Hand joint rehabilitation training method and system based on flexible hand joint rehabilitation gloves

Abstract

The present invention relates to the field of rehabilitation medical technology. Specifically, it relates to a hand joint rehabilitation training method and system based on flexible hand joint rehabilitation gloves. The method includes: executing each training mode in sequence according to a preset training plan; collecting the pressure exerted on the piston of each electric push rod and the movement displacement of the piston of each electric push rod in real time during the execution of the training mode; in response to an abnormal situation of the pressure or movement displacement collected for a preset number of consecutive times, controlling the piston of the corresponding electric push rod to move to the initial position and suspending its movement within a preset time; the abnormal situation refers to the pressure being greater than a preset first pressure threshold or the movement displacement exceeding a preset displacement range. The hand joint rehabilitation training method based on the flexible hand joint rehabilitation gloves of the present invention can automatically help patients to train their hand joints, thereby improving the interest and training effect of hand joint rehabilitation training.

Description

Technical Field

[0001] The present invention generally relates to the field of rehabilitation medical technology. More specifically, the present invention relates to a hand joint rehabilitation training method and system based on a flexible hand joint rehabilitation glove. Background Art

[0002] More than 90% of the work in daily life is done with hands. No matter what kind of neurological movement disorder causes abnormal movement of both hands. In addition to drugs and other treatment methods, exercise therapy is indispensable during the treatment and rehabilitation period. Exercise therapy is a treatment method that improves movement disorders through active and passive movements. In the early stage of treatment, nerve recovery is the main method, and the passive movement is often performed by nursing staff for patients to perform long-term massage and a large amount of auxiliary joint activities. The workload of auxiliary joint activities is large, which makes the nursing staff very hard. Commonly used manual massage methods can easily cause fatigue of massage therapists. It is difficult to maintain force intensity for a long time. Although instrument assistance has liberated massage personnel, it is difficult to deal with emergencies in time. For example: joint stiffness caused by joint spasm. Summary of the invention

[0003] To solve one or more of the above technical problems, the present invention provides solutions in the following aspects.

[0004] In a first aspect, the present invention provides a hand joint rehabilitation training method based on a flexible hand joint rehabilitation glove, wherein the flexible hand joint rehabilitation glove comprises: a flexible fiber glove, a steel wire rope system is connected to the flexible fiber glove, the steel wire rope system comprises an electric push rod and a steel wire rope connection mechanism arranged on the back of the flexible fiber glove, the steel wire rope connection mechanism comprises a steel wire rope ball head connector corresponding to the ends of five fingers and a steel wire rope fixing member corresponding to the roots of five fingers, a steel wire rope is connected between the steel wire rope ball head connector of the five fingers and the steel wire rope fixing member, and one end of the steel wire rope is fixedly connected to the piston of the electric push rod; the method comprises:

[0005] Execute each training mode in sequence according to a preset training plan, wherein the training plan is used to characterize the order in which each training mode is executed, and the training mode is used to characterize the order and angle of bending each finger of the user driven by the electric push rod and the order in which each finger is straightened;

[0006] During the training mode, the pressure exerted on the piston of each electric push rod and the movement displacement of the piston of each electric push rod are collected in real time;

[0007] In response to an abnormal situation in the pressure or motion displacement collected for a preset number of consecutive times, the piston of the corresponding electric push rod is controlled to move to an initial position and suspend its movement within a preset time; the abnormal situation refers to that the pressure is greater than a preset first pressure threshold or the motion displacement exceeds a preset displacement range.

[0008] In one embodiment, the preset duration is 60 seconds.

[0009] In one embodiment, the method further includes: collecting in real time the bending angle of each finger, the pressure exerted on the piston of each electric push rod, and the movement displacement of the piston of each electric push rod; in response to a ratio of the movement displacement to the pressure of a certain finger at a certain bending angle being less than a preset first ratio, determining that the finger has spasm, controlling the piston of the corresponding electric push rod to move to an initial position and pausing its movement for a preset time period.

