Virtual hand training control device and control method thereof

Abstract

The application discloses a virtual hand training control device and a control method thereof, and relates to the field of virtual training applications. The virtual hand training control device comprises a glove unit, an arm sleeve unit, an operating mechanism and a controller, and the arm sleeve unit and the glove unit are separately arranged. The operating mechanism comprises a positioning unit, a displacement unit, a driving unit and a detection unit. The glove unit and the arm sleeve unit are separately arranged, so that the load caused by the device itself during use is reduced. The glove unit and the arm sleeve unit are connected through the operating mechanism, the displacement unit is driven by the different degrees of bending movements of the fingers of the human body, the detection unit detects the first displacement signal corresponding to the displacement unit, and the first displacement signal is fed back to the controller for integrated collection, so that resistance is provided for the bending of the fingers wearing the glove unit. The application can strengthen the use degree of the hand finger tendons, accelerate the recovery and construction of the body itself, and improve the use effect of the control training.

Description

Technical Field

[0001] This invention relates to the field of virtual training applications, specifically to a virtual hand training control device and its control method. Background Technology

[0002] For rehabilitation applications of digital twin technology, the accompanying equipment and instruments can accurately identify people's physical parameters to form a reliable and rich data source, which can be used to determine new and more effective treatment and rehabilitation routes.

[0003] As a training device for hand training, glove-type controllers can help people grasp and assist in rehabilitation. However, traditional glove-type controllers are usually concentrated on the palm side, which leads to a large load on the palm and increases the load on the hand. In the long recovery period after surgery, the actual implementation of the assistive grasping function delays the body's own recovery and reconstruction, and the finger tendons are not used enough, which reduces the effectiveness of control training. Summary of the Invention

[0004] To address the technical problems raised in the background section, the present invention provides a virtual hand training control device, comprising: Hand kit, designed for wearing on the palm of the hand; An arm kit, suitable for wearing on the arm, wherein the arm kit and the hand kit are separately spaced apart; At least one operating mechanism; the operating mechanism includes a positioning unit, a displacement unit, a driving unit, and a detection unit; The positioning unit is disposed on the hand kit near the back of the hand. The positioning unit is arranged along the extension direction of the human fingers. One end of the displacement unit is connected to the positioning unit, and the other end of the displacement unit is connected to the drive unit. The drive unit and the detection unit are mounted on the arm kit. The detection unit is used to detect the first displacement signal generated by the displacement unit driving the drive unit under the action of finger bending, and the second displacement signal generated by the drive unit driving the displacement unit. The controller is electrically connected to the drive unit and the detection unit. The controller is configured to collect the first displacement signal and the second displacement signal; determine the drive signal of the drive unit based on the first displacement signal to drive the displacement unit to simulate the reaction posture of finger bending; and determine the displacement of the displacement unit to perform the reaction process based on the second displacement signal to correct the drive signal of the drive unit.

[0005] Optionally, the displacement unit includes an operating line and a flexible rack; one end of the operating line is connected to the drive unit, and the other end of the operating line is connected to the flexible rack, which is arranged along the extension direction of the positioning unit, and the flexible rack and the positioning unit are configured to be adjustable.

[0006] Optionally, the positioning unit includes a finger cap and a positioning guide. The finger cap is movably connected to the hand kit and is adapted to be fixedly fitted onto the fingertip of a human finger. The positioning guide is fixedly fitted onto the hand kit. The positioning guide and the flexible rack are slidably configured. The flexible rack has a toothed structure. The finger cap is provided with a connection structure corresponding to the toothed structure, so that the finger cap and the flexible rack can be adjusted.

[0007] Optionally, the virtual hand training control device further includes a support frame, which is fixedly connected to the arm kit; The driving unit includes a driving component, a rotating component, and a supporting component. The driving component is mounted on the bracket. The rotating component is located on the output side of the driving component. The supporting component is mounted on the bracket. The end of the operating line away from the positioning unit is adapted to slide through the bracket to be fixedly connected to the rotating component. The rotating component is adapted to wind and unwind the operating line.

