Arm movement training system and method

Abstract

The application provides an arm movement training system and method, the system comprising an electric stimulation host, a pneumatic host and a pneumatic glove; the pneumatic host is used for controlling output of positive and negative air pressure to the pneumatic glove, so as to realize stretching or flexing of the pneumatic glove; the pneumatic glove is used for driving hand stretching of a target object when the pneumatic glove is stretched, and is used for driving hand flexing of the target object when the pneumatic glove is flexed; the electric stimulation host and a forearm of the target object both participate in forming a conductive loop; the electric stimulation host is used for acquiring an instruction of the pneumatic host; the electric stimulation host is used for outputting electric stimulation to a wrist of the target object according to the instruction; and the pneumatic host is provided with a storage unit and is used for storing the instruction. The system is used for rehabilitation training of the hand through pressure and electric stimulation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of sports training, in particular to a hand-arm training system and method. BACKGROUND

[0002] The wrist joint is an important joint connecting the hand and the upper limb, and is a joint with high flexibility in the whole body. The strength and flexibility of the wrist joint directly affect the palm grasping ability and the flexibility and range of motion of the fingers, and the wrist joint greatly affects the motor function of the hand.

[0003] At present, most of the wrist and ankle training devices on the market can only make the wrist joint perform passive training activities under the action of pressure, and cannot help the subject to actively move the wrist joint. The hand of the subject cannot be fully trained, and the grasping ability and wrist flexibility of the subject cannot be improved. Therefore, a new hand-arm training system and method are needed to improve the above problems. SUMMARY

[0004] The purpose of the present application is to provide a hand-arm training system and method, which is used for rehabilitation training of the hand through pressure and electrical stimulation.

[0005] In a first aspect, the present application provides a hand-arm training system, comprising an electrical stimulation host, a pneumatic host and a pneumatic glove. The pneumatic host is used to control the output of positive and negative air pressure to the pneumatic glove to realize the extension or flexion of the pneumatic glove. The pneumatic glove is used to drive the extension of the hand of the target object when it is extended, and is used to drive the flexion of the hand of the target object when it is flexed. The electrical stimulation host and the forearm of the target object both participate in forming a conductive loop. The electrical stimulation host is used to obtain the instruction of the pneumatic host. The electrical stimulation host is used to output electrical stimulation to the wrist of the target object according to the instruction. The pneumatic host is provided with a storage unit for storing the instruction.

[0006] The method of the present application has the following advantages: the pneumatic host is used to control the output of positive and negative air pressure to the pneumatic glove to realize the extension or flexion of the pneumatic glove. The pneumatic glove is used to drive the extension of the hand of the target object when it is extended, and is used to drive the flexion of the hand of the target object when it is flexed. The electrical stimulation host and the forearm of the target object both participate in forming a conductive loop. The electrical stimulation host is used to obtain the instruction of the pneumatic host. The electrical stimulation host is used to output electrical stimulation to the wrist of the target object according to the instruction. The wrist joint and the finger joint of the hand of the target object are flexed and extended in combination by the electrical stimulation host, which improves the training effect and is beneficial to enhancing the grasping ability of the hand and the wrist flexibility of the subject.

[0007] Optionally, the training system further comprises a data glove; the data glove is used to detect the flexion state of the hand of the reference object to generate a detection signal; the pneumatic master is used to generate the instruction in real time according to the detection signal. Its beneficial effect lies in that the data glove provided by the application is used to detect the flexion state of the hand of the reference object to generate a detection signal; the pneumatic master is used to generate the instruction in real time according to the detection signal, so that the hand of the target object can follow the hand of the reference object for mirror training, and the coordination between the hand of the target object and the hand of the reference object can be enhanced.

[0008] Optionally, the electric stimulation master is electrically connected with a patch; the patch is used to be attached to at least one muscle of the forearm of the target object. Its beneficial effect lies in that the patch is attached to at least one muscle of the forearm of the target object, so that the muscle connected with the wrist joint can be electrically stimulated, and the strength of the wrist of the target object can be enhanced.