[0010] In one embodiment, it also includes: in response to the situation that the ratio of the movement displacement and the pressure of a certain finger at a certain bending angle is greater than a preset second ratio for a preset number of consecutive times, stopping the current training mode and entering the next training mode; the second ratio is greater than the preset first ratio.

[0011] In one embodiment, the preset number of times is 3 times.

[0012] In one embodiment, the training program includes a single-finger training mode, which includes: real-time collection of the bending angle of each finger, the pressure on the piston of each electric push rod, and the movement displacement of the piston of each electric push rod; issuing action instructions to each electric push rod in turn in a preset order to control the piston of each electric push rod to move, so that each finger is bent to a preset first angle and stretched in a preset order; each time an electric push rod receives an action instruction, it drives the finger to bend and stretch once; for the electric push rod corresponding to a certain finger, in response to the abnormal situation of the pressure or movement displacement collected for a consecutive preset number of times, the electric push rod is controlled The piston of the electric push rod returns to the initial position and remains paused, the electric push rod is marked as paused, and an action instruction is issued to the next electric push rod in a preset order; in response to the electric push rod marked as paused receiving an action instruction again, the training number is increased by one, and it is detected whether the pause duration of the electric push rod is greater than the preset duration; in response to the pause duration being greater than or equal to the preset duration, the piston of the electric push rod is controlled to continue moving; in response to the pause duration being less than the preset duration, the electric push rod is skipped and an action instruction is issued to the next electric push rod; in response to the training number reaching the preset number or the training duration in the training mode reaching the preset duration, the training mode is stopped.

[0013] In one embodiment, the training program includes a fist-clenching training mode, which includes: real-time acquisition of the bending angle of each finger; simultaneously controlling the pistons of the electric push rods corresponding to the index finger, middle finger, ring finger and little finger to move, so that the index finger, middle finger, ring finger and little finger are all bent to a preset second angle; in response to the index finger, middle finger, ring finger and little finger being bent to the preset second angle, controlling the piston of the electric push rod corresponding to the thumb to move, so that the thumb is bent to the preset second angle; in response to the thumb being bent to the preset second angle, controlling the piston of the electric push rod corresponding to the thumb to move, so that the bending angle of the thumb is restored to 0 degrees; in response to the thumb bending angle being restored to 0 degrees, simultaneously controlling the pistons of the electric push rods corresponding to the index finger, middle finger, ring finger and little finger to move, so that the bending angle of the index finger, middle finger, ring finger and little finger is restored to 0 degrees.

[0014] In one embodiment, the training program includes a sequential finger training mode, which includes: real-time acquisition of the bending angle of each finger; simultaneously controlling the pistons of the electric push rods corresponding to the thumb and index finger to move in a first direction, so that the thumb and index finger are bent to a preset third angle; in response to the thumb and index finger being bent to the preset third angle, simultaneously controlling the pistons of the electric push rods corresponding to the thumb and index finger to move in a direction opposite to the first direction, so that the bending angle of the thumb and index finger is restored to 0 degrees; in response to the bending angle of the thumb and index finger being restored to 0 degrees, simultaneously controlling the pistons of the electric push rods corresponding to the thumb and middle finger to move in the first direction, so that the thumb and index finger are bent to a preset third angle. The thumb and middle finger are bent to a preset third angle; in response to the thumb and middle finger being bent to the preset third angle, the pistons of the electric push rods corresponding to the thumb and middle finger are simultaneously controlled to move in the opposite direction of the first direction, so that the bending angles of the thumb and middle finger are restored to 0 degrees; in response to the bending angles of the thumb and middle finger being restored to 0 degrees, the pistons of the electric push rods corresponding to the thumb and ring finger are simultaneously controlled to move in the first direction, so that the thumb and ring finger are bent to the preset third angle; in response to the thumb and ring finger being bent to the preset third angle, the pistons of the electric push rods corresponding to the thumb and ring finger are simultaneously controlled to move in the opposite direction of the first direction, so that the bending angles of the thumb and ring finger are restored to 0 degrees;

[0015] In response to the bending angle of the thumb and ring finger being restored to 0 degrees, the pistons of the electric push rods corresponding to the thumb and little finger are controlled to move in the first direction, so that the thumb and little finger are bent to a preset third angle; in response to the thumb and little finger being bent to the preset third angle, the pistons of the electric push rods corresponding to the thumb and little finger are controlled to move in the opposite direction of the first direction, so that the bending angle of the thumb and little finger is restored to 0 degrees.

