Sensing glove

Abstract

The invention discloses a sensing glove and belongs to the field of rehabilitation instruments. A plurality of limiting blocks are fixed to a plurality of finger parts respectively, each rope is installed on the corresponding limiting block, the number of sensing assemblies is the same as that of the ropes, a rack of each sensing assembly is installed on a base in a sliding mode, the racks are fixed to the ropes, gears are meshed with the racks, and encoders are connected with the gears. The encoder obtains the moving distance of the rope through the gear and the rack so as to obtain the bending angle of the finger part, the gyroscope measures the posture of the glove, the processor judges the position of the finger part according to the bending angle and the posture, and when the finger part reaches a preset position, the limiting assembly limits the rack to move so as to limit the finger part to move. The mechanical motion of the fingers can be converted into digital signals through the rotary encoder and the gyroscope, training data are formed, and therefore a rehabilitation training scheme can be adjusted conveniently; and when the finger part reaches the preset position, limiting the movement of the finger part to form force feedback, and transmitting the feeling of grabbing the object by the virtual scene to the finger of the human body.

Description

Technical Field

[0001] The present invention relates to the field of medical rehabilitation equipment, and in particular to sensing gloves. Background Art

[0002] The human hand is a multi-joint complex that is very important for humans to carry out daily life activities. Many diseases, such as stroke, arthritis and spinal cord injury, can lead to serious impairment of hand function. These neuromuscular diseases and traumatic events that impair motor function can significantly deteriorate the patient's quality of life. Patients with hand dysfunction need hand physical rehabilitation therapy, which mainly includes hand function assessment and training.

[0003] Studies have found that repeated isolated movement training can promote hand rehabilitation, but patients need to seek help from physical therapists and professional equipment in professional institutions, which is not only time-consuming but also expensive. A large number of studies have shown that virtual reality technology has achieved good results in the treatment of diseases that cause limb motor dysfunction. The application of virtual reality in medicine has solved many problems in the traditional rehabilitation process, such as time-consuming, labor-intensive, and expensive.

[0004] Traditional rehabilitation training gloves are prone to accidental injuries due to their rigid drive devices, and they are large in size and weight, posing certain safety risks. In addition, VR rehabilitation training systems that work with upper limb rehabilitation robots are generally expensive and bulky in structure. Currently, there is still a lot of room for research on VR rehabilitation training systems equipped with virtual reality interfaces with force feedback functions. In virtual reality space, real-time gesture recognition functions are also essential. Therefore, a rehabilitation training glove with force feedback and real-time gesture recognition functions needs to be studied and developed. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, one of the objects of the present invention is to provide a sensing glove that can convert the mechanical movement of the fingers into digital signals through a rotary encoder and a sensor to form training data, which can be combined with the patient's physical condition to adjust the rehabilitation training plan more scientifically and quickly.

[0006] One of the purposes of the present invention is achieved by the following technical solution: A sensing glove comprises a glove, wherein the glove comprises a plurality of finger parts, the sensing glove further comprises a plurality of ropes, a plurality of limit blocks, a linear motor, a sensing structure and a processor, wherein the plurality of limit blocks are respectively fixed to the plurality of finger parts, each of the ropes is installed on the limit blocks, the sensing structure comprises a plurality of sensing components and a gyroscope, the number of the sensing components is the same as the number of the ropes, each of the sensing components comprises a base, a rack, a gear, an encoder and a limit component, the rack is slidably installed on the base, the rack is fixed to the rope, the gear is meshed with the rack, the encoder is connected to the gear, the encoder obtains the moving distance of the rope through the gear and the rack to obtain the bending angle of the finger part, the gyroscope measures the posture of the glove, the processor determines the position of the finger part according to the bending angle and the posture, and when the finger part reaches a preset position, the limit component limits the movement of the rack to limit the activity of the finger part.

[0007] Furthermore, each of the sensing components also includes an elastic member, two ends of which are respectively in contact with the rack and the base, and the elastic member provides elastic force for restoring the rack.

[0008] Furthermore, the elastic member is a spring, the elastic member is located between the rack and the limit block, and the rope is passed through the spring and fixed to the rack.

[0009] Furthermore, the limit assembly includes a limit driving member and a limit rod drivingly connected to the limit driving member, and when the finger portion reaches a preset position, the limit driving member drives the limit rod to extend and abut against the rack.

[0010] Furthermore, the limit driving component is an electromagnet. When the sensing glove is not in use, the electromagnet is not energized, the limit rod is extended to abut against the rack, and the finger is restricted; when the sensing glove is in use, the electromagnet is energized, the limit rod retracts and separates from the rack, and the finger can bend. When the finger reaches a preset position, the electromagnet is de-energized, the limit rod is extended to abut against the rack, and the finger is restricted.