[0009] Optionally, the electric stimulation master and the patch are both connected with magnetic buckles; when the magnetic buckles located at the electric stimulation master and the patch are attracted to each other, the electric stimulation master and the patch are electrically connected.

[0010] Optionally, the pneumatic master is used to control a plurality of electric stimulation masters at the same time, and each electric stimulation master is connected with the patch attached to different muscles of the forearm of the target object. Its beneficial effect lies in that the electric stimulation master is attached to different muscles of the forearm of the target object, so that the muscles at different parts of the forearm can be electrically stimulated to realize diversified training actions, and the flexibility of the whole forearm of the target object can be trained.

[0011] Optionally, the electric stimulation master and the pneumatic master communicate through wireless signals. Its beneficial effect lies in that the electric stimulation master and the pneumatic master communicate through wireless signals, so that the preparation step before training can be simplified, and the training object can be facilitated to use.

[0012] In a second aspect, the present application provides a control method of a pneumatic master, which is used to control the pneumatic master in the arm movement training system of any one of the first aspect, comprising: S101, starting the pneumatic master, controlling the air pressure size and direction output to the pneumatic glove, so as to make the pneumatic glove stretch or flex the hand of the target object; S102, when starting the training, the pneumatic master sends a signal to the electric stimulation master to make the electric stimulation master enter the instruction mode; S103, the pneumatic master outputs negative pressure to make the pneumatic glove stretch gradually, and at the same time sends an instruction to the electric stimulation master, so as to make the electric stimulation master output electric stimulation to the forearm of the target object covered with the pneumatic glove, to assist the wrist joint of the target object to exert force; S104, the pneumatic master outputs positive pressure to make the pneumatic glove flex gradually, and stops sending an instruction to the electric stimulation master, so as to make the electric stimulation master stop outputting electric stimulation to the forearm of the target object covered with the pneumatic glove, to make the wrist joint of the target object relax; S105, repeating S103 and S104 until the training is completed.

[0013] Optionally, the S102 comprises: a data glove covering the hand of the reference object detects the flexion and extension state of the hand of the reference object to generate a detection signal; the pneumatic master generates the instruction according to the detection signal.

[0014] Optionally, the S103 comprises: when the pneumatic master outputs negative air pressure, the electric stimulation master outputs the current value gradually rises to a first preset current value, and then the electric stimulation master outputs the current value continuously as the first preset current value in a first time period.

[0015] Optionally, the S104 comprises: when the pneumatic master outputs positive air pressure, the electric stimulation master outputs the current value gradually drops to a second preset current value, and then the electric stimulation master outputs the current value continuously as the second preset current value in a second time period.

[0016] Optionally, the control method of the pneumatic master meets the passive training mode and the mirror training mode; when in the passive training mode, the pneumatic master automatically cycles the positive air pressure and the negative air pressure output according to the preset time; when in the mirror training mode, the pneumatic master cycles the positive air pressure and the negative air pressure output according to the flexion and extension state of the hand of the reference object detected by the data glove.

[0017] In a third aspect, the present application provides a control method of an electric stimulation host, used for controlling the electric stimulation host in the arm movement training system of any one of the first aspect, comprising: S201, the electric stimulation host is in a default training mode after starting, and communicates with the pneumatic host; S202, when the electric stimulation host acquires the first instruction of the pneumatic host, the electric stimulation host enters an instruction mode and starts timing; S203, when the electric stimulation host continuously acquires the second instruction of the pneumatic host within a preset time period, an electric stimulation is output, and the current value of the electric stimulation gradually rises to the preset current value of the current training mode; S204, when the electric stimulation host acquires the second instruction, the timing is restarted, the current value of the electric stimulation uniformly decreases from the current value; or when the electric stimulation host acquires the third instruction, the current value of the electric stimulation uniformly decreases from the current value; when the electric stimulation host acquires the second instruction again, the current value of the electric stimulation gradually rises from the current value to the preset current value of the current training mode; S205, when the second instruction stops for more than a preset interval time, the electric stimulation host is powered off. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A structural schematic diagram of an arm movement training system provided by the present application is shown in the figure.