[0008] Optionally, the drive unit further includes a rocker arm limiting member and a rotation stop member. The rocker arm limiting member is disposed on the side of the drive member facing the rotating member. The rocker arm limiting member and the bracket are fixedly disposed relative to each other. The rotation stop member is fixedly disposed on the side of the rotating member facing the drive member. The rocker arm limiting member is disposed on the path of the rotation stop member as it rotates with the rotating member.

[0009] Optionally, the detection unit includes a potentiometer, which is fixedly mounted on the support member, and the detection end of the potentiometer is adapted to detect the angular displacement of the rotating member.

[0010] Optionally, the drive unit further includes a reset element, which is configured as an elastic structure. One end of the reset element is mounted on the bracket, and the other end of the reset element is connected to the rotating member. The reset element is adapted to reset the rotating member.

[0011] Optionally, the control device further includes a force detection element, which is mounted on the reset element and electrically connected to the controller. The force detection element is used to detect the reset force of the reset element.

[0012] Optionally, the control device further includes a connection unit, which includes a connection limiting member, a tube body, a first connector, and a second connector; The connecting limiting member and the hand kit are fixedly connected. The tube body is connected between the first connector and the second connector. The first connector and the connecting limiting member are fixedly arranged. The second connector and the mounting end of the drive unit are fixedly connected. In the direction from the hand kit to the arm kit, the operating line slides sequentially through the connecting limiting member, the first connector, the tube body and the second connector to connect the drive unit.

[0013] A control method for a virtual hand training control device, the control method comprising: The movement of the hand kit and displacement unit is driven by the bending of human fingers, and the first displacement signal of the displacement unit is obtained. Based on the first displacement signal, determine the drive signal of the drive unit; Obtain the second displacement signal of the displacement unit under the drive of the drive unit; The drive signal of the drive unit is corrected according to the second displacement signal; Based on the motion posture of the hand kit as the fingers bend, a reaction posture model for the driving unit to drive the displacement unit to simulate the finger bending is determined.

[0014] The technical solution provided by this invention has the following advantages: 1. The virtual hand training control device provided by this invention, by separately and alternately setting the hand kit and arm kit, with the hand kit worn on the palm and the arm kit worn on the arm, helps to reduce the load on the palm and reduce the load caused by the device itself during training. The hand kit and arm kit are connected by an operating mechanism. The bending movements of the human fingers at different degrees drive the displacement unit. The detection unit detects the first displacement signal corresponding to the displacement unit and feeds it back to the controller for integration and acquisition. The controller determines the drive signal that the drive unit needs to output based on the acquired first displacement signal to provide resistance to the bending of the fingers wearing the hand kit. Simultaneously, the detection unit detects the second displacement signal generated by the displacement unit under the drive unit to determine the displacement of the displacement unit as it performs the reaction process, thereby comparing and correcting the drive signal of the drive unit. The number of operating mechanisms can be configured according to needs, achieving the purpose of resisting different bending movements of the fingers. This invention can enhance the use of the tendons of the hands and fingers, accelerate the body's own recovery and reconstruction, and improve the effectiveness of control training.

[0015] 2. The virtual hand training control device provided by the present invention configures the flexible rack and positioning unit as adjustable settings so as to select a flexible rack with a suitable working length according to the finger length. The flexible rack bends as the finger part of the hand kit is applied. The end of the flexible rack away from the fingertip drives the operation line to move for detection by the detection unit.

