Hand fine motion control device and method

Abstract

The present invention relates to the field of hand motion control technology, and discloses a hand fine motion control device and method. The control device includes a control module, a functional electrical stimulation device, a hand orthosis, and an image acquisition module; the control module receives an action command issued by a command interface device; the functional electrical stimulation device acts on the palm, and an electrode array is laid to electrically stimulate the muscle groups in the palm to drive the finger movement and perform hand fine motion; the hand orthosis is put on each finger in the form of a finger sleeve to correct the finger movement; the functional electrical stimulation device and the hand orthosis are connected together in the form of a glove, and the hand orthosis and the functional electrical stimulation device jointly control the finger movement direction and finger movement angle to complete the action command; the image acquisition module obtains an image of the hand fine motion and transmits the image to the control module. The fine motion of the hand is accurately controlled, and the experience is good. The control method has high control accuracy of the fine motion of the hand.

Description

Technical Field

[0001] The present invention relates to the technical field of hand motion control, and in particular to a device and method for fine hand motion control. Background Art

[0002] Fine motor skills of the hand mainly refer to complex and precise movements performed using small muscle groups such as fingers and wrists, including flexion and extension, adduction, abduction, and rotation of the fingers. Training fine motor skills of the hand helps to restore the motor function of the hand. For people with hand injuries or hand diseases, a series of hand exercises and activities can enhance the strength and control of hand muscles, improve the flexibility and coordination of fingers, and gradually restore hand function. By using hand rehabilitation devices, patients can carry out targeted rehabilitation training, gradually restore the strength, flexibility and coordination of hand muscles, and improve the quality of life.

[0003] The Chinese patent (publication number CN114206292A) proposes a design logic of identifying the user's hand pressure signal, bending angle signal and upper arm electromyographic signal for movement intention, and then using physical methods to control the hand movement. However, this requires the user to have residual motor ability. Secondly, the implementation method is simply assisted by passive traction through a physical wire lasso, which cannot fully mobilize muscle movement and is difficult to achieve the true purpose of rehabilitation training.

[0004] Based on this, some studies have proposed to replace physical passive traction with electrode stimulation to stimulate the initiative of the patient's muscles and control the hand movements to achieve the purpose of rehabilitation training. For example, the Chinese patent (publication number CN114652959A) uses electrodes of large muscle groups to assist in upper limb rehabilitation training. For large muscle group stimulation exercises, the electrode coverage area is large, and it is impossible to accurately control the multi-angle movement of a single finger of the hand, and it cannot achieve the purpose of rehabilitation training well. This can only complete the grasping and stretching movements of the hand, and cannot perform fine finger movements. Patients still cannot master basic life skills.

[0005] Therefore, there is an urgent need for a device and method for controlling fine hand movements that can accurately control the fine hand movements. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a device and method for controlling fine hand movements, which can accurately control fine hand movements.

[0007] The hand fine motion control device includes a control module, a functional electrical stimulation device, a hand orthosis, and an image acquisition module;

[0008] The control module receives the action instructions issued by the instruction interface device; the action instructions include thumb action instructions and finger action instructions;

[0009] The functional electrical stimulation device acts on the palm of the hand, electrically stimulates the muscle groups in the palm of the hand by laying an electrode array, drives the fingers to move, and performs fine movements of the hand;

[0010] The hand orthosis is put on each finger in the form of a finger sleeve to correct the movement of the finger;

[0011] The functional electrical stimulation device and the hand orthosis are connected together in the form of a glove, and the hand orthosis and the functional electrical stimulation device jointly control the finger movement direction and finger movement angle to complete the action instruction;

[0012] The graphic acquisition module is used to obtain images of the hand's refined movements and transmit the images to the control module.

[0013] As an implementation of the present application, the thumb action instructions include thumb adduction, thumb abduction and thumb rotation;

[0014] The finger-to-finger action instructions include thumb-to-index finger, thumb-to-middle finger, thumb-to-ring finger, and thumb-to-little finger.