[0019] Figure 2 A top view structural schematic diagram of an electric stimulation host provided by the present application is shown in the figure.

[0020] Figure 3 A bottom view structural schematic diagram of an electric stimulation host provided by the present application is shown in the figure.

[0021] Figure 4 A top view structural schematic diagram of a patch provided by the present application is shown in the figure.

[0022] Figure 5 A top view structural schematic diagram of a patch provided by the present application is shown in the figure.

[0023] Figure 6 A bottom view structural schematic diagram of a patch provided by the present application is shown in the figure.

[0024] Figure 7 A flowchart of a control method of a pneumatic host provided by the present application is shown in the figure.

[0025] Figure 8 A curve relationship diagram of a pneumatic glove angle and an output current of a single electric stimulation host provided by the present application is shown in the figure.

[0026] Figure 9 A curve relationship diagram of a pneumatic glove angle and an output current of a single electric stimulation host provided by the present application is shown in the figure.

[0027] Figure 10 A flowchart of a control method of an electric stimulation host provided by the present application is shown.

[0028] Reference numerals in the drawings:

[0029] 10, arm movement training system; 11, pneumatic host; 12, pneumatic glove; 13, electric stimulation host; 131, first button; 132, second button; 133, third button; 134, display screen; 135, charging contact; 136, magnetic buckle; 14, patch; 141, conductive gel layer; 142, insulating layer; 15, data glove. DETAILED DESCRIPTION

[0030] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. Unless otherwise defined, the technical terms or scientific terms used herein should be understood as the common meanings thereof by those skilled in the art. The words such as “comprise” and the like used herein mean that the elements or objects before the words encompass the elements or objects listed after the words and equivalents thereof, and do not exclude other elements or objects.

[0031] Figure 1 A structural schematic diagram of an arm movement training system provided by the present application is shown.

[0032] In view of the problems in the prior art, such as Figure 1 As shown in the figure, the present application provides an arm movement training system 10, which comprises an electric stimulation host 13, a pneumatic host 11 and a pneumatic glove 12. The pneumatic host 11 is used to control the output of positive and negative air pressure to the pneumatic glove 12, so as to realize the extension or flexion of the pneumatic glove 12. The pneumatic glove 12 is used to drive the extension of the hand of a target object when it is extended, and is used to drive the flexion of the hand of the target object when it is flexed. The electric stimulation host 13 and the forearm of the target object both participate in forming a conductive loop. The electric stimulation host 13 is used to acquire an instruction of the pneumatic host 11. The electric stimulation host 13 is used to output electric stimulation to the wrist of the target object according to the instruction. The pneumatic host 11 is provided with a storage unit, which is used to store the instruction.

[0033] Specifically, the pneumatic host 11 outputs positive air pressure to the pneumatic glove 12 to make the pneumatic glove 12 stretch until the limit of dorsiflexion state, and outputs negative air pressure to the pneumatic glove 12 to make the pneumatic glove 12 flex until the limit of gripping state. Taking the last segment of the index finger of the right hand of the pneumatic glove 12 as an example, the direction of the segment rotates 30° along the finger direction from the index finger straight state to the limit of dorsiflexion state. The direction of the segment rotates 270° along the reverse finger direction from the index finger straight state to the limit of gripping state. The pneumatic host 11 includes a processor for calling the instructions stored in the storage unit and sending the instructions to the electric stimulation host 13. The storage unit is set as a non-volatile memory.

[0034] In some embodiments, the pneumatic host 11 outputs negative air pressure to the pneumatic glove 12 to make the pneumatic glove 12 stretch until the limit of dorsiflexion state, and outputs positive air pressure to the pneumatic glove 12 to make the pneumatic glove 12 flex until the limit of gripping state. The processor and the storage unit can be separately arranged or integrated on the same integrated circuit chip. The storage unit can be set as a volatile memory.