[0016] In the second aspect, the present invention provides a hand joint rehabilitation training system, comprising a processor, a memory and the flexible hand joint rehabilitation gloves of the present invention, wherein a bending sensor is arranged in a direction parallel to the wire rope in the wire rope connection mechanism of the flexible hand joint rehabilitation gloves to detect the bending angle of the corresponding finger; a pressure sensor is arranged on the piston of the electric push rod to detect the pressure exerted on the piston of the electric push rod; the processor collects signals connected to the bending sensor and the pressure sensor, and controls the drive motors connected to each electric push rod; the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the hand joint rehabilitation training method of the present invention is implemented.

[0017] The technical effect of the present invention is as follows: the hand joint rehabilitation training method based on the flexible hand joint rehabilitation gloves of the present invention can automatically help patients to train their hand joints, so that the movement ability of the hand joints can be gradually restored; in addition, in the process of hand joint training for patients, the present invention can timely and relatively accurately identify the sudden situation of spasm of the patient's fingers or the excessive bending angle of the patient's fingers, and suspend the training of the corresponding fingers, thereby avoiding secondary injuries to the patient and improving the safety of the patient's hand joint training process. Furthermore, since a variety of training modes are set in the training program, the interest and training effect of hand joint rehabilitation training can be improved.

[0018] Furthermore, whether the patient's hand joint movement ability has recovered is judged based on whether the ratio of the movement displacement and the pressure of the finger at a certain bending angle is greater than a second ratio. When the hand joint movement ability has recovered, there is no need to continue the current training mode and the next training mode can be entered; thereby greatly improving the efficiency of the patient's finger joint rehabilitation training while ensuring the training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0020] Figure 1 The present invention schematically shows a hand joint rehabilitation training method based on a flexible hand joint rehabilitation glove according to an embodiment of the present invention. Figure 1 ;

[0021] Figure 2 The present invention schematically shows a hand joint rehabilitation training method based on a flexible hand joint rehabilitation glove according to an embodiment of the present invention. Figure 2 ;

[0022] Figure 3is a flowchart schematically illustrating a single-finger training mode of an embodiment of the present invention;

[0023] Figure 4 is a flowchart schematically illustrating a fist-clenching training mode of an embodiment of the present invention;

[0024] Figure 5 is a flowchart schematically illustrating a sequential finger-to-finger training mode of an embodiment of the present invention;

[0025] Figure 6 It is a schematic diagram schematically showing the structure of a hand joint rehabilitation training system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0028] Embodiment of the hand joint rehabilitation training method based on flexible hand joint rehabilitation gloves:

[0029] like Figure 1 As shown, the hand joint rehabilitation training method based on the flexible hand joint rehabilitation glove of the present invention comprises: a flexible fiber glove, a wire rope system is connected to the flexible fiber glove, the wire rope system comprises an electric push rod and a wire rope connection mechanism arranged on the back of the flexible fiber glove, the wire rope connection mechanism comprises a wire rope ball head connector corresponding to the ends of five fingers and a wire rope fixing member corresponding to the roots of five fingers, a wire rope is connected between the wire rope ball head connector of the five fingers and the wire rope fixing member, and one end of the wire rope is fixedly connected to the piston of the electric push rod; the method comprises:

[0030] S101, executing each training mode in sequence according to the training plan, specifically: executing each training mode in sequence according to a preset training plan, the training plan is used to represent the order of execution of each training mode, and the training mode is used to represent the order and angle of bending each finger of the user driven by the electric push rod and the order of straightening each finger;

[0031] The training program can be determined after the doctor diagnoses the patient and based on the patient's hand joint symptoms.