[0015] As an implementation of the present application, the hand orthosis includes a finger bending and extension angle controller, an inter-finger angle controller, and a thumb rotation direction controller;

[0016] When the finger-matching action is completed, the functional electrical stimulation device electrically stimulates the muscle groups in the palm area corresponding to the finger-matching action, and at the same time, the finger bending and extension angle controller controls the finger movement angles of the fingers other than the thumb, so that the finger pads of the fingers other than the thumb do not contact the bases of the fingers corresponding to the bent fingers when they are bent, and the extension angles of the fingers do not exceed the preset finger extension angles;

[0017] The inter-finger angle controller controls the inter-finger angle between each finger so that the inter-finger angle does not exceed a preset inter-finger angle threshold;

[0018] The thumb rotation direction controller is used to control the rotation direction of the thumb.

[0019] As an implementation method of the present application, the finger bending and extension angle controller is in the form of a finger sleeve, which is mounted on each finger and includes a sleeve and a connecting shaft; one section of the sleeve is mounted on the thumb; three sections of the sleeve are mounted on the fingers other than the thumb, and each section of the sleeve is connected by a connecting shaft, thereby being able to control the finger movement angles of the fingers other than the thumb.

[0020] As an implementation of the present application, the inter-finger angle controller ensures that the inter-finger angle between each finger does not exceed a preset inter-finger angle threshold.

[0021] As an implementation of the present application, the thumb rotation direction controller includes an annular airbag, which is arranged in a sleeve mounted on the thumb and wraps the base joint of the thumb;

[0022] According to the action command issued by the command interface device, combined with the preset action command and the corresponding relationship between the airbag control, the pressure of the annular airbag is adjusted to complete the control of the rotation direction of the thumb.

[0023] As an implementation method of the present application, the functional electrical stimulation device acts on the palm area, and an electrode array stimulation area is set in the palm area, and the electrode array stimulation area includes the abductor pollicis brevis area, the flexor pollicis brevis area, the opponens pollicis area, the adductor pollicis area, the abductor digiti minimi area, the flexor digiti minimi brevis area, the lumbrical muscle area of ​​the index finger, the lumbrical muscle area of ​​the middle finger, and the lumbrical muscle area of ​​the ring finger.

[0024] As an implementation method of the present application, 3 to 6 pairs of stimulation electrodes are arranged in each stimulation area of ​​the electrode array;

[0025] The stimulation electrode is a micro stimulation electrode, the diameter of the micro stimulation electrode is 3mm-12mm, the current of the micro stimulation electrode does not exceed 60mA, and the frequency of the micro stimulation electrode does not exceed 150Hz.

[0026] The present application also provides a method for controlling hand fine motion, which implements a hand fine motion control device based on any of the above items, and the control method comprises the following steps:

[0027] Step S1: Analyze the motion intention through the command interface and obtain the action command;

[0028] Step S2: according to the action instruction, obtaining effective stimulation electrode pairs and electrical stimulation timing through a neural network model;

[0029] Step S3: electrically stimulating the hand muscles according to the effective stimulation electrode pair and the electrical stimulation sequence, adjusting the pressure of the airbag in combination with the preset action instruction and the corresponding relationship between the airbag control, and completing the action instruction.

[0030] As an implementation method of the present application, the step S3 further includes:

[0031] Step S4: collecting images of the hand refined movement;

[0032] Step S5: preprocessing the image to obtain a preprocessed image;

[0033] Step S6: obtaining the hand movement corresponding to the preprocessed image through a convolutional neural network model according to the preprocessed image;

[0034] Step S7: comparing the hand motion corresponding to the preprocessed image with the motion instruction to obtain a comparison result;

[0035] Step S8: adjusting the control scheme of the hand fine movement according to the comparison result.

[0036] The embodiments of the present invention have the following technical effects:

[0037] 1. The present invention discloses a hand fine movement control device, the control device includes a control module, a functional electrical stimulation device, a hand orthosis, and an image acquisition module; the control module receives the action command issued by the command interface device; the action command includes a thumb action command and a finger action command; the functional electrical stimulation device acts on the palm part, and electrically stimulates the muscle groups in the palm part by laying an electrode array, drives the finger movement, and performs hand fine movement. By laying an electrode array to electrically stimulate the muscle groups in the palm part, the small muscle groups of the palm are controlled to contract, the finger movement is controlled, and the fine hand movement is better completed.