[0035] It is worth noting that the present application provides the pneumatic host 11 for controlling the output of positive and negative air pressure to the pneumatic glove 12 to realize the stretching or flexing of the pneumatic glove 12. The stretching of the pneumatic glove 12 is used to drive the stretching of the hand of the target object, and the flexing of the pneumatic glove 12 is used to drive the flexing of the hand of the target object. The electric stimulation host 13 and the forearm of the target object both participate in forming a conductive loop. The electric stimulation host 13 is used to obtain the instructions of the pneumatic host 11. The electric stimulation host 13 is used to output electric stimulation to the wrist of the target object according to the instructions. The electric stimulation host 13 of the present application makes the wrist joint and the finger joint of the hand of the target object perform joint flexion and extension movement, which improves the training effect and is beneficial to enhancing the grasping ability of the hand and the wrist flexibility of the object.

[0036] In some embodiments, the training system further includes a data glove 15. The data glove 15 is used to detect the flexion and extension state of the hand of the reference object to generate a detection signal. The pneumatic host 11 is used to generate the instructions in real time according to the detection signal. The present application provides the data glove 15 for detecting the flexion and extension state of the hand of the reference object to generate a detection signal. The pneumatic host 11 is used to generate the instructions in real time according to the detection signal, which can realize the mirror training of the hand of the target object following the hand of the reference object, and is beneficial to enhancing the coordination of the hand of the target object and the hand of the reference object.

[0037] Specifically, the data glove includes five bending sensors located at the finger part. The pneumatic host 11 is electrically connected with each of the bending sensors. The pneumatic host 11 records the bending angles of the five fingers of the reference object as an angle sequence according to a preset sampling period. The instruction is used to control the bending angles of the five fingers of the pneumatic glove 12 to rotate according to the angle sequence. The data glove further includes a position sensor located at the palm part. The pneumatic host 11 records the position of the palm part of the reference object as a position sequence according to a preset sampling period. The instruction is used to control the position of the palm part of the pneumatic glove 12 to move according to the position sequence.

[0038] In some other specific embodiments, the data glove 15 includes an angle sensor for detecting the rotation angles of the knuckles of the hand of the reference object in real time. The pneumatic host 11 records the rotation angles of the knuckles of the hand of the reference object as an angle sequence according to a preset sampling period. The instruction is used to control the knuckles of the hand of the pneumatic glove 12 to rotate according to the angle sequence.

[0039] In some other specific embodiments, the data glove 15 includes a position sensor for detecting the moving positions of the knuckles of the hand of the reference object in real time. The pneumatic host 11 records the moving positions of the knuckles of the hand of the reference object as a position sequence according to a preset sampling period. The instruction is used to control the knuckles of the hand of the pneumatic glove 12 to move according to the position sequence.

[0040] In some embodiments, the electrical stimulation host 13 is electrically connected with a patch 14. The patch 14 is used to be attached to at least one muscle of the forearm of the target object. By attaching the patch 14 to at least one muscle of the forearm of the target object, the present application can apply electrical stimulation to the muscle connected with the wrist joint, and can enhance the strength of the wrist of the target object.

[0041] Specifically, the patch 14 is used to be attached to the extensor carpi ulnaris of the target object.

[0042] In some other specific embodiments, the patch 14 is used to be attached to the extensor carpi radialis longus of the target object.

[0043] In some other specific embodiments, the patch 14 is used to be attached to the extensor carpi radialis brevis of the target object.

[0044] It is worth mentioning that the patch 14 can be attached to any muscle of the forearm of the target object. The patch 14 is provided as a group patch 14 or a fine patch 14. The group patch 14 is larger in size than the fine patch 14 and is used to attach to multiple muscles at the same time, can stimulate multiple muscles or the entire muscle group, and is suitable for rough training movements. The fine patch 14 only stimulates a single muscle and is suitable for fine training movements.

[0045] Figure 2 A top view structural schematic diagram of an electric stimulation host provided by the application.

[0046] As shown in Figure 1 and Figure 2 , in some embodiments, the electric stimulation host 13 is provided with a first button 131, a second button 132, a third button 133, and a display screen 134. The first button 131 is used to control the power-on of the electric stimulation host 13. The second button 132 is used to control the increase of the output current of the electric stimulation host 13. The third button 133 is used to control the decrease of the output current of the electric stimulation host 13. The display screen is used to display the communication state of the pneumatic host 11, the output current value of the electric stimulation host 13, and the remaining power.