[0016] 3. The virtual hand training control device provided by the present invention sets the rocker arm limiting member on the path of the rotating stop member rotating with the rotating component. When the operation line drives the rotating component to move, the operation line is constrained by the rotating component when the rocker arm limiting member and the rotating component are in contact and limited, which can provide a fixed resistance to the finger bending movement. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A three-dimensional schematic diagram of the virtual hand training control device provided by the present invention; Figure 2 A schematic diagram of the structure of the virtual hand training control device provided by the present invention; Figure 3 A partial structural diagram of the operating mechanism in the virtual hand training control device provided by the present invention; Figure 4 This is a schematic diagram of the connection of the drive unit in the virtual hand training control device provided by the present invention; Figure 5 A schematic diagram of the drive unit in the virtual hand training control device provided by the present invention; Figure 6 A schematic diagram of the connection of the positioning unit in the virtual hand training control device provided by the present invention; Explanation of reference numerals in the attached figures: 1-Hand kit; 2-Arm kit; 3-Positioning unit; 31-Finger cap; 32-Positioning guide; 4-Displacement element; 41-Operating line; 42-Flexible rack; 5-Connecting unit; 51-Connecting limiting component; 52-Pipe body; 53-First connector; 54-Second connector; 6-Drive unit; 61-Drive component; 62-Rocker arm limiting component; 63-Rotating component; 64-Supporting component; 65-Rotation stop component; 7-Detection unit; 71-Polypotentiometer; 8-Support. Detailed Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Example 1 This embodiment provides a virtual hand training control device, see [link to documentation]. Figure 1 and Figure 2 It includes a hand kit 1, an arm kit 2, one or more operating mechanisms and a controller, wherein the hand kit 1 is suitable for wearing on the palm; the arm kit 2 is suitable for wearing on the arm, and the arm kit 2 and the hand kit 1 are separately spaced apart.

[0024] See Figure 1 and Figure 2The operating mechanism includes a positioning unit 3, a displacement unit 4, a driving unit 6, and a detection unit 7. The detection unit 7 is used to detect the first displacement signal generated by the displacement unit 4 driving the driving unit 6 under the action of finger bending, and the second displacement signal generated by the driving unit 6 driving the displacement unit 4. The controller is electrically connected to the driving unit 6 and the detection unit 7. The controller is configured to collect the first displacement signal and the second displacement signal. Based on the first displacement signal, the driving signal of the driving unit 6 is determined to drive the displacement unit 4 to simulate the reaction posture of finger bending. Based on the second displacement signal, the displacement of the displacement unit 4 in the reaction process is determined to correct the driving signal of the driving unit 6.

[0025] In this embodiment, see Figure 2 The positioning unit 3 is located on the side of the hand kit 1 near the back of the hand. The positioning unit 3 is arranged along the extension direction of the human fingers. One end of the displacement unit 4 is connected to the positioning unit 3, and the other end of the displacement unit 4 is connected to the drive unit 6. The drive unit 6 and the detection unit 7 are installed on the arm kit 2.

[0026] In some specific implementation methods, see Figures 4 to 6 The displacement unit 4 includes an operation line 41 and a flexible rack 42. One end of the operation line 41 is connected to the drive unit 6, and the other end is connected to the flexible rack 42. The flexible rack 42 is arranged along the extension direction of the positioning unit 3, and the flexible rack 42 and the positioning unit 3 are configured to be adjustable. The finger bending movement and the drive unit 6 are connected through the operation line 41 and the flexible rack 42.

[0027] In some implementations, see Figure 6 The positioning unit 3 includes a finger cap 31 and a positioning guide 32. The finger cap 31 is movably connected to the hand kit 1 and is adapted to be fixedly fitted onto the fingertip of a human finger. The positioning guide 32 is fixedly fitted onto the hand kit 1. The positioning guide 32 and the flexible rack 42 are slidably configured. The flexible rack 42 has a toothed structure, and the finger cap 31 is provided with a connection structure corresponding to the toothed structure, so that the finger cap 31 and the flexible rack 42 can be adjusted. In this configuration, the flexible rack 42 and the positioning unit 3 are configured to be adjustable, so that the flexible rack 42 of a suitable working length can be selected according to the finger length. The flexible rack 42 bends with the action of the finger part of the hand kit 1. The end of the flexible rack 42 away from the fingertip drives the operation line 41 to move for detection by the detection unit 7. The connection position between the flexible rack 42 and the finger cap 31 can be adjusted by squeezing.

