Multifunctional data glove

Abstract

The invention provides a multifunctional data glove which comprises a glove body and a force measuring device, and the data glove is worn on a hand through the glove body; the force measuring device is arranged on the glove body, is used for detecting grip strength and comprises a base body, a plurality of groups of bags and a plurality of pipelines, the base body is connected to the glove body, and the bags are arranged on the base body; the multiple sets of bag bodies are arranged corresponding to all areas of the finger part and the palm part respectively, all the sets of bag bodies are connected through pipelines and connected to the pressure sensor, and therefore the grasping force of all the areas of the hand can be accurately measured. When mirror image training is carried out, the output pressure is controlled through connection of a pipeline and a control device, so that the bag bodies in all the areas reach the preset pressure, all the areas of the hand can achieve the preset grabbing state, the rehabilitation effect is guaranteed, and precise rehabilitation is achieved.

Description

Technical Field

[0001] The invention belongs to the field of soft robots, and in particular relates to a multifunctional data glove. Background Art

[0002] With the continuous development and popularization of virtual reality technology, human-computer interaction technology has been widely used in many fields. As one of the important devices for human-computer interaction, data gloves have attracted widespread attention from researchers and enterprises. Data gloves are sensor devices that can capture hand motion data and are widely used in virtual reality, robot control, medical rehabilitation and other fields. In the field of virtual reality, data gloves can be used to realize gesture recognition and interaction, and enhance the user's sense of immersion and participation; in the field of robot control, data gloves can be used to realize robot gesture control and operation control; in the field of medical rehabilitation, data gloves can be used to realize patient rehabilitation training and record and analyze hand motion data. At present, data glove technology has made significant progress.

[0003] Usually, a thin film pressure sensor is used on data gloves to measure force data. This thin film pressure sensor can be used to measure the output force of a certain position of the finger, but it cannot measure the gripping force of each area of ​​the palm when the glove grasps an object. Usually, data gloves can be used in mirror active training, which can provide simple force feedback, but cannot provide accurate force feedback of each area of ​​the palm. Summary of the invention

[0004] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a multifunctional data glove that can specifically measure the gripping force of each area of ​​the finger on an object, and can achieve accurate force feedback for each area of ​​the palm during mirror training, thereby improving the rehabilitation effect and achieving precise rehabilitation.

[0005] To achieve the above-mentioned object and other related objects, the present invention provides a multifunctional data glove, comprising:

[0006] Glove body;

[0007] A force measuring device is connected to the glove body and is located in the finger area, or the finger area and the palm area, and includes:

[0008] A base body connected to the glove body;

[0009] A plurality of capsules are arranged on the substrate and distributed in the finger region, or the finger region and the palm region;

[0010] A plurality of pipes, each group of capsules is connected through one of the pipes;

[0011] The pressure sensing module senses the internal pressure of each group of the capsules through the pipeline.

[0012] According to an embodiment provided by the present invention, the capsule includes a finger area capsule, which is arranged corresponding to the finger area and includes:

[0013] The thumb area capsule corresponds to the thumb area setting;

[0014] At least one set of four-finger region capsules is arranged corresponding to the four-finger region.

[0015] According to an embodiment provided by the present invention, the four-finger area capsule includes an index finger area capsule, which is arranged corresponding to the index finger area.

[0016] According to an embodiment provided by the present invention, the four-finger area capsule also includes a middle finger area capsule and / or a ring finger area capsule and / or a little finger area capsule, and the middle finger area capsule, the ring finger area capsule, and the little finger area capsule are respectively located in the middle finger area, the ring finger area, and the little finger area.

[0017] According to an embodiment provided by the present invention, the capsule also includes a palm area capsule, which is arranged corresponding to the palm area and includes:

[0018] The proximal thumb capsule corresponds to the area near the base of the thumb;

[0019] At least one group of distal thumb region capsules is disposed corresponding to an area distal to the base of the thumb.

[0020] According to an embodiment provided by the present invention, the distal thumb region capsule comprises:

[0021] The capsule of the proximal four-digit area corresponds to the area near the roots of the four fingers;

[0022] The palm area capsule is set corresponding to the palm area.

[0023] According to an embodiment provided by the present invention, the finger region capsules include a plurality of groups of phalanx region capsules, and each of the phalanx region capsules is arranged corresponding to each phalanx region of each finger.

[0024] According to an embodiment provided by the present invention, the substrate includes a pipe layer, and the pipes are distributed in the pipe layer.

[0025] According to an embodiment provided by the present invention, each of the pipeline layers corresponds to at least one pipeline.

[0026] According to an embodiment provided by the present invention, the multifunctional data glove further includes a control device, and the pipeline is connected to the control device.