[0047] Figure 3 A bottom view structural schematic diagram of an electric stimulation host provided by the application. Figure 4 A top view structural schematic diagram of a patch provided by the application. Figure 5 A top view structural schematic diagram of an electric stimulation host connected with a patch provided by the application.

[0048] As shown in Figure 3 , Figure 4 and Figure 5 , in some embodiments, the electric stimulation host 13 and the patch 14 are both connected with magnetic buckles 136. When the magnetic buckles 136 located on the electric stimulation host 13 and the magnetic buckles 136 located on the patch 14 are attracted to each other, the electric stimulation host 13 and the patch 14 are electrically connected.

[0049] Specifically, the number of the magnetic buckles 136 located on the electric stimulation host 13 is 2, the distance between the two magnetic buckles 136 of the electric stimulation host 13 is L, and L is any length. The number of the magnetic buckles 136 located on the patch 14 is 2, and the distance between the two magnetic buckles 136 of the patch 14 is L.

[0050] It is worth mentioning that the number of the magnetic buckles 136 of the electric stimulation host 13 is N, and the number of the magnetic buckles 136 of the patch 14 is M, N and M are both any positive integer, and M is greater than or equal to N.

[0051] In some embodiments, the patch 14 is attached to the entire forearm of the target object, and the patch 14 is provided with a magnetic buckle 136 corresponding to each muscle of the forearm. By moving the magnetic buckle 136 of the electric stimulation host 13 to be adsorbed to the different magnetic buckles 136 of the patch 14, the muscle part stimulated by the electric stimulation host 13 can be conveniently adjusted.

[0052] Figure 6 A schematic view of the bottom structure of the patch provided by the present application is shown.

[0053] As shown in Figure 6 , the patch 14 is provided with a conductive gel layer 141 and an insulating layer 142. The conductive gel layer 141 is electrically connected one by one with the magnetic buckle 136. The insulating layer 142 is used to isolate adjacent conductive gel layers 141 to avoid short circuiting of the adjacent conductive gel layers 141 and to ensure the safety of the training object.

[0054] In some embodiments, the pneumatic host 11 is used to control a plurality of electric stimulation hosts 13 at the same time, and each electric stimulation host 13 is connected to the patch 14 attached to different muscles of the forearm of the target object. By attaching to different muscles of the forearm of the target object, the present application realizes electric stimulation of different parts of the forearm muscles to realize diversified training actions, which is beneficial to the flexibility of the entire forearm of the training target object.

[0055] Specifically, the patch 14 is used to be attached to at least two of the radial long extensor muscle, the radial short extensor muscle, the radial short extensor muscle, the palmaris longus muscle, the ulnar flexor muscle, and the radial flexor muscle of the target object.

[0056] It is worth noting that two patches 14 are attached to the agonist and antagonist muscles of the forearm of the target object respectively to realize the extension and flexion of the forearm. The two patches 14 are in turn alternately electrically stimulated to the agonist and antagonist muscles, so that when the agonist is electrically stimulated, the antagonist is relaxed. When the antagonist is electrically stimulated, the agonist is relaxed. Avoiding muscle damage caused by simultaneous electrical stimulation of the agonist and the antagonist.

[0057] In some embodiments, the electric stimulation host 13 and the pneumatic host 11 communicate through wireless signals. The communication between the electric stimulation host 13 and the pneumatic host 11 through wireless signals is beneficial to simplify the preparation steps before training and facilitate the use of the training object.

[0058] Specifically, the wireless signal communication mode includes Bluetooth two-way communication, infrared communication, 2.4G pairing two-way communication, and 433Mhz radio frequency broadcast mode.

[0059] In other embodiments, the electrical stimulation host 13 and the pneumatic host 11 communicate through wired signals.

[0060] Figure 7 A flowchart of a control method of a pneumatic host according to the present application.

