 is used to fix the pressure sensor 21 between the soft hand actuator 12 and the finger 20. The soft hand actuator 12 is used to drive the finger 20 to move. Furthermore, the soft hand rehabilitation robot 50 also includes a back-of-hand gripper 11. The soft hand actuator 12 is connected to the finger 20 via the finger gripper 13, and to the palm 19 via the back-of-hand gripper 11. It is also connected to a pneumatic circuit system via an air tube 14.

[0050] The system provided by this invention uses a vibrating wristband with three vibrators embedded in it, which can simultaneously stimulate the extensor digitorum communis, flexor digitorum superficialis, and flexor digitorum profundus muscles. At the same time, a vibrating glove is used to stimulate the palm, providing vibrational sensory stimulation to multiple small muscles. This can activate the sensorimotor cortex to a greater extent and promote the rehabilitation of the patient's hand motor function.

[0051] like Figure 4 , Figure 5 and Figure 6As shown, the soft hand actuator 12 includes a restraint layer 501, a soft actuator body 503, a first end cap 502 with an air inlet, and a second end cap 504. When gas enters the cavity of the soft actuator body 503 through the air inlet of the first end cap 502, the soft hand actuator 12 bends downward, thereby causing the fingers to flex. When air is drawn out of the soft actuator body 503, the soft hand actuator 12 bends upward, thereby causing the fingers to extend. The back-of-hand clamp 11 is provided with a groove 504 for mounting the soft hand actuator 12. The end cap 502 with the air inlet is locked by screws 505 and nuts 506 to fix the soft hand actuator 12. The back-of-hand clamp 11 is also provided with a strap fixing groove 507 for connecting a strap and fixing the back-of-hand clamp to the hand. The finger gripper 13 is provided with a soft hand driver mounting slot 508, a finger fixing slot 509 and a pressure sensor mounting slot 510. The soft hand driver mounting slot 508 is used to fix the bottom end cap 504 of the soft hand driver 12, while the finger fixing slot 509 is used to fix the finger. The pressure sensor 21 is installed in the pressure sensor mounting slot 510 to monitor the interaction force between the finger and the soft hand rehabilitation robot 50 during movement. The data collected by the pressure sensor 21 can be transmitted to the outside via the Bluetooth module 22.

[0052] The pneumatic circuit module 1 is connected to the flexion-extension vibrator, the palm vibrator, and the soft hand actuator, respectively. It is used to inflate and de-inflate the flexion-extension vibrator and the palm vibrator to make them vibrate. The pneumatic circuit module is used to inflate and de-inflate the soft hand actuator to make the soft hand actuator drive the fingers to perform flexion and extension movements. The pneumatic circuit module includes multiple solenoid valves, which are used to open or close the passages for inflating and de-inflating the flexion-extension vibrator, the palm vibrator, and the soft hand actuator.