[0011] Furthermore, the sensing glove also includes a linear motor, which is installed at the end of the finger portion. When the finger portion reaches a preset position, the linear motor provides vibration feedback to simulate the feeling of grasping an object.

[0012] Furthermore, two limit blocks are fixed on each finger, one limit block is fixed to the end of the finger, and the other limit block is fixed to the joint of the finger, the rope is passed through the limit block located at the joint, and the rope is fixed to the limit block at the end.

[0013] Furthermore, the number of the fingers is five, and the five fingers correspond to the thumb, index finger, middle finger, ring finger and little finger respectively, and the limit block is arranged on the thumb, index finger, middle finger and ring finger.

[0014] Furthermore, the sensing glove also includes a first strap, the first strap is fixed to the sensing structure, and the first strap is mounted on the glove so that the sensing structure is installed on the palm of the glove.

[0015] Furthermore, the sensing glove also includes an electric control box and a second belt, the electric control box is communicatively connected to the sensing structure, the second belt is fixed to the electric control box, and the second belt is mounted on the user's arm.

[0016] Compared with the prior art, the sensing glove of the present invention comprises a plurality of finger parts, the sensing glove also comprises a plurality of ropes, a plurality of limit blocks, a linear motor, a sensing structure and a processor, the plurality of limit blocks are respectively fixed to the plurality of finger parts, each rope is installed on the limit block, the sensing structure comprises a plurality of sensing components and a gyroscope, the number of the sensing components is the same as the number of the ropes, each sensing component comprises a base, a rack, a gear, an encoder and a limit component, the rack is slidably installed on the base, the rack is fixed to the rope, the gear is meshed with the rack, the encoder is connected to the gear, the encoder obtains the moving distance of the rope through the gear and the rack to The bending angle of the finger is obtained, the gyroscope measures the posture of the glove, and the processor determines the position of the finger according to the bending angle and the posture. When the finger reaches the preset position, the limit component limits the movement of the rack to limit the activity of the finger. Through the above design, the mechanical movement of the finger can be converted into a digital signal through the rotary encoder and the gyroscope to form training data. Combined with the patient's physical condition, the rehabilitation training plan can be adjusted more scientifically and quickly; when the finger reaches the preset position, the limit component limits the movement of the rack to limit the activity of the finger to form force feedback to transmit the feeling of grasping an object in the virtual scene to the human finger. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A three-dimensional diagram of the sensing glove of the present invention; Figure 2 for Figure 1 A three-dimensional diagram of the local structure of the sensing glove; Figure 3 for Figure 2 A stereogram of the sensing glove from another perspective; Figure 4 for Figure 2 A three-dimensional diagram of the internal structure of the sensing glove; Figure 5 for Figure 4 A three-dimensional diagram of the internal structure of the sensing structure of the sensing glove; Figure 6 for Figure 5 Another stereoscopic view of the internal structure of the perceptual structure; Figure 7 for Figure 5 A stereogram of the perceptual components of the perceptual structure; Figure 8 for Figure 7 Another stereogram of the perceptual components of ; Fig. 9 for Figure 7 A partial structural stereogram of the perception component; Fig.10 for Figure 7 Another partial structural stereogram of the perception component; Fig.11 Schematic diagram of the data transmission process of the perception component.

[0018] In the figure: 10, glove; 11, palm; 12, finger; 20, rope; 30, limit block; 40, linear motor; 50, sensing structure; 51, bottom plate; 52, shell; 53, sensing component; 530, base; 5301, slide groove; 531, rack; 5310, groove; 532, elastic member; 533, gear; 534, encoder; 535, limit assembly; 5350, limit drive member; 5351, limit rod; 54, gyroscope; 60, wire; 70, electric control box; 80, first set of belts; 90, second set of belts. DETAILED DESCRIPTION

[0019] 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 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 are within the scope of protection of the present invention.

[0020] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be another intermediate component through which it is fixed. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be another intermediate component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be another intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0022] See also Figures 1 to 4 The sensing glove includes a glove 10, a rope 20, a limit block 30, a linear motor 40, a sensing structure 50, a wire 60, an electric control box 70, a first set of belts 80 and a second set of belts 90.

[0023] The glove 10 includes a palm portion 11 and a plurality of finger portions 12, and the plurality of finger portions 12 extend from the palm portion 11. The glove 10 is made of a flexible material, such as a knitted material or leather. In this embodiment, the number of the finger portions 12 is 5, and the 5 finger portions 12 correspond to the thumb, index finger, middle finger, ring finger, and little finger, respectively.