[0061] As shown in Figure 1 and Figure 7 The present application also provides a control method of a pneumatic host, for controlling the pneumatic host 11 in the arm movement training system 10 according to any of the above embodiments, comprising:

[0062] S101, the pneumatic host is turned on, and the air pressure size and direction output to the pneumatic glove are controlled to make the pneumatic glove stretch or flex the hand of the target object.

[0063] S102, when the training starts, the pneumatic host sends a signal to the electrical stimulation host to make the electrical stimulation host enter the instruction mode.

[0064] S103, the pneumatic host outputs negative pressure to make the pneumatic glove gradually stretch, and sends instructions to the electrical stimulation host to make the electrical stimulation host output electrical stimulation to the forearm of the target object covered with the pneumatic glove to assist the wrist joint of the target object to exert force.

[0065] S104, the pneumatic host outputs positive pressure to make the pneumatic glove gradually flex, and stops sending instructions to the electrical stimulation host to make the electrical stimulation host stop outputting electrical stimulation to the forearm of the target object covered with the pneumatic glove to make the wrist joint of the target object relax.

[0066] S105, repeat S103 and S104 until the training ends.

[0067] In some embodiments, S102 comprises: the data glove 15 covered on the hand of the reference object detects the flexion and extension state of the hand of the reference object to generate a detection signal. The pneumatic host 11 generates the instructions according to the detection signal.

[0068] In some embodiments, S103 comprises: when the pneumatic host 11 outputs negative air pressure, the current value output by the electrical stimulation host 13 is gradually increased to a first preset current value, and then the current value output by the electrical stimulation host 13 is kept as the first preset current value for a first period of time.

[0069] In some embodiments, S104 comprises: when the pneumatic host 11 outputs positive air pressure, the current value output by the electrical stimulation host 13 is gradually decreased to a second preset current value, and then the current value output by the electrical stimulation host 13 is kept as the second preset current value for a second period of time.

[0070] Figure 8 A schematic diagram of the relationship between the angle of the pneumatic glove and the output current of the single electric stimulation master is provided.

[0071] Specifically, from the start of the training, i.e. 0 seconds, to the end of the 10th second, the pneumatic master 11 outputs positive air pressure to the pneumatic glove 12, and the pneumatic glove extends; from the 10th second to the end of the 20th second, the pneumatic master outputs negative air pressure to the pneumatic glove, and the pneumatic glove flexes.

[0072] It is worth noting that the length of the time period during which the pneumatic master 11 outputs positive or negative air pressure to the pneumatic glove 12 is t, which can be any positive number.

[0073] More specifically, taking the unloaded pneumatic glove 12 as an example, as shown in Figure 1 and Figure 8 the pneumatic master 11 establishes communication with the single electric stimulation master 13. First, from the start of the training, i.e. 0 seconds, to the end of the 2nd second, the pneumatic master 11 outputs positive air pressure to the pneumatic glove 12, causing the pneumatic glove 12 to extend to the limit of dorsiflexion, and the current value output by the electric stimulation master 13 is gradually increased to 15 mA.

[0074] Second, from the end of the 2nd second to the end of the 10th second, the pneumatic master 11 maintains the air pressure output to the pneumatic glove 12 unchanged, causing the pneumatic glove 12 to maintain the limit of dorsiflexion, and the current value output by the electric stimulation master 13 is maintained at 15 mA unchanged.

[0075] Then, from the end of the 10th second to the end of the 12th second, the pneumatic master 11 outputs negative air pressure to the pneumatic glove 12, causing the pneumatic glove 12 to extend to the first gripping state, and the current value output by the electric stimulation master 13 is gradually decreased to 0 mA. The first gripping state satisfies that the direction of the finger joints at the end of the fingers is 180° to the direction of the palm of the wrist.

[0076] Next, from the end of the 12th second to the end of the 14th second, the pneumatic master 11 continues to output negative air pressure to the pneumatic glove 12, causing the pneumatic glove 12 to extend to the limit of gripping, and the current value output by the electric stimulation master 13 is maintained at 0 mA.