[0032] In a certain training mode, since the steel wire ball head connector is connected to the position corresponding to the end of the finger in the finger sleeve, one end of the steel wire is connected to the steel wire ball head connector, and the other end of the steel wire is fixedly connected to the piston of the electric push rod. By controlling the movement of the electric push rod piston, the movement of the steel wire can be controlled, and then the movement of each finger sleeve of the flexible fiber glove can be controlled, thereby driving the movement of the patient's fingers. By driving the patient's fingers to bend and stretch repeatedly, the patient's hand joints can be helped to return to normal.

[0033] S102, collecting the pressure exerted on the piston of each electric push rod and the movement displacement of the piston of each electric push rod in real time during the execution of the training mode;

[0034] The pressure on the piston of each electric push rod can be collected by setting a pressure sensor at the piston of each electric push rod; the movement displacement of the piston of the electric push rod can be calculated by the step length of the driving motor of the electric push rod.

[0035] S103, controlling the piston of the corresponding electric push rod to move to the initial position, specifically: in response to an abnormal situation in the pressure or motion displacement collected for a preset number of consecutive times, controlling the piston of the corresponding electric push rod to move to the initial position and suspending its movement within a preset time; the abnormal situation refers to the pressure being greater than a preset first pressure threshold or the motion displacement exceeding a preset displacement range.

[0036] In this embodiment, the preset duration may be 60 seconds, and in other embodiments, it may be other appropriate durations. The preset number of times is 3 times.

[0037] When the pressure is greater than the preset first pressure threshold, it means that the finger has spasm symptoms causing the finger joint to become stiff, or the electric push rod is still exerting force after the hand joint bending angle reaches the limit. At this time, if the force to bend the finger continues to be applied to the finger, it will cause damage to the finger. Therefore, the piston of the corresponding electric push rod needs to be moved to the initial position, so that the spasmodic finger can be restored to a straight state. The preset first pressure threshold and the preset displacement range can be determined based on experiments. If the sensor for collecting the finger bending angle fails or is interfered with, the collected angle may be too small, and the hand joint bending angle may not be recognized after reaching the angle limit. The electric push rod is still exerting force to pull the user's finger. At this time, the pressure or the size of the movement displacement can be used to determine whether the hand joint bending angle has reached the angle limit, thereby avoiding damage to the user's finger.

[0038] The hand joint rehabilitation training method based on the flexible hand joint rehabilitation gloves of the present invention can automatically help patients to train their hand joints, so that the movement ability of the hand joints can be gradually restored; in addition, in the process of hand joint training for patients, the present invention can timely and relatively accurately identify the sudden situation of spasm of the patient's fingers or the excessive bending angle of the patient's fingers, and suspend the training of the corresponding fingers, thereby avoiding secondary injuries to the patient and improving the safety of the patient's hand joint training process. Furthermore, since a variety of training modes are set in the training program, the interest of hand joint rehabilitation training can be improved.

[0039] like Figure 2 As shown, in one embodiment, it also includes:

[0040] S201, collecting in real time the bending angle of each finger, the pressure exerted on the piston of each electric push rod, and the movement displacement of the piston of each electric push rod;

[0041] S202, determining whether the ratio of the motion displacement and the pressure is less than a first ratio, specifically: in response to the ratio of the motion displacement and the pressure of a certain finger at a certain bending angle being less than a preset first ratio, determining that the finger has spasm, controlling the piston of the corresponding electric push rod to move to an initial position and suspending its movement within a preset time period.

[0042] When a finger has a spasm, the electric push rod will keep exerting force but will be unable to pull the patient's finger. At this time, the movement displacement will be significantly smaller, the pressure will be significantly larger, and the ratio of the two will also be significantly smaller. Therefore, by comparing the ratio of the movement displacement and the pressure to be less than the preset first ratio, it can be determined whether the patient's finger has a spasm. When it is determined that the patient's finger has a spasm, the training of the finger is suspended to protect the patient's finger.

[0043] The value of the first ratio can be determined experimentally.

[0044] In one embodiment, it also includes: in response to the situation that the ratio of the movement displacement and the pressure of a certain finger at a certain bending angle is greater than a preset second ratio for a preset number of consecutive times, stopping the current training mode and entering the next training mode; the second ratio is greater than the preset first ratio.

[0045] The value of the second ratio can be determined experimentally.