[0053] Specifically, such as Figure 2 and Figure 7As shown, the pneumatic circuit system 1 includes a vacuum pump 110, an air compressor 120, a pneumatic triplet 130, a first positive pressure electro-proportional valve 140, a second positive pressure electro-proportional valve 141, a flow sensor 150, a first positive pressure solenoid valve 160, a second positive pressure solenoid valve 161, a third positive pressure solenoid valve 162, a fourth positive pressure solenoid valve 163, a pressure sensor 170, a first negative pressure electro-proportional valve 180, a second negative pressure electro-proportional valve 181, a first negative pressure solenoid valve 190, a second negative pressure solenoid valve 191, an air pipe 14, and an air pipe connection interface 18. The pneumatic circuit module 1 includes a positive pressure pneumatic circuit 100 and a negative pressure pneumatic circuit 101. The positive pressure pneumatic circuit 100 inflates the flexor digitorum profundus vibrator 3, the flexor digitorum superficialis vibrator 4, the extensor digitorum commonis vibrator 6, the palm vibrator 17, and the soft hand actuator 10 through the air inlets 7 of the flexor digitorum profundus vibrator 3, the flexor digitorum superficialis vibrator 4, the extensor digitorum commonis vibrator 6, the palm vibrator 16, and the soft hand actuator 12, respectively. The negative pressure pneumatic circuit 101 draws air from the flexor digitorum profundus vibrator 3, the flexor digitorum superficialis vibrator 4, the extensor digitorum commonis vibrator 6, the palm vibrator 16, and the soft hand actuator 12, respectively. By continuously inflating and deflating the vibrators, the vibrators vibrate, thus stimulating the muscles. By continuously inflating and deflating the soft hand actuator, the soft hand actuator bends downward and upward, thereby driving the fingers to flex and extend. During inflation, one of the positive pressure solenoid valves 160, 161, 162, and 163 opens, while the negative pressure solenoid valves 190 and 191 close. During deflation, the positive pressure solenoid valves 160, 161, 162, and 163 close, while the negative pressure solenoid valves 190 and 191 close. Ultimately, the vibration of the vibrator and the movement of the soft hand actuator are controlled by controlling the timing of the opening and closing of the positive and negative pressure solenoid valves.The specific process is as follows: For the positive pressure pneumatic circuit 100, after the gas passes through the air compressor 120, it is filtered and dried by the pneumatic triplet 130, and then splits into two branches via a one-to-two conversion connector, flowing into the first positive pressure electro-proportional valve 140 and the second positive pressure electro-proportional valve 141 respectively. In one branch, the gas flows through the first positive pressure electro-proportional valve 140 to the flow sensor 150, and then through a one-to-three conversion connector, flows into the first solenoid valve 160, the second solenoid valve 161, and the third solenoid valve 162 respectively. The gas flows through the first positive pressure solenoid valve 160 to the palm vibrator 16 via the one-to-two conversion connector, through the second positive pressure solenoid valve 161 to the finger extensor muscle vibrator 6 via the one-to-two conversion connector, and through the third positive pressure solenoid valve 162 to the finger superficial flexor muscle vibrator 4 and the finger deep flexor muscle vibrator 3 via the one-to-three conversion connector. The other branch is where the gas flows through the second positive pressure electro-proportional valve 140 to the flow sensor 150, and then through the second positive pressure solenoid valve 161 to the finger extensor muscle vibrator 6 via the one-to-two conversion connector. For example, gas flows from valve 141 into pressure sensor 170, then into fourth positive pressure solenoid valve 163, and through the air inlet 8 of the 1-to-2 and 1-to-6 conversion connectors into 1-to-6 conversion connector 9 connected to soft hand actuator 12, and finally into soft hand actuator 12. For negative pressure pneumatic circuit 101, gas flows from palm vibrator 16 through 1-to-2 conversion connector, from finger extensor muscle vibrator 6 through 1-to-2 conversion connector, from finger superficial flexor muscle vibrator 4 and finger deep flexor muscle vibrator through 1-to-3 conversion connector, into first negative pressure solenoid valve 190, then into first negative pressure electro-proportional valve 180, and finally into the outside through vacuum pump 110. At the same time, gas flows from soft hand actuator 12 through 1-to-2 conversion connector into second negative pressure solenoid valve 191, then into second negative pressure electro-proportional valve 181, and finally into vacuum pump 110, and then into the outside through vacuum pump. By continuously completing the air extraction and inhalation process of the vibrator, the vibrator vibrates the palm, extensor digitorum, flexor digitorum superficialis, and flexor digitorum profundus muscles. By continuously completing the air extraction and inhalation process of the finger actuator, the finger actuator assists in the flexion and extension movements of the finger.

[0054] The negative pressure circuit of "vacuum pump - negative pressure electro-proportional valve - negative pressure solenoid valve" is used to achieve the air extraction process of the vibrator and finger actuator, ultimately realizing muscle vibration stimulation and finger extension. Compared with the negative pressure circuit formed by "air compressor - vacuum generator", the negative pressure circuit of this invention consumes significantly less air from the air compressor, reducing the load on the air compressor and ensuring stable output. Using a pneumatic circuit with both positive and negative pressure, the frequency of the vibrator and the bending frequency of the finger actuator are controlled by the interlocking of the positive and negative pressure solenoid valves. That is, when the positive pressure solenoid valve of the target device (the target device is a palm vibrator, finger extensor muscle vibrator, finger superficial flexor muscle vibrator, finger deep flexor muscle vibrator, and soft hand actuator) is opened, the corresponding negative pressure solenoid valve of that target device is closed. Simultaneously, by precisely controlling the flow rate into the vibrator, the pressure into the finger actuator, and the amount of air flowing out of the vibrator and finger actuator, precise control of the amplitude and bending range of the vibrator and finger actuator can be achieved.