[0077] Finally, from the end of the 14th second to the end of the 20th second, the pneumatic master 11 maintains the air pressure output to the pneumatic glove 12 unchanged, causing the pneumatic glove 12 to maintain the limit of gripping, and the current value output by the electric stimulation master 13 is maintained at 0 mA.

[0078] Figure 9A schematic diagram of a curve relationship between the angle of the pneumatic glove and the output current of the two electric stimulation master machines is provided for the present application.

[0079] In some more specific embodiments, as shown in Figs. 1-2, the pneumatic master machine 11 is in communication with the first electric stimulation master machine 13 and the second electric stimulation master machine 13, respectively, and the first electric stimulation master machine 13 and the second electric stimulation master machine 13 are in communication with the pneumatic glove 12, respectively. Figure 1 Figure 9 As shown in Figs. 1-2, the pneumatic master machine 11 is in communication with the first electric stimulation master machine 13 and the second electric stimulation master machine 13, respectively, and the first electric stimulation master machine 13 and the second electric stimulation master machine 13 are in communication with the pneumatic glove 12, respectively.

[0080] As shown in Figs. 1-2, the pneumatic master machine 11 is in communication with the first electric stimulation master machine 13 and the second electric stimulation master machine 13, respectively, and the first electric stimulation master machine 13 and the second electric stimulation master machine 13 are in communication with the pneumatic glove 12, respectively.

[0081] As shown in Figs. 1-2, the pneumatic master machine 11 is in communication with the first electric stimulation master machine 13 and the second electric stimulation master machine 13, respectively, and the first electric stimulation master machine 13 and the second electric stimulation master machine 13 are in communication with the pneumatic glove 12, respectively.

[0082] As shown in Figs. 1-2, the pneumatic master machine 11 is in communication with the first electric stimulation master machine 13 and the second electric stimulation master machine 13, respectively, and the first electric stimulation master machine 13 and the second electric stimulation master machine 13 are in communication with the pneumatic glove 12, respectively.

[0083] As shown in Figs. 1-2, the pneumatic master machine 11 is in communication with the first electric stimulation master machine 13 and the second electric stimulation master machine 13, respectively, and the first electric stimulation master machine 13 and the second electric stimulation master machine 13 are in communication with the pneumatic glove 12, respectively.

[0084] ​It is worth mentioning that the control method described above from the beginning of the training to the end of the 20th second is a cycle, and the training ends after several cycles. The current value of the electric stimulation host 13 output depends on the current training mode of the pneumatic host 11, and each training mode of the pneumatic host 11 can be the same or different corresponding to the current value of the electric stimulation host 13 output.

[0085] In some embodiments, the control method of the pneumatic host 11 meets the passive training mode and the mirror training mode. In the passive training mode, the pneumatic host 11 automatically cycles the positive and negative air pressure output according to the preset time. In the mirror training mode, the pneumatic host 11 switches the positive and negative air pressure output according to the flexion and extension state of the hand of the reference object detected by the data glove 15.

[0086] Specifically, in the mirror training mode, the hand of the reference object and the hand of the target object belong to the same object. It is beneficial to improve the hand movement coordination of the object.

[0087] In other specific embodiments, in the mirror training mode, the hand of the reference object and the hand of the target object belong to different objects. It is beneficial to train the strength and range of motion of the hand of the target object to approach that of the reference object, and to improve the hand movement coordination of different objects.

[0088] Figure 10 A flowchart of a control method of an electric stimulation host is provided for the present application.

[0089] As Figure 10 shown, the present application also provides a control method of an electric stimulation host, for controlling the electric stimulation host 13 in the arm movement training system 10 of any one of the above embodiments, comprising:

[0090] S201, after the electric stimulation host is turned on, it is in the default training mode and establishes communication with the pneumatic host.

[0091] S202, when the electric stimulation host obtains the first instruction of the pneumatic host, the electric stimulation host enters the instruction mode and starts timing.

[0092] S203, when the electric stimulation host continuously obtains the second instruction of the pneumatic host within a preset period of time, it outputs electric stimulation, and the current value of the electric stimulation gradually rises to the preset current value of the current training mode.