[0024] The rope 20 is used to sense the movement of the finger, thereby converting the mechanical movement of the finger into a digital signal to form training data. Specifically, there are multiple ropes 20, and the multiple ropes 20 are respectively arranged on different finger parts 12. In this embodiment, there are four ropes 20, and the four ropes 20 are respectively arranged on the finger parts 12 corresponding to the thumb, index finger, middle finger and ring finger. Since the little finger has weaker functionality during the grasping process, no rope 20 is arranged on the finger part 12 corresponding to the little finger. One end of each rope 20 is fixed to the end of the finger part 12, and the other end is fixed to the rack 531.

[0025] The limit block 30 is used to fix the rope 20 and limit the rope 20. The limit block 30 is fixed at the end and joint of each finger 12. The rope 20 is fixed to the limit block 30 at the end, and the rope 20 passes through the limit block 30 at the joint. When the finger is bent, the bending of the finger 12 drives the rope 20 to move, thereby driving the rack 531 to move.

[0026] The linear motor 40 is disposed at the end of the finger portion 12. When the finger portion 12 is bent to a preset position, the linear motor 40 vibrates to transmit the feeling of grasping an object in the virtual scene to the human finger. Specifically, there are three linear motors 40, which are respectively disposed at the fingertips of the index finger, the middle finger, and the ring finger.

[0027] See also Figures 5 to 10 The sensing structure 50 includes a bottom plate 51, a housing 52, a plurality of sensing components 53 and a gyroscope 54. The bottom plate 51 is used to fix the plurality of sensing components 53, and the housing 52 is used to fix the gyroscope 54. The number of sensing components 53 is the same as the number of ropes 20, and each rope 20 is connected to a sensing component 53. The sensing component 53 converts the linear movement of the rope 20 into a digital signal and restricts the movement of the rope 20 when the finger is bent to a specified position (holding a virtual object), thereby providing force feedback to the finger portion 12.

[0028] Each sensing component 53 includes a base 530, a rack 531, an elastic member 532, a gear 533, an encoder 534 and a limit assembly 535. The base 530 is fixed to the bottom plate 51, and a slide groove 5301 is provided on the base 530. The rack 531 is slidably installed in the slide groove 5301. The elastic member 532 is located in the slide groove 5301. The two ends of the elastic member 532 are respectively in conflict with the rack 531 and the base 530. The elastic member 532 provides elastic force for the rack 531 to reset. Specifically, the elastic member 532 is a spring, and the spring is located between the rack 531 and the limit block 30. The rope 20 is passed through the spring and fixed to the rack 531. The gear 533 is rotatably installed on the base 530 through a bracket, and the gear 533 is meshed with the rack 531, and the gear 533 is connected to the encoder 534. The limit assembly 535 is fixed to the base 530, and the limit assembly 535 includes a limit driving component 5350 and a limit rod 5351 that is transmission-connected to the limit driving component 5350. When the finger part 12 reaches the preset position, the limit driving component 5350 drives the limit rod 5351 to extend and contact the rack 531, and the rack 531 cannot move. The finger part 12 is restricted from moving, forming a force feedback to transmit the feeling of grasping an object in the virtual scene to the fingers of the human body.

[0029] In this embodiment, the limit driving component 5350 is an electromagnet. When the sensing glove is not in use, the electromagnet is not energized, the limit rod 5351 extends out to abut against the groove 5310 of the rack 531, and the finger 12 is restricted; when the sensing glove is in use, the electromagnet is energized, the limit rod 5351 retracts and separates from the rack 531, and the finger 12 can bend. When the finger 12 reaches the preset position, the electromagnet is de-energized, the limit rod 5351 extends out to abut against the rack 531, and the finger 12 is restricted.

[0030] The gyroscope 54 is fixed to the housing 52 , and measures the posture of the palm 11 .

[0031] The electric control box 70 is connected to the sensing structure 50 in communication. Specifically, in this embodiment, the electric control box 70 is connected to the sensing structure 50 via a wire 60. The electric control box 70 obtains the digital motion signal of the finger 12 through the sensing structure 50 to form training data, which is combined with the patient's physical condition to adjust the rehabilitation training program more scientifically and quickly.

[0032] The first strap 80 is fixed to the sensing structure 50 , and the first strap 80 is sleeved on the palm 11 , so that the sensing structure 50 is installed on the glove 10 .

[0033] The second belt 90 is fixed to the electric control box 70 , and the second belt 90 is put on the arm so that the electric control box 70 is worn on the arm.