[0055] The pneumatic control module 2 includes a controller, which is communicatively connected to the pressure sensor 21. The controller is used to determine the type of spasm corresponding to the finger spasm signal based on the finger spasm signal collected by the pressure sensor 21. When the spasm type is flexor spasm, the controller controls the extensor digitorum vibrator and the soft hand actuator to work. When the spasm type is extensor spasm, the controller controls the palm vibrator, the proximal flexor digitorum vibrator, the superficial flexor digitorum vibrator and the soft hand actuator to work. When the spasm type is that there is no finger spasm, the controller controls the palm vibrator, the extensor digitorum vibrator, the proximal flexor digitorum vibrator, the superficial flexor digitorum vibrator and the soft hand actuator to work.

[0056] Specifically, such as Figure 8 As shown, the pneumatic control module 2 includes a host computer 200, a slave computer 300, and a power management module 240. The host computer 200 includes an input receiving module, which comprises a vibration sensing input module 210 and a finger movement input module 220. The vibration sensing input module 210 receives inputs of vibration frequency and amplitude, while the finger movement input module 220 receives inputs of movement frequency and amplitude. The input receiving module provides a user input interface to receive target data input by the user. The target data includes the vibration frequency and amplitude that the user desires the vibrator in the system to achieve, as well as the movement frequency and amplitude of the software hand actuator in the system. The host computer also includes a display module 230, which can be an LCD screen used to display the target data.

[0057] The lower-level machine 300 includes a controller and a Bluetooth serial communication module 260. The controller includes a finger spasm classifier module 270, a digital-to-analog converter module 280, a PID module 290, and a time control module 310. The operating frequency of the vibrator is determined by the opening and closing frequency of the positive and negative pressure solenoid valves, and the amplitude is determined by the opening size of the electro-proportional valve. Taking a vibrating glove as an example, the working principle of the palm vibrator is explained. The vibration input module 210 transmits the input vibration frequency and amplitude to the lower computer 300 via the touch screen 230 and network communication 250. The vibration frequency is converted into the opening and closing duration of the first positive pressure solenoid valve 160 and the first negative pressure solenoid valve 190 by the time control in the PLC controller, which is used to control the vibration of the palm vibrator 50 on the muscles. The amplitude is converted into a digital electrical signal by the PLC's analog-to-digital converter module 280, and combined with the flow sensor 150, controls the voltage input to the first positive pressure proportional valve 140, thereby controlling the opening degree of the first positive pressure proportional valve 140, and thus controlling the vibration amplitude of the palm vibrator 50. The first negative pressure electro-proportional valve 180 is used to control the amount of gas extracted from the vibrator. The maximum amount of gas can be set to ensure that there is no gas residue in the vibrator, and it can be selected for use. The operating frequency of the soft hand actuator 12 is determined by the opening and closing frequency between the positive and negative pressure solenoid valves, and the bending amplitude is determined by the opening size of the electro-proportional valve. The finger motion input module 220 transmits the input motion frequency and motion amplitude to the lower-level machine 300 via the touch screen 230 and network communication 250. The motion frequency is converted into the opening and closing duration of the fourth positive pressure solenoid valve 163 and the second negative pressure solenoid valve 191 by the time control in the PLC, which is used to control the frequency of the soft hand actuator 12 assisting finger movement. The motion amplitude command is converted into a digital electrical signal by the PLC's analog-to-digital converter module 280, and combined with the air pressure sensor 170, controls the voltage input to the second positive pressure proportional valve 141, thereby controlling the opening degree of the second positive pressure proportional valve, and thus controlling the bending amplitude of the soft hand actuator 12. The first negative pressure electro-proportional valve 180 is used to control the amount of gas extracted from the soft hand actuator. The maximum amount of gas can be set to ensure that there is no gas residue in the soft hand actuator, and it can be selected for use.

[0058] In addition, the soft hand rehabilitation robot 50 drives the patient's finger movements. The human-machine interaction force during the movement is collected by the pressure sensor 21 and uploaded to the PLC's Bluetooth serial communication module 260 via the Bluetooth transmission module 22. It is then classified by a trained finger spasticity classifier 270. If flexor spasticity is present, the soft hand rehabilitation robot 50 operates, and the extensor digitorum vibrator 6 in the sensory vibration bracelet 40 operates. By stimulating the extensor muscles, based on the principle of interactive inhibition at the spinal cord and brain level, it inhibits the generation of finger flexor spasticity. If extensor spasticity is present, the soft hand rehabilitation robot 50 operates, and the deep flexor digitorum vibrator 3, superficial flexor digitorum vibrator 4, and sensory vibration glove 30 in the sensory vibration bracelet 40 operate. By stimulating the flexor muscles, based on the principle of interactive inhibition at the spinal cord and brain level, it inhibits the generation of finger extensor spasticity. If there is no finger spasticity, the soft hand rehabilitation robot 60 operates, and both the sensory vibration bracelet 40 and the sensory vibration glove 30 operate. Figure 14 As shown.