[0028] In one embodiment, the finger cap 31 may be equipped with a snap fastener, which is similar to a cable tie and can also serve to adjust the connection position between the flexible rack 42 and the finger cap 31.

[0029] In some specific implementation methods, see Figures 3 to 5 The virtual hand training control device also includes a support 8, which is fixedly connected to the arm kit 2. The drive unit 6 includes a drive component 61, a rotating component 63, and a support component 64. The drive component 61 is mounted on the support 8, the rotating component 63 is located on the output side of the drive component 61, and the support component 64 is mounted on the support 8. The end of the operation line 41 away from the positioning unit 3 is adapted to slide through the support 8 and be fixedly connected to the rotating component 63. The rotating component 63 is adapted to wind and unwind the operation line 41. When the finger bends, the operation line 41 drives the rotating component 63 to move accordingly, and the rotating component 63 performs an unwinding operation. The detection unit 7 detects the rotational stroke of the rotating component 63, which corresponds to the displacement stroke of the operation line 41. When the drive component 61 drives the rotating component 63 to rotate, the rotating component 63 drives the operation line 41 to move in the opposite direction, and the rotating component 63 performs a winding operation. The detection unit 7 detects the reverse rotational stroke of the rotating component 63, which also corresponds to the displacement stroke of the operation line 41. The drive component 61 can drive the rotating component 63 to perform its forward and reverse rotational actions. The drive unit 61 can be configured as a forward and reverse servo structure.

[0030] In some implementations, see Figure 5 The drive unit 6 also includes a rocker arm limiting member 62 and a rotation stop member 65. The rocker arm limiting member 62 is disposed on the side of the drive member 61 facing the rotating member 63, and the rocker arm limiting member 62 and the bracket 8 are fixedly disposed relative to each other. The rotation stop member 65 is fixedly disposed on the side of the rotating member 63 facing the drive member 61, and the rocker arm limiting member 62 is disposed on the path of the rotation stop member 65 as the rotating member 63 rotates. With this arrangement, by disposing the rocker arm limiting member 62 on the path of the rotation stop member 65 as the rotating member 63 rotates, when the operation line 41 drives the rotating member 63 to move, and when the rocker arm limiting member 62 and the rotating member 63 come into contact and are limited, the operation line 41 is constrained by the rotating member 63, providing a fixed resistance to the finger bending movement.

[0031] In one specific embodiment, the operating line 41 is set as a Kevlar rope, which is lightweight, high-strength, high-modulus, has stable structural dimensions, and low shrinkage rate, which helps to ensure the motion accuracy of the displacement unit 4 and improve the detection accuracy of the detection unit 7.

[0032] In some implementations, see Figures 3 to 5 The detection unit 7 includes a potentiometer 71, which is fixedly mounted on the support member 64. The detection end of the potentiometer 71 is suitable for detecting the angular displacement of the rotating member 63. The angular displacement is converted into a linear resistance output by the potentiometer 71, thereby realizing the monitoring of the linear displacement of the operating line 41. The controller then statistically summarizes the displacement data of the operating line 41.

[0033] In some embodiments, the drive unit 6 further includes a reset element (not shown in the figure). The reset element is configured as an elastic structure, with one end mounted on the bracket 8 and the other end connected to the rotating member 63. The reset element is adapted to reset the rotating member 63. The areas where the reset element and the rotating member 63 are wound around the release operation line 41 are arranged to avoid each other. Two reset elements may be provided, and the operation line 41 may be arranged between the two reset elements. By resetting the rotation stroke of the rotating member 63 through the reset element, it can generate a flexible impedance effect during the process of the finger bending and driving the displacement unit 4 to move, and during the process of the drive unit 6 driving the displacement unit 4 to simulate training impedance. This also helps to strengthen the continuity of force transmission and has a compensating effect on training control.