[0046] When the patient's hand joint movement ability is poor, the hand joints are relatively stiff, and when the patient's hand joints are bent to a certain angle, the movement displacement of the piston of the corresponding electric push rod is small, and the pressure received is large, and the ratio of the movement displacement to the pressure is small; when the patient's hand joint movement ability is restored, when the patient's hand joints are bent to this angle, the movement displacement of the piston of the corresponding electric push rod will become larger, and the pressure received will become smaller, and the ratio of the movement displacement to the pressure will significantly increase; therefore, it is possible to judge whether the patient's hand joint movement ability has been restored based on whether the ratio of the movement displacement to the pressure at a certain bending angle of the finger is greater than the second ratio. When the hand joint movement ability is restored, there is no need to continue the current training mode and the next training mode can be entered; thereby greatly improving the efficiency of the patient's finger joint rehabilitation training on the basis of ensuring the training effect.

[0047] In a training mode, each finger is passively bent and stretched multiple times in succession. When the sensor is disturbed, the collected pressure value may be too small or the displacement value may be too large. In order to avoid misjudgment caused by interference with the sensor, since sensor interference is usually temporary, the finger joint is judged to have recovered well only when the ratio of the movement displacement to the pressure is greater than a preset second ratio for a consecutive preset number of times, thereby ensuring the patient's hand joint training effect.

[0048] like Figure 3 As shown, in one embodiment, the training scheme includes a single-finger training mode, and the single-finger training mode includes:

[0049] S401, collecting in real time the bending angle of each finger, the pressure exerted on the piston of each electric push rod, and the movement displacement of the piston of each electric push rod;

[0050] S402, issuing action instructions to each electric push rod in sequence, specifically: issuing action instructions to each electric push rod in sequence in a preset order to control the piston of each electric push rod to move, so that each finger is bent to a preset first angle and stretched in a preset order; each electric push rod drives the finger to bend and stretch once every time it receives an action instruction;

[0051] The preset first angle is less than or equal to 90 degrees.

[0052] S403, controlling the piston of the electric push rod with abnormal situation to return to the initial position, specifically: for the electric push rod corresponding to a certain finger, in response to the abnormal situation of the pressure or movement displacement collected for a preset number of consecutive times, controlling the piston of the electric push rod to return to the initial position and keep pausing, marking the electric push rod as paused, and issuing action instructions to the next electric push rod in a preset order;

[0053] The abnormal situation refers to that the pressure is greater than a preset first pressure threshold or the movement displacement exceeds a preset displacement range.

[0054] S404, determining whether the pause duration is greater than a preset duration, specifically: in response to the electric linear actuator marked as being in a paused state receiving an action instruction again, the number of training times is increased by one, and detecting whether the pause duration of the electric linear actuator is greater than the preset duration;

[0055] S405, controlling the electric push rod according to the size relationship, specifically: in response to the pause duration being greater than or equal to the preset duration, controlling the piston of the electric push rod to continue moving; in response to the pause duration being less than the preset duration, skipping the electric push rod and issuing an action instruction to the next electric push rod.

[0056] S406: In response to the number of training times reaching a preset number of times or the training duration in the training mode reaching a preset duration, stop the training mode.

[0057] like Figure 4 As shown, in one embodiment, the training program further includes a fisting training mode, and the fisting training mode includes:

[0058] S501, collecting the bending angle of each finger in real time;

[0059] S502, simultaneously controlling the pistons of the electric push rods corresponding to the index finger, middle finger, ring finger and little finger to move, so that the index finger, middle finger, ring finger and little finger are all bent to a preset second angle;

[0060] S503, bending the thumb to a preset second angle, specifically: in response to the index finger, middle finger, ring finger and little finger all being bent to the preset second angle, controlling the piston of the electric push rod corresponding to the thumb to move, so that the thumb is bent to the preset second angle;

[0061] S504, in response to the thumb bending to a preset second angle, controlling the piston of the electric push rod corresponding to the thumb to move so that the bending angle of the thumb is restored to 0 degrees;

[0062] S505, restore the bending angles of the index finger, middle finger, ring finger and little finger to 0 degrees, specifically: in response to the bending angle of the thumb being restored to 0 degrees, simultaneously control the pistons of the electric push rods corresponding to the index finger, middle finger, ring finger and little finger to move, so that the bending angles of the index finger, middle finger, ring finger and little finger are restored to 0 degrees.