[0038] 2. In addition, the control device of the present application also includes a hand orthosis, which is put on each finger in the form of a finger sleeve to correct the finger movement; the functional electrical stimulation device and the hand orthosis are connected together in the form of a glove, and the hand orthosis and the functional electrical stimulation device jointly control the finger movement direction and finger movement angle to complete the action instruction. The hand orthosis constrains the finger movement after electrical stimulation, reduces the additional degrees of freedom of movement generated by the contraction of small muscle groups triggered by electrical stimulation, and achieves the purpose of controlling the hand to perform refined movements, providing accurate rehabilitation training for patients to master basic life skills.

[0039] 3. The graphic acquisition module of the control device of the present application acquires the image of the hand's refined movements and transmits the image to the control module. The control module compares the acquired hand's refined movement image with the movement instruction, and adjusts the control scheme of the hand's refined movement according to the comparison result. On the basis of realizing the refined movement control, it provides a basis for the rehabilitation training planner, optimizes the control scheme, and further improves the patient's rehabilitation effect.

[0040] 4. The method for controlling the refined hand movements provided by the present invention analyzes the movement intention through the command interface to obtain the action command; according to the action command, obtains the effective stimulation electrode pair and the electrical stimulation timing through the neural network model; electrically stimulates the hand muscle group according to the effective stimulation electrode pair and the electrical stimulation timing, and adjusts the pressure of the airbag in combination with the preset action command and the corresponding relationship between the airbag control to complete the action command. Use the neural network model to obtain accurate effective stimulation electrode pairs and electrical stimulation timing, and then combine the preset action command and the corresponding relationship between the airbag control to effectively regulate the finger movement after electrical stimulation, so that the control of the refined hand movement can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 is a schematic diagram of a hand without wearing the hand refined motion control device provided by an embodiment of the present invention;

[0043] Figure 2 It is a schematic structural diagram of a functional electrical stimulation device and a hand orthosis in a hand fine motion control device provided by an embodiment of the present invention;

[0044] Figure 3 is an enlarged structural schematic diagram of a finger bending and extension angle controller provided by an embodiment of the present invention;

[0045] Figure 4 is an enlarged structural cross-sectional schematic diagram of a thumb rotation direction controller provided by an embodiment of the present invention;

[0046] Figure 5 is an enlarged structural schematic diagram of a thumb rotation direction controller provided by an embodiment of the present invention;

[0047] Figure 6 It is a flowchart of a method for fine-tuning motion control provided by an embodiment of the present invention.

[0048] 1. Functional electrical stimulation device; 2. Inter-finger angle controller; 3. Thumb rotation direction controller; 4. Sleeve; 5. Connecting shaft; 6. Annular airbag. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0050] When the prior art uses electrode stimulation instead of physical passive traction to control hand movements, most of them are large muscle group stimulation movements. The electrode covers a large area and cannot accurately control the multi-angle movement of a single finger of the hand, and cannot achieve the purpose of rehabilitation training. Therefore, the present application provides a hand fine movement control device for accurately controlling the fine movement of the hand.

[0051] The hand fine motion control device includes a control module, a functional electrical stimulation device 1, a hand orthosis, and an image acquisition module;

[0052] The control module receives an action instruction issued by the instruction interface device;

[0053] By analyzing basic hand movements in daily life, such as nail clipping, buttoning, etc., these basic hand movements are analyzed to obtain the movement instructions including thumb movement instructions and finger movement instructions;

[0054] As an implementation of the present application, the thumb action instructions include thumb adduction, thumb abduction, and thumb rotation;

[0055] The finger-to-finger action instructions include thumb-to-index finger-to-finger, thumb-to-middle finger-to-finger, thumb-to-ring finger-to-finger, and thumb-to-little finger-to-finger.

[0056] Figure 1 is a schematic diagram of a hand without wearing the hand refined motion control device provided by an embodiment of the present invention; Figure 2 It is a schematic structural diagram of a functional electrical stimulation device and a hand orthosis in a hand fine movement control device provided by an embodiment of the present invention.

[0057] Depend on Figure 2 It can be seen that the functional electrical stimulation device 1 acts on the palm part, electrically stimulates the muscle groups in the palm part by laying electrode arrays, drives the fingers to move, and performs refined hand movements.