[0059] Specifically, the finger spasticity classifier 270 can be trained based on multiple sets of pre-collected patient sample data. A large number of human-computer interaction force signals are collected during the assisted movement process of a soft hand rehabilitation robot, including three types of patients: finger flexor spasticity, finger extensor spasticity, and finger without spasticity. Based on machine learning, an LSTM model is used to classify these three types, and after validation on different patients, the finger spasticity classifier is determined. Then, sensorimotor integration rehabilitation training is conducted on patients, and the patient's finger movement process is collected through pressure sensors. The human-computer interaction force signal is input into the finger spasticity classifier to determine whether there is spasticity in the finger and the corresponding spastic muscle. If there is spasticity and it is flexor spasticity, the solenoid valves corresponding to the superficial flexor digitorum, deep flexor digitorum, and palm vibrator are closed, and the finger nerve vibrator and soft hand rehabilitation robot are activated. If there is spasticity and it is extensor spasticity, the solenoid valve corresponding to the finger extensor vibrator is closed, and the superficial flexor digitorum, deep flexor digitorum, palm vibrator, and soft hand rehabilitation robot are activated. If there is no spasticity, all vibrators and soft hand rehabilitation robot are activated.

[0060] The system provided by this invention can drive vibrators corresponding to different muscles controlling finger movement based on whether there is finger spasm and the type of spasm present. This allows for the development of sensorimotor integration rehabilitation training programs tailored to different patients. Its applications include: because the system uses flexible vibrators and soft hand actuators, it has high compliance, ensuring patient safety. Simultaneously, it can intelligently monitor the presence of finger spasms and develop rehabilitation training programs tailored to different patients based on the spasm status. This training system is suitable for all stroke patients and can replace rehabilitation physicians in assisting all patients with hand rehabilitation training. It not only relieves hand spasms but also improves the patient's hand motor function.

[0061] This invention employs pneumatic actuation to construct a sensorimotor integration rehabilitation training system for the hand. Different vibration stimulation protocols are needed for different spasticity patients. Based on the principle of interactive inhibition at the brain and spinal cord levels, for patients with finger flexor spasticity, vibration stimulation of the common extensor digitorum is required; for patients with finger extensor spasticity, vibration stimulation of the superficial digitorum, deep digitorum, and corresponding palmar flexor muscles is required; for patients without finger spasticity, both extensor and flexor muscles can be stimulated simultaneously to ensure maximum activation of the sensorimotor cortex, accelerate the plasticity process of the cerebral cortex, and improve rehabilitation efficiency. Therefore, this invention proposes a sensorimotor integration rehabilitation training system for the hand, integrating an intelligent detection module for finger spasticity categories, capable of adapting to all patients for sensorimotor integration rehabilitation training.

[0062] This invention can automatically detect the type of finger spasticity in patients and, based on the principle of interactive inhibition between the brain and spinal cord in neuroscience, scientifically select a vibration sensory stimulation program suitable for each patient. This allows for the development of sensory-motor integration training methods tailored to different patients. Compared to traditional rehabilitation robot training, this system not only adds a spasticity detection function but also a sensory stimulation module to alleviate spasticity. Compared to traditional vibration sensory stimulation, this system adds intelligent spasticity detection and the development of intelligent rehabilitation training programs based on spasticity characteristics. Compared to current sensory-motor integration rehabilitation training methods, this method integrates an intelligent spasticity detection module and the development of sensory-motor rehabilitation training programs based on different patient types, increasing the universality of rehabilitation robots and sensory-motor methods and improving the efficiency of finger rehabilitation.

[0063] The control method provided by this invention is described below. This control method is executed by the controller in the hand-oriented sensorimotor integrated rehabilitation training system described above, and can be referred to in correspondence with the hand-oriented sensorimotor integrated rehabilitation training system described above. For example... Figure 15 As shown, the method includes the following steps:

[0064] S110. Acquire the finger spasm signal collected by the pressure sensor and input the finger spasm signal into the trained finger spasm classifier.