[0063] like Figure 5 As shown, in one embodiment, the training scheme further includes a sequential finger training mode, and the sequential finger training mode includes:

[0064] S601, collecting the bending angle of each finger in real time;

[0065] S602, bending the thumb and index finger to a preset third angle, specifically: simultaneously controlling the pistons of the electric push rods corresponding to the thumb and index finger to move in the first direction, so that the thumb and index finger are bent to the preset third angle;

[0066] S603, restoring the bending angles of the thumb and index finger to 0 degrees, specifically: in response to the thumb and index finger bending to the preset third angle, simultaneously controlling the pistons of the electric push rods corresponding to the thumb and index finger to move in the opposite direction of the first direction, so that the bending angles of the thumb and index finger are restored to 0 degrees;

[0067] S604, bending the thumb and the middle finger to a preset third angle, specifically: in response to the bending angle of the thumb and the index finger being restored to 0 degrees, simultaneously controlling the pistons of the electric push rods corresponding to the thumb and the middle finger to move in the first direction, so that the thumb and the middle finger are bent to the preset third angle;

[0068] S605, restoring the bending angles of the thumb and the middle finger to 0 degrees, specifically: in response to the thumb and the middle finger bending to the preset third angle, simultaneously controlling the pistons of the electric push rods corresponding to the thumb and the middle finger to move in the opposite direction of the first direction, so that the bending angles of the thumb and the middle finger are restored to 0 degrees;

[0069] S606, bending the thumb and the ring finger to a preset third angle, specifically: in response to the bending angle of the thumb and the middle finger being restored to 0 degrees, the pistons of the electric push rods corresponding to the thumb and the ring finger are controlled to move in the first direction, so that the thumb and the ring finger are bent to the preset third angle;

[0070] S607, restoring the bending angles of the thumb and the ring finger to 0 degrees, specifically: in response to the thumb and the ring finger bending to the preset third angle, simultaneously controlling the pistons of the electric push rods corresponding to the thumb and the ring finger to move in the opposite direction of the first direction, so that the bending angles of the thumb and the ring finger are restored to 0 degrees;

[0071] S608, bending the thumb and the little finger to a preset third angle, specifically: in response to the bending angle of the thumb and the ring finger being restored to 0 degrees, controlling the pistons of the electric push rods corresponding to the thumb and the little finger to move in the first direction, so that the thumb and the little finger are bent to the preset third angle;

[0072] S609, restore the bending angle of the thumb and the little finger to 0 degrees, specifically: in response to the thumb and the little finger bending to a preset third angle, simultaneously control the pistons of the electric push rods corresponding to the thumb and the little finger to move in the opposite direction of the first direction, so that the bending angle of the thumb and the little finger is restored to 0 degrees.

[0073] Hand joint rehabilitation training system embodiment:

[0074] The present invention also provides a hand joint rehabilitation training system. Figure 6 As shown, the hand joint rehabilitation training system includes a flexible hand joint rehabilitation glove, a processor and a memory, wherein the flexible hand joint rehabilitation glove includes: a flexible fiber glove, a wire rope system is connected to the flexible glove, the wire rope system includes an electric push rod and a wire rope connection mechanism arranged on the back of the flexible fiber glove, the wire rope connection mechanism includes a wire rope ball head connector corresponding to the ends of the five fingers and a wire rope fixing member corresponding to the roots of the five fingers, a wire rope is connected between the wire rope ball head connector of the five fingers and the wire rope fixing member, and one end of the wire rope is fixedly connected to the piston of the electric push rod; a bending sensor is arranged in the wire rope connection mechanism in a direction parallel to the wire rope to detect the bending angle of the corresponding finger; a pressure sensor is arranged on the piston of the electric push rod to detect the pressure on the piston of the electric push rod; the processor collects and is connected to the bending sensor and the pressure sensor, and controls the drive motors connected to each electric push rod; the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the hand joint rehabilitation training method according to the first aspect of the present invention is implemented.