[0058] FES (functional electrical stimulation) is a technology that uses a low-frequency pulse current of a certain intensity to stimulate one or more groups of muscles through a pre-set program, inducing muscle movement or simulating normal voluntary movement to improve and restore the function of the stimulated muscles and muscle groups. This technology can replace or correct the lost functions of limbs and organs. At the same time, through long-term rehabilitation training, it can stimulate the input of nerve signals in the sensory and motor pathways and promote the reorganization of brain functions. Functional electrical stimulation (FES) is used to help patients with hand dysfunction caused by stroke to perform fine motor training of the hands.

[0059] By laying electrode arrays to electrically stimulate the muscle groups in the palm, the contraction of small muscle groups can be controlled to complete refined hand movements.

[0060] In order to complete the daily movements of fine hand movements in rehabilitation training, the muscles that control the fine hand movements are analyzed and found to be: abductor pollicis brevis, flexor pollicis brevis, opponens pollicis, adductor pollicis, abductor digiti minimi, flexor digiti minimi brevis and lumbrical muscles (there are three lumbrical muscles, controlling fingers 2, 3 and 4 respectively).

[0061] Therefore, as an implementation of the present application, the functional electrical stimulation device 1 acts on the palm, and an electrode array stimulation area is set in the palm, and the electrode array stimulation area includes the abductor pollicis brevis area, the flexor pollicis brevis area, the opponens pollicis area, the adductor pollicis area, the abductor digiti minimi area, the flexor digiti minimi brevis area, the lumbrical muscle area of ​​the index finger, the lumbrical muscle area of ​​the middle finger, and the lumbrical muscle area of ​​the ring finger. According to the regional division, these small-volume, unclear-boundary muscle groups are electrically stimulated, thereby achieving control of finger movements, completing refined hand movements, and achieving high control accuracy.

[0062] The stimulation electrode is a micro stimulation electrode, the diameter of the micro stimulation electrode is 3mm-12mm, the current of the micro stimulation electrode does not exceed 60mA, and the frequency of the micro stimulation electrode does not exceed 150Hz. The micro stimulation electrode of this strength electrically stimulates the stimulation area of ​​the electrode array, which satisfies the fine motor control of the hand while improving the comfort of the human body.

[0063] As an implementation method of the present application, each stimulation area of ​​the electrode array is arranged with 3 to 6 pairs of stimulation electrodes; the surface area distribution of muscle groups can be improved, the muscle groups can be stimulated in a refined manner, the movement control can be adapted to different hand sizes, and more muscle groups can be electrically stimulated to achieve the purpose of rehabilitation.

[0064] Exemplarily, the functional electrical stimulation device is equipped with a 96-channel electrical stimulation array, which is divided into 9 areas according to the muscles that control the fine movements of the hand. The corresponding number relationship between each electrode array stimulation area and its arranged stimulation electrodes is as follows: abductor pollicis brevis (corresponding to 6 pairs of stimulation electrodes), flexor pollicis brevis (corresponding to 5 pairs of stimulation electrodes), opponens pollicis (corresponding to 6 pairs of stimulation electrodes), adductor pollicis (corresponding to 5 pairs of stimulation electrodes), abductor digiti minimi (corresponding to 6 pairs of stimulation electrodes), flexor digiti minimi brevis (corresponding to 5 pairs of stimulation electrodes) and the lumbrical muscle area of ​​the index finger, the lumbrical muscle area of ​​the middle finger and the lumbrical muscle area of ​​the ring finger (each area corresponds to 5 pairs of stimulation electrodes).

[0065] The hand orthosis is put on each finger in the form of a finger sleeve to correct the finger movement. The hand orthosis and the functional electrical stimulation device jointly control the finger movement. The hand orthosis constrains the finger movement after electrical stimulation, reduces the additional degrees of freedom of movement generated by the contraction of small muscle groups triggered by electrical stimulation, and achieves the purpose of controlling the hand to perform refined movements, providing accurate rehabilitation training for patients to master basic life skills.