[0034] When the sensing glove is used, the patient to be rehabilitated wears the glove 10 on his hand, wears the virtual device on his eyes, and grasps the virtual object according to the virtual scene. When the sensing glove is not in use, the electromagnet is not energized, the limit rod 5351 extends out to contact the groove 5310 of the rack 531, and the finger 12 is restricted; when the sensing glove is used, the electromagnet is energized, the limit rod 5351 retracts and separates from the rack 531, and the finger 12 can bend. During the finger bending process, the rope 20 drives the rack 531 to slide, and the rack 531 drives the gear 533 to rotate, the encoder 534 obtains the finger bending data, and the gyroscope 54 measures the posture of the palm 11 to form a digital signal; when it is judged that the finger 12 reaches the preset position according to the digital signal, the electromagnet is de-energized, the limit rod 5351 extends out to contact the rack 531, and the finger 12 is restricted, forming a force feedback to transmit the feeling of grasping the object in the virtual scene to the human fingers, and the linear motor 40 vibrates to transmit the feeling of grasping the object in the virtual scene to the human fingers.

[0035] like Fig.11 As shown in the figure, the MCU sends the sensor data to the PC. The PC integrates the training data such as the number of training times, duration, and time, and sends them to the cloud server for storage. By accessing the cloud server through the mobile phone, you can flexibly query the training status. Combining the training status with the patient's physical condition, you can adjust the rehabilitation training plan more scientifically and quickly.

[0036] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which are equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of them belong to the protection scope of the present invention.

Claims

1. A sensing glove, comprising a glove, wherein the glove comprises a plurality of finger portions, characterized in that: The sensing glove also includes multiple ropes, multiple limit blocks, a linear motor, a sensing structure and a processor. The multiple limit blocks are respectively fixed to the multiple fingers, and each rope is installed on the limit block. The sensing structure includes multiple sensing components and a gyroscope. The number of the sensing components is the same as the number of the ropes. Each sensing component includes a base, a rack, a gear, an encoder and a limit component. The rack is slidably installed on the base, the rack is fixed to the rope, the gear is meshed with the rack, and the encoder is connected to the gear. The encoder obtains the moving distance of the rope through the gear and the rack to obtain the bending angle of the finger. The gyroscope measures the posture of the glove, and the processor determines the position of the finger according to the bending angle and the posture. When the finger reaches a preset position, the limit component limits the movement of the rack to limit the activity of the finger.

2. The sensing glove according to claim 1, characterized in that: Each of the sensing components further includes an elastic member, two ends of which are in contact with the rack and the base respectively, and the elastic member provides elastic force for restoring the rack.

3. The sensing glove according to claim 2, characterized in that: The elastic member is a spring, and the elastic member is located between the rack and the limiting block. The rope is passed through the spring and fixed to the rack.

4. The sensing glove according to claim 1, characterized in that: The limit assembly includes a limit driving member and a limit rod drivingly connected to the limit driving member. When the finger portion reaches a preset position, the limit driving member drives the limit rod to extend and abut against the rack.

5. The sensing glove according to claim 4, characterized in that: The limit driving component is an electromagnet. When the sensing glove is not in use, the electromagnet is not energized, the limit rod extends out to abut against the rack, and the finger is restricted. When the sensing glove is in use, the electromagnet is energized, the limit rod retracts and separates from the rack, and the finger can bend. When the finger reaches a preset position, the electromagnet is de-energized, the limit rod extends out to abut against the rack, and the finger is restricted.

6. The sensing glove according to claim 1, characterized in that: The sensing glove also includes a linear motor, which is installed at the end of the finger portion. When the finger portion reaches a preset position, the linear motor provides vibration feedback to simulate the feeling of grasping an object.

7. The sensing glove according to claim 1, characterized in that: Two limit blocks are fixed on each finger, one limit block is fixed at the end of the finger, and the other limit block is fixed at the joint of the finger, the rope is passed through the limit block located at the joint, and the rope is fixed to the limit block at the end.

8. The sensing glove according to claim 7, characterized in that: The number of the finger parts is five, and the five finger parts correspond to the thumb, index finger, middle finger, ring finger and little finger respectively, and the limit block is arranged on the thumb, index finger, middle finger and ring finger.

9. The sensing glove according to claim 1, characterized in that: The sensing glove further comprises a first strap, the first strap is fixed to the sensing structure, and the first strap is sleeved on the glove so that the sensing structure is installed on the palm of the glove.

10. The sensing glove according to claim 1, characterized in that: The sensing glove also includes an electric control box and a second belt, the electric control box is communicatively connected to the sensing structure, the second belt is fixed to the electric control box, and the second belt is mounted on the user's arm.

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