[0075] The hand joint rehabilitation training system also includes other components familiar to those skilled in the art, such as a communication bus and a communication interface. The configuration and functions of these components are known in the art and will not be described in detail here.

[0076] In the present invention, the aforementioned memory may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus or device. For example, a computer-readable storage medium may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc., or any other medium that can be used to store the required information and can be accessed by an application, a module, or both. Any such computer storage medium may be part of a device or accessible or connectable to a device. Any application or module described in the present invention may be implemented using computer-readable / executable instructions that may be stored or otherwise maintained by such a computer-readable medium.

[0077] In the description of this specification, "plurality" or "several" means at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0078] Although this specification has shown and described a number of embodiments of the present invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will conceive of many modifications, changes and alternatives without departing from the ideas and spirit of the present invention. It should be understood that in the practice of the present invention, various alternatives to the embodiments of the present invention described herein may be employed.

Claims

1. A hand joint rehabilitation training method based on a flexible hand joint rehabilitation glove, the flexible hand joint rehabilitation glove comprising: A flexible fiber glove, the flexible fiber glove is connected to a wire rope system, the wire rope system includes an electric push rod and a wire rope connecting mechanism arranged on the back of the flexible fiber glove, the wire rope connecting mechanism includes a wire rope ball head connector corresponding to the ends of five fingers and a wire rope fixing member corresponding to the roots of five fingers, a wire rope is connected between the wire rope ball head connector of the five fingers and the wire rope fixing member, and one end of the wire rope is fixedly connected to the piston of the electric push rod; characterized in that the method includes: Execute each training mode in sequence according to a preset training plan, wherein the training plan is used to characterize the order in which each training mode is executed, and the training mode is used to characterize the order and angle of bending each finger of the user driven by the electric push rod and the order in which each finger is straightened; During the training mode, the pressure exerted on the piston of each electric push rod and the movement displacement of the piston of each electric push rod are collected in real time; In response to an abnormal situation of the pressure or movement displacement collected for a preset number of consecutive times, the piston of the corresponding electric push rod is controlled to move to an initial position and pause its movement within a preset time; the abnormal situation refers to that the pressure is greater than a preset first pressure threshold or the movement displacement exceeds a preset displacement interval; Collect the bending angle of each finger, the pressure on the piston of each electric push rod, and the movement displacement of the piston of each electric push rod in real time; In response to the ratio of the movement displacement to the pressure of a certain finger at a certain bending angle being less than a preset first ratio, it is determined that the finger has spasm, and the piston of the corresponding electric push rod is controlled to move to an initial position and pause its movement within a preset time period; In response to the situation that the ratio of the movement displacement to the pressure of a certain finger at a certain bending angle is greater than a preset second ratio for a preset number of times, the current training mode is stopped and the next training mode is entered; the second ratio is greater than the preset first ratio; The training scheme includes a single-finger training mode, and the single-finger training mode includes: Collect the bending angle of each finger, the pressure on the piston of each electric push rod, and the movement displacement of the piston of each electric push rod in real time; According to a preset order, action instructions are sent to each electric push rod in turn to control the piston of each electric push rod to move, so that each finger is bent to a preset first angle and stretched according to a preset order; each electric push rod receives an action instruction, which drives the finger to bend and stretch once; For the electric push rod corresponding to a certain finger, in response to the abnormal situation of the pressure or movement displacement collected for a preset number of consecutive times, the piston of the electric push rod is controlled to return to the initial position and remain paused, the electric push rod is marked as paused, and an action instruction is issued to the next electric push rod in a preset order; In response to the electric linear actuator marked as being in a paused state receiving an action instruction again, the number of training times is increased by one, and it is detected whether the pause duration of the electric linear actuator is greater than the preset duration; In response to the pause time being greater than or equal to the preset time being, controlling the piston of the electric push rod to continue to move; in response to the pause time being less than the preset time being, skipping the electric push rod and issuing an action instruction to the next electric push rod; In response to the number of training times reaching a preset number or the training duration in the training mode reaching a preset duration, the training mode is stopped.