[0034] In one specific embodiment, one end of the reset element can be connected to the bottom of the rotating member 63 at its initial position, and the other end can be connected to the side of the bracket 8 facing the rotating member 63.

[0035] In one specific embodiment, one end of the reset element can be connected to the lateral region disposed at the initial position of the rotating member 63, and the other end is connected to the side of the bracket 8 facing the rotating member 63. The reset element can be disposed at an angle or vertically on the end face of the bracket 8.

[0036] In some embodiments, the control device further includes a force sensor (not shown) mounted on the reset element, which is electrically connected to the controller. The force sensor detects the reset force of the reset element. The controller is configured to release the driven execution program in response to a maximum threshold of the force sensor, thereby improving the safety of the control device.

[0037] Furthermore, the rotating component 63 is configured as an expandable component. The rotating component 63 includes a body, an air spring, and a winding component. The air spring is disposed between the body and the winding component. The body, air spring, and winding component are conformally configured rotating structures. The winding component is configured as an elastic structure. An air port is provided on the air spring, and a micro-air valve is installed on the air port. By pressurizing or depressurizing the air spring through the micro-air valve, the internal volume of the air spring is changed, allowing the winding component to have different diameters. The rotating component 63 has the ability to expand and deform. This configuration can change the radial dimension of the rotating component 63. For example, by increasing the radial dimension of the rotating component 63, the resistance of the reset element can be expanded, and the resistance force when the finger is bent can be increased.

[0038] In some implementation methods, the control device can communicate bidirectionally with the peripheral host in conjunction with virtual rehabilitation training. When the user grasps a physical object to produce finger bending, the detection unit 7 detects the first displacement signal of the operation line 41 and transmits it to the peripheral host. The peripheral host then controls the virtual finger to produce a corresponding bending motion. When the virtual hand grasps the designed object, the peripheral host imports input data through the controller of the control device based on the displacement parameters required to be grasped by the designed object. This causes the rocker arm limiter 62 and the rotating member 63 in the drive unit 6 to contact and limit each other, thus implementing a fixed impedance to the finger bending motion.

[0039] In some implementations, see Figures 1 to 3 The control device also includes a connection unit 5, which comprises a connection limiting member 51, a tube body 52, a first connector 53, and a second connector 54. The connection limiting member 51 is fixedly connected to the hand assembly 1, the tube body 52 is connected between the first connector 53 and the second connector 54, the first connector 53 is fixedly disposed with the connection limiting member 51, and the second connector 54 is fixedly connected to the mounting end of the drive unit 6. In the direction from the hand assembly 1 to the arm assembly 2, the operation line 41 slides sequentially through the connection limiting member 51, the first connector 53, the tube body 52, and the second connector 54 to connect to the drive unit 6. The connection unit 5 arranges the displacement direction of the operation line 41 and provides peripheral protection for operability.

[0040] In one specific embodiment, the positioning guide 32 and the connecting limiter 51 are both located on the back side of the hand's metacarpal bone. The positioning guide 32 and the connecting limiter 51 are spaced apart. Taking the little finger as an example, the positioning guide 32 and the connecting limiter 51 can be spaced 5cm apart.

[0041] The virtual hand training control device provided in this embodiment, by separately and alternately setting the hand kit 1 and arm kit 2, with the hand kit 1 worn on the palm and the arm kit 2 worn on the arm, helps to reduce the load on the palm and reduce the load caused by the device itself during training. The hand kit 1 and arm kit 2 are connected by an operating mechanism. The displacement unit 4 is driven by the bending movements of the human fingers to varying degrees. The detection unit 7 detects the first displacement signal corresponding to the displacement unit 4 and feeds it back to the controller for integration and acquisition. The controller determines the drive signal that the drive unit 6 needs to output based on the acquired first displacement signal to provide resistance to the bending of the fingers wearing the hand kit 1. Simultaneously, the detection unit 7 detects the second displacement signal generated by the displacement unit 4 under the drive of the drive unit 6 to determine the displacement of the displacement unit 4 as it performs the reaction process with the drive unit 6, thereby comparing and correcting the drive signal of the drive unit 6. This invention can enhance the use of the tendons in the hands and fingers, accelerate the body's own recovery and reconstruction, and improve the effectiveness of control training.