[0066] The functional electrical stimulation device 1 and the hand orthosis are connected together in the form of a glove, and the hand orthosis and the functional electrical stimulation device 1 jointly control the finger movement direction and finger movement angle to complete the action instruction;

[0067] As an implementation of the present application, the hand orthosis includes a finger bending and extension angle controller, an inter-finger angle controller 2 and a thumb rotation direction controller 3;

[0068] When the finger-to-finger action is completed, the functional electrical stimulation device 1 electrically stimulates the muscle groups in the palm area corresponding to the finger-to-finger action, and at the same time, the finger bending and extension angle controller controls the finger movement angles of the fingers other than the thumb, so that the pads of the fingers other than the thumb do not contact the bases of the fingers corresponding to the bent fingers when they are bent, and the extension angles of the fingers do not exceed the preset finger extension angles;

[0069] The finger bending and extension angle controller 2 is in the form of a finger sleeve, which is mounted on each finger, including a sleeve 4 and a connecting shaft 5. The hardness of the sleeve 4 does not exceed the preset hardness threshold. One section of the sleeve 4 is mounted on the thumb; three sections of the sleeve 4 are mounted on the fingers other than the thumb, and each section of the sleeve is connected by a connecting shaft 5, which can complete the control of the finger movement angle of the fingers other than the thumb.

[0070] Connecting shaft Figure 3 As shown, the specific physical connection method of the connecting axis is not limited in the present application, and it is sufficient to be able to control the finger movement angles of fingers other than the thumb.

[0071] The inter-finger angle controller 2 controls the inter-finger angle between each finger, so that the inter-finger angle does not exceed the preset inter-finger angle threshold; as an implementation of the present application, the material ductility of the inter-finger angle controller 2 does not exceed the preset ductility threshold, so that the inter-finger angle between each finger does not exceed the preset inter-finger angle threshold. Therefore, the present application does not limit the specific material of the inter-finger angle controller 2, and it only needs to be able to make the inter-finger angle between each finger not exceed the preset inter-finger angle threshold.

[0072] The thumb rotation direction controller 3 is used to control the rotation direction of the thumb.

[0073] As an implementation of the present application, the thumb rotation direction controller 3 includes an annular airbag 6, which is arranged in a sleeve mounted on the thumb and wraps the base joint of the thumb. Figure 4 and Figure 5 It can be seen that the annular airbag 6 is partially arranged inside the sleeve on the thumb and partially outside the thumb sleeve. While fixing the annular airbag 6, the annular airbag 6 wraps the base joint of the thumb to control the rotation direction of the thumb. In order to realize the control of the annular airbag 6, the thumb rotation direction controller 3 also needs to be connected to a driving device. The type of the driving device is not limited, so it is not shown in the figure.

[0074] According to the action command issued by the command interface device, combined with the preset action command and the corresponding relationship between the airbag control, the pressure of the annular airbag 6 is adjusted to control the rotation direction of the thumb.

[0075] Exemplarily, an annular airbag 6 is provided at the first joint of the thumb. When an action instruction is received that requires the thumb and other fingers to complete a finger-to-finger action together, such as the thumb and the middle finger facing each other, the annular airbag control scheme is determined from a preset action instruction and airbag control correspondence table, and the pressure of the annular airbag away from the target direction of the thumb facing each other (the airbag in the opposite direction of the middle finger when the thumb and the middle finger face each other) is increased to realize the control of the thumb's rotation direction, coordinate with the electrical stimulation of the palm area, and complete the action instruction of the thumb and the middle finger facing each other.

[0076] The hand orthosis controls the extension angle and bending angle of the fingers other than the thumb, so that the finger pads do not touch the base of the finger corresponding to the bent finger when the fingers are bent, and the extension angle of the fingers does not exceed the preset finger extension angle. The hand orthosis controls the inter-finger angle of the fingers other than the thumb, so that the inter-finger angle does not exceed the preset inter-finger angle threshold; the hand orthosis controls the rotation direction of the thumb in combination with the preset action instructions and the corresponding relationship between airbag control. By formulating the preset finger extension angle, the preset inter-finger angle threshold, and the preset action instructions and airbag control corresponding relationship, it can be guaranteed from the norm that the actual action execution degree of the hand is as consistent as possible with the action instructions issued by the command interface device, thereby improving the hand's refined movement control ability.