2. The hand joint rehabilitation training method based on the flexible hand joint rehabilitation gloves according to claim 1, characterized in that: The preset duration is 60 seconds.

3. The hand joint rehabilitation training method based on the flexible hand joint rehabilitation glove according to claim 1, characterized in that: The preset number of times is 3 times.

4. The hand joint rehabilitation training method based on the flexible hand joint rehabilitation glove according to claim 1, characterized in that: The training program includes a fist-clenching training mode, and the fist-clenching training mode includes: Collect the bending angle of each finger in real time; At the same time, the pistons of the electric push rods corresponding to the index finger, middle finger, ring finger and little finger are controlled to move so that the index finger, middle finger, ring finger and little finger are all bent to a preset second angle; In response to the index finger, middle finger, ring finger and little finger all being bent to a preset second angle, controlling the piston of the electric push rod corresponding to the thumb to move so that the thumb is bent to the preset second angle; In response to the thumb bending to a preset second angle, controlling the piston of the electric push rod corresponding to the thumb to move so that the bending angle of the thumb is restored to 0 degrees; In response to the thumb bending angle being restored to 0 degrees, the pistons of the electric push rods corresponding to the index finger, middle finger, ring finger and little finger are controlled to move at the same time, so that the bending angles of the index finger, middle finger, ring finger and little finger are restored to 0 degrees.

5. The hand joint rehabilitation training method based on the flexible hand joint rehabilitation gloves according to any one of claims 1 to 4, characterized in that: The training scheme includes a sequential finger-to-finger training mode, and the sequential finger-to-finger training mode includes: Collect the bending angle of each finger in real time; At the same time, the pistons of the electric push rods corresponding to the thumb and the index finger are controlled to move in the first direction, so that the thumb and the index finger are bent to a preset third angle; In response to the thumb and the index finger being bent to a preset third angle, the pistons of the electric push rods corresponding to the thumb and the index finger are controlled to move in a direction opposite to the first direction, so that the bending angles of the thumb and the index finger are restored to 0 degrees; In response to the bending angle of the thumb and the index finger being restored to 0 degrees, the pistons of the electric push rods corresponding to the thumb and the middle finger are controlled to move in the first direction, so that the thumb and the middle finger are bent to a preset third angle; In response to the thumb and the middle finger being bent to a preset third angle, the pistons of the electric push rods corresponding to the thumb and the middle finger are controlled to move in a direction opposite to the first direction, so that the bending angles of the thumb and the middle finger are restored to 0 degrees; In response to the bending angles of the thumb and the middle finger being restored to 0 degrees, the pistons of the electric push rods corresponding to the thumb and the ring finger are controlled to move in the first direction, so that the thumb and the ring finger are bent to a preset third angle; In response to the thumb and the ring finger being bent to a preset third angle, the pistons of the electric push rods corresponding to the thumb and the ring finger are simultaneously controlled to move in a direction opposite to the first direction, so that the bending angles of the thumb and the ring finger are restored to 0 degrees; In response to the bending angle of the thumb and the ring finger being restored to 0 degrees, the pistons of the electric push rods corresponding to the thumb and the little finger are controlled to move in the first direction, so that the thumb and the little finger are bent to a preset third angle; In response to the thumb and the little finger bending to the preset third angle, the pistons of the electric push rods corresponding to the thumb and the little finger are controlled to move in the opposite direction of the first direction, so that the bending angle of the thumb and the little finger is restored to 0 degrees.

6. A hand joint rehabilitation training system, comprising a processor, a memory and the flexible hand joint rehabilitation glove according to claim 1, characterized in that: A bending sensor is arranged in a direction parallel to the wire rope in the wire rope connection mechanism of the flexible hand joint rehabilitation glove to detect the bending angle of the corresponding finger; a pressure sensor is arranged on the piston of the electric push rod to detect the pressure exerted on the piston of the electric push rod; the processor collects data connected to the bending sensor and the pressure sensor, and controls the drive motors connected to each electric push rod; the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the hand joint rehabilitation training method described in any one of claims 1 to 5 is implemented.

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