[0093] S204, when the second instruction acquired by the electric stimulation host is stopped, restart timing, the current value of the electric stimulation is uniformly reduced from the current value; or when the third instruction is acquired by the electric stimulation host, the current value of the electric stimulation is uniformly reduced from the current value; when the second instruction is acquired again by the electric stimulation host, the current value of the electric stimulation is gradually increased from the current value to the preset current value of the current training mode.

[0094] S205, when the second instruction is stopped for more than a preset interval time, the electric stimulation host is powered off.

[0095] As shown in Figure 1 and Figure 2 Specifically, the working mode of the electric stimulation host 13 includes instruction mode, rehabilitation mode, massage mode and pain relief mode. The instruction mode requires the electric stimulation host 13 to establish communication with the pneumatic host 11. The rehabilitation mode, the massage mode and the pain relief mode do not require the electric stimulation host 13 to establish communication with the pneumatic host 11. In S201, the first key 131 is pressed for a long time to turn on the electric stimulation host 13, and the electric stimulation host 13 is turned on by default to enter the rehabilitation mode, and the electric stimulation host 13 is automatically connected with the pneumatic host 11 wirelessly. After the electric stimulation host 13 is turned on and automatically connected with the pneumatic host 11 wirelessly, the first key 131 is clicked to make the working mode of the electric stimulation host 13 cycle between the rehabilitation mode, the massage mode and the pain relief mode. The second key 132 is clicked to increase the output current of the electric stimulation host 13. The third key 133 is clicked to reduce the output current of the electric stimulation host 13.

[0096] In other embodiments, the working mode of the electric stimulation host 13 further includes power-assisted mode, manual mode, resistance mode, sound control mode, active mode or any known training mode.

[0097] In other embodiments, in S201, the instruction mode can also be switched by clicking the first key 131.

[0098] Although the embodiments of the present application have been described in detail above, it is obvious to those skilled in the art that various modifications and changes can be made to the embodiments. However, it should be understood that such modifications and changes are within the scope and spirit of the present application as claimed in the claims. Moreover, the present application described herein can have other embodiments and can be implemented or realized in various ways.

Claims

1. An arm movement training system, comprising an electric stimulation host, a pneumatic host, a pneumatic glove and a data glove; the pneumatic host is configured to control output of positive and negative air pressure to the pneumatic glove to realize extension or flexion of the pneumatic glove; the pneumatic glove is configured to drive extension of a hand of a target object when the pneumatic glove is extended, and drive flexion of the hand of the target object when the pneumatic glove is flexed; the electric stimulation host and a forearm of the target object together form a conductive loop; the electric stimulation host is configured to acquire an instruction of the pneumatic host; the electric stimulation host is configured to output electric stimulation to a wrist of the target object according to the instruction; when the pneumatic host outputs negative air pressure, the electric stimulation host is controlled to gradually increase a current value output by the electric stimulation host to a first preset current value, and then maintain the current value output by the electric stimulation host as the first preset current value for a first time period; when the pneumatic host outputs positive air pressure, the electric stimulation host is controlled to gradually decrease a current value output by the electric stimulation host to a second preset current value, and then maintain the current value output by the electric stimulation host as the second preset current value for a second time period; the data glove is configured to detect flexion and extension states of a hand of a reference object to generate a detection signal; the pneumatic host is configured to generate the instruction in real time according to the detection signal; the pneumatic host is provided with a storage unit configured to store the instruction.

2. The system of claim 1, wherein, the electric stimulation host is electrically connected with a patch; the patch is configured to be attached to at least one muscle of the forearm of the target object.

3. The system of claim 2, wherein, the electric stimulation host and the patch are both connected with magnetic buckles; when the magnetic buckles located at the electric stimulation host and the patch are attracted to each other, the electric stimulation host and the patch are electrically connected.

4. The system of claim 2, wherein, the pneumatic host is configured to control a plurality of electric stimulation hosts at the same time, and each of the electric stimulation hosts connected with the patch is attached to a different muscle of the forearm of the target object.

5. The system of claim 1, wherein, the electric stimulation host and the pneumatic host communicate through wireless signals.

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