[0077] Among them, the preset finger extension angle, the preset inter-finger angle threshold, and the preset motion instructions and airbag control correspondence, these preset values ​​can also be adjusted according to the patient's time recovery level, so that the control plan of the hand fine movement can be timely optimized according to the patient's recovery level, further improving the training effect.

[0078] The functional electrical stimulation device and the hand orthosis are connected together in the form of a glove, and together with the functional electrical stimulation device, the finger movement is controlled to complete the action instruction;

[0079] It should be noted that the laid electrode array and the airbag set at the first joint of the thumb are all arranged inside the hand fine movement control device in the form of a glove. Whether it is electrode stimulation or controlling the airbag pressure, it will not cause the structure of the control device to bulge outward, thereby ensuring the control effect of the hand fine movements.

[0080] The graphic acquisition module is used to obtain images of the hand's refined movements and transmit the images to the control module.

[0081] In order to realize the above functions, the control module and the image acquisition module need to have necessary connections with the functional electrical stimulation device 1 and the hand orthosis to complete the information transmission. These settings can be used as long as they can complete the information transmission, so the connection method and the hardware involved in the module are not limited and will not be repeated here.

[0082] The present application also provides a method for controlling hand fine motion, wherein the control method is implemented by any one of the above-mentioned hand fine motion control devices, Figure 6 It can be seen that the control method includes the following steps:

[0083] Step S1: Analyze the motion intention through the command interface and obtain the action command;

[0084] Step S2: according to the action instruction, obtaining effective stimulation electrode pairs and electrical stimulation timing through a neural network model;

[0085] Focusing on the application of BCI-FES technology in hand rehabilitation training to achieve refined hand movements, the deep learning method of neural networks is used to autonomously recruit effective electrode points, so as to complete the effective distribution of stimulation current by the controller, and achieve the purpose of controlling the contraction of small muscle groups and completing refined hand movements. The present invention converts the user's movement intention into an electrical stimulation timing applied to the hand muscles, and completes refined movements such as thumb adduction, thumb abduction, thumb rotation, thumb and index finger facing each other, thumb and middle finger facing each other, thumb and ring finger facing each other, and thumb and little finger facing each other. With the cooperation of the hand orthosis, the thumb can be rotated. The present invention can have standardized constraints while the hand is moving, reduce the additional degrees of freedom of movement generated by the electrical stimulation triggering the contraction of small muscle groups, thereby achieving the standardization of hand movements, accurately simulating hand movements, and meeting clinical rehabilitation needs.

[0086] Step S3: electrically stimulating the hand muscles according to the effective stimulation electrode pair and the electrical stimulation sequence, adjusting the pressure of the airbag in combination with the preset action instruction and the corresponding relationship between the airbag control, and completing the action instruction.

[0087] A neural network model is used to obtain accurate and effective stimulation electrode pairs and electrical stimulation timing, which is then combined with the preset action instructions and airbag control correspondence to effectively regulate the finger movements after electrical stimulation, enabling the control of fine hand movements to be achieved.

[0088] Furthermore, after step S3, the following steps are further included:

[0089] Step S4: collecting images of the hand refined movement;

[0090] Step S5: preprocessing the image to obtain a preprocessed image;

[0091] Step S6: obtaining the hand movement corresponding to the preprocessed image through a convolutional neural network model according to the preprocessed image;

[0092] Step S7: comparing the hand motion corresponding to the preprocessed image with the motion instruction to obtain a comparison result;

[0093] Step S8: adjusting the control scheme of the hand fine movement according to the comparison result.

[0094] The method for fine-grained hand movement control also includes collecting images of fine-grained hand movements, and then comparing the movement images with the action instructions. According to the comparison results, the control scheme of the fine-grained hand movements is adjusted. On the basis of achieving fine-grained hand movement control, a basis is provided to the makers of rehabilitation training plans, the control scheme is optimized, and the rehabilitation effect of patients is further improved.

[0095] Furthermore, before step S2, it also includes: first traversing each pair of stimulation electrodes with a low-frequency signal in each electrode array stimulation area, if a pair of stimulation electrodes can receive current signals from each other, then the pair of electrodes is judged to be a valid electrode pair; if a pair of stimulation electrodes cannot receive current signals from each other, then the pair of electrodes is judged to be an invalid electrode pair, and when the neural network model counts the effective stimulation electrodes according to the action instructions, the invalid electrode pair is not counted into the recruitment target.