[0042] In the above description, the number of operating mechanisms can be configured according to needs, which can achieve the purpose of resisting different bending movement postures of the fingers.

[0043] In some implementations, the drive unit 6, positioning unit 3, and connecting unit 5 can be manufactured using 3D printing to form a multi-flexible body coupled bionic hand control device. For example, PLA material can be used, which is lightweight and strong, helping to reduce the user's hand load.

[0044] This invention can be specifically constructed by combining signal control and force feedback limiting. The operation line 41 is driven by the bending of the finger, and the detection unit 7 detects its displacement accordingly. It can be used in combination with virtual scenes to form a hand rehabilitation exoskeleton device, which can be used for safe and effective rehabilitation training of patients' hands.

[0045] The control device provided by this invention offers users excellent operational flexibility and adaptability. In its application in the rehabilitation field, it can be customized to the patient's hand joint dimensions, thereby better meeting the needs of rehabilitation training. By employing a split-wear design for the control device, the concentrated force on the palm is reduced during rehabilitation training, distributing some of the weight to the arm. Connecting the two parts via the operation line 41 improves the safety of human-computer interaction.

[0046] Example 2 This embodiment provides a control method for a virtual hand training control device, the control method including: The bending of the human hand drives the hand assembly 1 and the displacement unit 4 to move, and the first displacement signal of the displacement unit 4 is obtained; Based on the first displacement signal, determine the drive signal of the drive unit 6; Obtain the second displacement signal of displacement unit 4 under the drive of drive unit 6; The drive signal of the drive unit 6 is corrected according to the second displacement signal; Based on the motion posture of the hand kit 1 as the fingers bend, the reaction posture model of the driving unit 6 driving the displacement unit 4 to simulate the bending of the fingers is determined.

[0047] This control method simulates the reaction posture model of finger bending based on the bending posture of each finger. Specifically, based on the displacement signal of the simulated tendon corresponding to the bending angle of the finger, this control method can enhance the use of the tendons of the hand and fingers, accelerate the recovery and reconstruction of the body itself, and improve the effectiveness of control training.

[0048] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A virtual hand training control device, characterized by, include: Hand kit (1), suitable for wearing on the palm; Arm kit (2), suitable for wearing on the arm, wherein the arm kit (2) and the hand kit (1) are separately spaced apart; At least one operating mechanism; the operating mechanism includes a positioning unit (3), a displacement unit (4), a driving unit (6), and a detection unit (7); The positioning unit (3) is located on the back of the hand of the hand kit (1). The positioning unit (3) is arranged along the extension direction of the human fingers. One end of the displacement unit (4) is connected to the positioning unit (3), and the other end of the displacement unit (4) is connected to the driving unit (6). The driving unit (6) and the detection unit (7) are installed on the arm kit (2). The detection unit (7) is used to detect the first displacement signal generated by the displacement unit (4) driving the driving unit (6) under the action of finger bending, and the second displacement signal generated by the driving unit (6) driving the displacement unit (4). The controller is electrically connected to the drive unit (6) and the detection unit (7). The controller is configured to collect the first displacement signal and the second displacement signal; and determine the drive signal of the drive unit (6) based on the first displacement signal to drive the displacement unit (4) to simulate the reaction posture of finger bending. Based on the second displacement signal, the displacement of the displacement unit (4) in performing the reaction process is determined to correct the drive signal of the drive unit (6).