[0065] S120. Obtain the classification results output by the finger spasm classifier, and determine the spasm type based on the classification results;

[0066] S130. When the spasticity type is flexor spasticity, control the operation of the extensor digitorum vibrator and the soft hand actuator. When the spasticity type is extensor spasticity, control the operation of the palm vibrator, the proximal digit flexor muscle vibrator, the superficial digit flexor muscle vibrator and the soft hand actuator. When the spasticity type is that there is no finger spasticity, control the operation of the palm vibrator, the extensor digitorum vibrator, the proximal digit flexor muscle vibrator, the superficial digit flexor muscle vibrator and the soft hand actuator.

[0067] The finger cramp classifier is trained based on multiple sets of training data. Each set of training data includes sample finger cramp signals and the corresponding spastic muscle labels. The finger cramp classifier can be an LSTM model, and the construction process of the finger cramp classifier can be referred to the description above.

[0068] Figure 16 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 16 As shown, the electronic device may include: a processor 1610, a communications interface 1620, a memory 1630, and a communication bus 1640, wherein the processor 1610, the communications interface 1620, and the memory 1630 communicate with each other through the communication bus 1640. The processor 1610 can call logic instructions in the memory 1630 to execute a control method for a sensorimotor integrated rehabilitation training system for the hand. This method includes: acquiring finger spasticity signals collected by a pressure sensor and inputting the finger spasticity signals into a trained finger spasticity classifier; acquiring the classification results output by the finger spasticity classifier and determining the spasticity type based on the classification results; when the spasticity type is flexor spasticity, controlling the extensor digitorum vibrator and the soft hand actuator to operate; when the spasticity type is extensor spasticity, controlling the palm vibrator, flexor digit profundus vibrator, flexor digit superficialis vibrator, and the soft hand actuator to operate; and when the spasticity type is no finger spasticity, controlling the palm vibrator, extensor digitorum vibrator, flexor digit profundus vibrator, flexor digit superficialis vibrator, and the soft hand actuator to operate; wherein, the finger spasticity classifier is trained based on multiple sets of training data, each set of training data including sample finger spasticity signals and the corresponding spasticity type label. The finger spasm classifier can be an LSTM model, and the construction process of the finger spasm classifier can be referred to the description above.

[0069] Furthermore, the logical instructions in the aforementioned memory 1630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0070] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method for implementing the hand-oriented sensorimotor integrated rehabilitation training system provided by the above methods. The method includes: acquiring finger spasm signals collected by a pressure sensor; inputting the finger spasm signals into a trained finger spasm classifier; acquiring the classification results output by the finger spasm classifier; and determining the spasm type based on the classification results. When the spasticity type is flexor spasticity, the extensor digitorum vibrator and the soft hand actuator are controlled to operate. When the spasticity type is extensor spasticity, the palm vibrator, flexor digit profundus vibrator, flexor digit superficialis vibrator, and the soft hand actuator are controlled to operate. When the spasticity type is that there is no finger spasticity, the palm vibrator, extensor digitorum vibrator, flexor digit profundus vibrator, flexor digit superficialis vibrator, and the soft hand actuator are controlled to operate. The finger spasticity classifier is trained based on multiple sets of training data. Each set of training data includes sample finger spasticity signals and the corresponding spasticity type label. The finger spasticity classifier can be an LSTM model, and the construction process of the finger spasticity classifier can be referred to the description above.

[0071] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a control method for performing a sensorimotor integrated rehabilitation training system for the hand provided by the methods described above. The method includes: acquiring finger spasm signals collected by a pressure sensor and inputting the finger spasm signals into a trained finger spasm classifier; acquiring the classification result output by the finger spasm classifier and determining the spasm type based on the classification result; when the spasm type is flexor spasm, controlling the extensor digitorum vibrator and the soft hand actuator to operate; when the spasm type is extensor spasm, controlling the palm vibrator, the flexor digit profundus vibrator, the flexor digit superficialis vibrator, and the soft hand actuator to operate; and when the spasm type is no finger spasm, controlling the palm vibrator, the extensor digitorum vibrator, the flexor digit profundus vibrator, the flexor digit superficialis vibrator, and the soft hand actuator to operate; wherein the finger spasm classifier is trained based on multiple sets of training data, each set of training data including sample finger spasm signals and spasm type labels corresponding to the sample finger spasm signals. The finger spasm classifier can be an LSTM model, and the construction process of the finger spasm classifier can be referred to the description above.