[0096] It should be noted that the terms used in the present invention are only for describing specific embodiments, rather than limiting the scope of the present application. As shown in the present specification, unless the context clearly indicates an exception, the words "one", "a", "a kind of" and / or "the" do not specifically refer to the singular, but may also include the plural. The terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method or device. In the absence of more restrictions, the elements defined by the sentence "include one..." do not exclude the presence of other identical elements in the process, method or device including the elements.

[0097] It should also be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A hand fine motion control device, characterized in that: The control device comprises a control module, a functional electrical stimulation device (1), a hand orthosis, and an image acquisition module; The control module receives the action instructions issued by the instruction interface device; the action instructions include thumb action instructions and finger action instructions; The functional electrical stimulation device (1) acts on the palm of the hand, electrically stimulates the muscle groups in the palm of the hand by laying an electrode array, drives the fingers to move, and performs fine movements of the hand; The functional electrical stimulation device (1) acts on the palm, and an electrode array stimulation area is arranged on the palm, and the electrode array stimulation area includes an abductor pollicis brevis area, a flexor pollicis brevis area, an opponens pollicis area, an adductor pollicis area, an abductor digiti minimi area, a flexor digiti minimi brevis area, an index finger lumbrical muscle area, a middle finger lumbrical muscle area, and a ring finger lumbrical muscle area; Each stimulation area of ​​the electrode array is provided with 3 to 6 pairs of stimulation electrodes; The stimulation electrode is a micro stimulation electrode, the diameter of the micro stimulation electrode is 3 mm-12 mm, the current of the micro stimulation electrode does not exceed 60 mA, and the frequency of the micro stimulation electrode does not exceed 150 Hz; The hand orthosis is put on each finger in the form of a finger sleeve to correct the movement of the finger; The functional electrical stimulation device (1) and the hand orthosis are connected together in the form of a glove, and the hand orthosis and the functional electrical stimulation device (1) jointly control the finger movement direction and finger movement angle to complete the action instruction; The hand orthosis comprises a finger bending and extension angle controller, an inter-finger angle controller (2) and a thumb rotation direction controller (3); When the finger-pointing action is completed, the functional electrical stimulation device (1) electrically stimulates the muscle groups in the palm area corresponding to the finger-pointing action, and at the same time, the finger bending and extension angle controller controls the finger movement angles of the fingers other than the thumb, so that the pads of the fingers other than the thumb do not contact the bases of the fingers corresponding to the bent fingers when they are bent, and the extension angles of the fingers do not exceed a preset finger extension angle; The inter-finger angle controller (2) controls the inter-finger angle between each finger so that the inter-finger angle does not exceed a preset inter-finger angle threshold; The thumb rotation direction controller (3) is used to control the rotation direction of the thumb; The thumb rotation direction controller (3) comprises an annular airbag (6), wherein the annular airbag (6) is arranged in a sleeve (4) sleeved on the thumb and wraps around the base joint of the thumb; According to the action command issued by the command interface device, combined with the preset action command and the corresponding relationship between the airbag control, the pressure of the annular airbag (6) is adjusted to complete the control of the rotation direction of the thumb; The image acquisition module is used to obtain images of fine hand movements and transmit the images to the control module.

2. The hand fine motion control device according to claim 1, characterized in that: The thumb movement instructions include thumb adduction, thumb abduction and thumb rotation; The finger-to-finger action instructions include thumb-to-index finger-to-finger, thumb-to-middle finger-to-finger, thumb-to-ring finger-to-finger, and thumb-to-little finger-to-finger.

3. The hand fine motion control device according to claim 2, characterized in that: The finger bending and extension angle controller is in the form of a finger sleeve, which is mounted on each finger. The finger bending and extension angle controller comprises a sleeve (4) and a connecting shaft (5). One section of the sleeve (4) is mounted on the thumb. The fingers other than the thumb comprise three sections of the sleeve (4), and each section of the sleeve (4) is connected by a connecting shaft (5), so that the finger movement angles of the fingers other than the thumb can be controlled.

Images