2. The virtual hand training control device according to claim 1, wherein The displacement unit (4) includes an operation line (41) and a flexible rack (42); one end of the operation line (41) is connected to the drive unit (6), and the other end of the operation line (41) is connected to the flexible rack (42). The flexible rack (42) is arranged along the extension direction of the positioning unit (3), and the flexible rack (42) and the positioning unit (3) are configured to be adjustable.

3. The virtual hand training control device of claim 2, wherein, The positioning unit (3) includes a finger cap (31) and a positioning guide (32). The finger cap (31) is movably connected to the hand kit (1). The finger cap (31) is adapted to be fixedly sleeved on the fingertip of a human finger. The positioning guide (32) is fixedly sleeved on the hand kit (1). The positioning guide (32) and the flexible rack (42) are slidably configured. The flexible rack (42) has a toothed structure. The finger cap (31) is provided with a connection structure corresponding to the toothed structure, so that the finger cap (31) and the flexible rack (42) can be adjusted.

4. The virtual hand training control device of claim 2, wherein, The virtual hand training control device also includes a support (8), which is fixedly connected to the arm kit (2); The drive unit (6) includes a drive member (61), a rotating member (63), and a support member (64). The drive member (61) is mounted on the bracket (8). The rotating member (63) is located on the output side of the drive member (61). The support member (64) is mounted on the bracket (8). The end of the operation line (41) away from the positioning unit (3) is adapted to slide through the bracket (8) to be fixedly connected to the rotating member (63). The rotating member (63) is adapted to wind and unwind the operation line (41).

5. The virtual hand training control device according to claim 4, wherein, The drive unit (6) further includes a rocker arm limiting member (62) and a rotation stop member (65). The rocker arm limiting member (62) is disposed on the side of the drive member (61) facing the rotating member (63). The rocker arm limiting member (62) and the bracket (8) are fixedly disposed relative to each other. The rotation stop member (65) is fixedly disposed on the side of the rotating member (63) facing the drive member (61). The rocker arm limiting member (62) is disposed on the path of the rotation stop member (65) rotating with the rotating member (63).

6. The virtual hand training control device of claim 4, wherein, The detection unit (7) includes a potentiometer (71), which is fixedly mounted on the support member (64). The detection end of the potentiometer (71) is adapted to detect the angular displacement of the rotating member (63).

7. The virtual hand training control device of claim 4, wherein, The drive unit (6) further includes a reset element, which is configured as an elastic structure. One end of the reset element is mounted on the bracket (8), and the other end of the reset element is connected to the rotating member (63). The reset element is adapted to reset the rotating member (63).

8. The virtual hand training control device of claim 7, wherein, The control device further includes a force detection element, which is mounted on the reset element and electrically connected to the controller. The force detection element is used to detect the reset force of the reset element.

9. The virtual hand training control device of claim 2, wherein, The control device further includes a connection unit (5), which includes a connection limiting member (51), a tube body (52), a first connector (53), and a second connector (54); The connecting limiting member (51) and the hand kit (1) are fixedly connected. The tube body (52) is connected between the first connector (53) and the second connector (54). The first connector (53) and the connecting limiting member (51) are fixedly arranged. The second connector (54) and the mounting end of the drive unit (6) are fixedly connected. In the direction from the hand kit (1) to the arm kit (2), the operating line (41) slides through the connecting limiting member (51), the first connector (53), the tube body (52) and the second connector (54) in sequence to connect the drive unit (6).

10. A control method of a virtual hand training control device, characterized by, The control method includes: The movement of the hand kit (1) and the displacement unit (4) is driven by the bending of the human fingers, and the first displacement signal of the displacement unit (4) is obtained; Based on the first displacement signal, determine the driving signal of the driving unit (6); Obtain the second displacement signal of the displacement unit (4) under the drive of the drive unit (6); The driving signal of the driving unit (6) is corrected according to the second displacement signal; The movement posture of the glove set (1) with the fingers is determined to determine the counter-acting posture model of the driving unit (6) driving the displacement unit (4) to simulate the finger bending.

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