[0072] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0073] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sensorimotor integrated rehabilitation training system for the hand, characterized in that, include: A vibrating wristband, comprising multiple flexor and extension vibrators, including a common finger extensor muscle vibrator, a superficial finger flexor muscle vibrator, and a deep finger flexor muscle vibrator, wherein the flexor and extension vibrators are used to apply vibration stimulation to the flexor and extension muscles of the fingers; A vibrating glove, the vibrating glove including a palm vibrator, the palm vibrator being used to apply vibrational stimulation to the palm muscles; A soft hand rehabilitation robot includes a soft hand actuator, a pressure sensor, and a finger gripper. The finger gripper is used to fix the pressure sensor between the soft hand actuator and the finger, and the soft hand actuator is used to drive the finger movement. A pneumatic circuit module is connected to the flexion-extension vibrator, the palm vibrator, and the soft hand actuator. The pneumatic circuit module is used to inflate and de-inflate the flexion-extension vibrator and the palm vibrator to cause them to vibrate. The pneumatic circuit module is also used to inflate and de-inflate the soft hand actuator to cause it to drive the fingers to flex and extend. The pneumatic circuit module includes multiple solenoid valves, which are used to open or close the inflation and de-inflation passages for the flexion-extension vibrator, the palm vibrator, and the soft hand actuator. The pneumatic control module includes a controller that is communicatively connected to the pressure sensor. The controller is used to determine the type of spasm corresponding to the finger spasm signal collected by the pressure sensor. When the spasm type is flexor spasm, the controller operates the extensor digitorum vibrator and the soft hand actuator. When the spasm type is extensor spasm, the controller operates the palm vibrator, the flexor digit profundus vibrator, the flexor digit superficialis vibrator, and the soft hand actuator. When the spasm type is no finger spasm, the controller operates the palm vibrator, the extensor digitorum vibrator, the flexor digit profundus vibrator, the flexor digit superficialis vibrator, and the soft hand actuator.

2. The sensorimotor integrated rehabilitation training system for the hand according to claim 1, characterized in that, The pneumatic circuit module includes a positive pressure pneumatic circuit and a negative pressure pneumatic circuit; the positive pressure pneumatic circuit is connected to the flexion-extension vibrator, the palm vibrator and the soft hand actuator respectively, and the negative pressure pneumatic circuit is connected to the flexion-extension vibrator, the palm vibrator and the soft hand actuator respectively. The positive pressure pneumatic circuit includes an air compressor, a pneumatic triplet, a positive pressure electro-proportional valve, a flow sensor, a pressure sensor, and a positive pressure solenoid valve; The negative pressure pneumatic circuit includes a negative pressure electro-proportional valve, a negative pressure solenoid valve, and a vacuum pump.

3. The sensorimotor integrated rehabilitation training system for the hand according to claim 2, characterized in that, When the positive pressure solenoid valve in the positive pressure pneumatic circuit is opened, the negative pressure solenoid valve in the negative pressure pneumatic circuit corresponding to the opened positive pressure solenoid valve is closed; when the negative pressure solenoid valve in the negative pressure pneumatic circuit is opened, the positive pressure solenoid valve in the positive pressure pneumatic circuit corresponding to the opened negative pressure solenoid valve is closed.

4. The sensorimotor integrated rehabilitation training system for the hand according to claim 2, characterized in that, The pneumatic control module also includes a host computer, which includes an input receiving module for receiving target data. The controller is used to control the opening and closing frequency of the solenoid valves in the pneumatic circuit module based on the target data received through the input receiving module and the signals collected by the flow sensor and the air pressure sensor, so as to change the vibration frequency of the flexion-extension vibrator and the palm vibrator and the movement frequency of the soft hand actuator, and to control the opening ratio of the positive pressure electro-proportional valve and the negative pressure electro-proportional valve, so as to change the vibration amplitude of the flexion-extension vibrator and the palm vibrator and the movement direction and amplitude of the soft hand actuator.

5. The sensorimotor integrated rehabilitation training system for the hand according to claim 4, characterized in that, The host computer also includes a display module, which is used to display the target data.

6. The sensorimotor integrated rehabilitation training system for the hand according to claim 1, characterized in that, The soft hand actuator includes a soft actuator body and a first end cap with an air inlet. The soft actuator body includes a cavity for containing gas, and the air inlet on the first end cap communicates with the cavity. The soft hand rehabilitation robot also includes a hand back gripper, which has a sliding groove and a bolt inside the sliding groove. The bolt is used to press and fix the soft hand actuator onto the back of the hand.

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