[0027] The multifunctional data glove of the present invention uses a pipeline to connect the capsule. When the glove body grasps or pinches an object, the capsule presses the surface of the object to cause internal pressure changes. The pressure change is measured by a pressure sensor to measure the pressure change, thereby realizing the measurement of the hand force; multiple groups of capsules are arranged corresponding to each area of ​​the hand, and are respectively connected to pressure sensors, so that the force of each area of ​​the hand can be accurately measured; it can be used in mirror training to perform accurate force feedback and control, so as to formulate targeted rehabilitation strategies, improve rehabilitation effects, and realize precise rehabilitation; the entire device uses the capsule and the pipeline for measurement, has a simple structure, is safe and lightweight, and is highly comfortable when worn; the positive pressure applied by a person and the friction force of the front, back, and / or left and right can be distinguished according to the combined structure of the capsule, and the capsule can be pressurized by a fluid medium, and then the capsule is deformed to generate pressure and other stimulations to the hand in the corresponding area, thereby generating tactile feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0029] Figure 1 A three-dimensional structural diagram of an embodiment of a multifunctional data glove provided by the present invention;

[0030] Figure 2 A three-dimensional structural diagram of an embodiment of a multifunctional data glove provided by the present invention;

[0031] Figure 3 A cross-sectional view of an embodiment of a multifunctional data glove provided by the present invention;

[0032] Figure 4 A cross-sectional view of an embodiment of a multifunctional data glove provided by the present invention;

[0033] Figure 5 A cross-sectional view of an embodiment of a multifunctional data glove provided by the present invention;

[0034] Figure 6 A side cross-sectional view of an embodiment of a multifunctional data glove provided by the present invention;

[0035] Figure 7 A cross-sectional view of pipeline distribution of an embodiment of a multifunctional data glove provided by the present invention;

[0036] Figure 8 A cross-sectional view of another embodiment of a multifunctional data glove provided by the present invention.

[0037] Description of labels:

[0038] 100, glove body; 200, base body; 300, capsule body; 400, pipeline;

[0039] 310, capsule of palm area; 320, capsule of thumb area; 330, capsule of index finger area; 340, capsule of middle finger area; 350, capsule of ring finger area; 360, capsule of little finger area;

[0040] 311, capsule near the thumb area; 312, capsule near the four fingers area; 313, capsule in the palm area;

[0041] 321. Capsule of the proximal phalanx of the thumb; 322. Capsule of the distal phalanx of the thumb;

[0042] 331. Capsule in the proximal phalanx of the index finger; 332. Capsule in the middle phalanx of the index finger; 333. Capsule in the distal phalanx of the index finger;

[0043] 341. Capsule in the proximal phalanx region of the middle finger; 342. Capsule in the middle phalanx region of the middle finger; 343. Capsule in the distal phalanx region of the middle finger;

[0044] 351. Cyst of the proximal phalanx of the ring finger; 352. Cyst of the middle phalanx of the ring finger; 353. Cyst of the distal phalanx of the ring finger;

[0045] 361. The cyst in the proximal phalanx area of ​​the little finger; 362. The cyst in the middle phalanx area of ​​the little finger; 363. The cyst in the distal phalanx area of ​​the little finger. DETAILED DESCRIPTION

[0046] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0047] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0048] Data gloves, as a device that can capture hand movement data, are widely used in virtual reality, robot control, medical rehabilitation and other fields. Usually, data gloves use thin film pressure sensors to measure force data. They are mostly used to measure the output force at a certain position of the finger, but cannot measure the gripping force of various areas of the palm when the glove grasps an object. Simple force feedback can be performed when used for active mirror training, but accurate force feedback of various areas of the palm cannot be performed.

[0049] See also Figures 1 to 7 The present invention proposes a multifunctional data glove, including a glove body 100 and a force measuring device. The data glove is worn on the hand through the glove body 100. The force measuring device is connected to the glove body 100 and is located in the finger area, or the finger area and the palm area. When the glove body 100 pinches or grasps an object with the hand movement, the force of each area of ​​the hand can be accurately measured. In mirror training, the output pressure is controlled according to the force measurement data to accurately control the force of each area of ​​the hand, so as to achieve precise rehabilitation.

[0050] See also Figures 1 to 7 According to an embodiment of the present invention, the glove body 100 serves as the base of the force measuring device, and the force measuring device is arranged in each area corresponding to the hand, so as to achieve accurate measurement of each area. The glove body 100 can be made of elastic material, for example, so that it can fit the hand better, be comfortable to use and measure accurately; the glove body 100 can be provided with connecting parts such as Velcro for fixing, so that the glove body 100 is firmly worn on the hand; the force measuring device is fixed to the glove body 100, and when the hand performs actions such as bending and grasping, the glove body 100 and the force measuring device bend accordingly, thereby achieving measurement.

[0051] See also Figures 1 to 7According to an embodiment of the present invention, the force measuring device includes a base 200, multiple groups of capsules 300, multiple pipes 400 and a pressure sensing module. The base 200 is connected to the glove body 100, and the capsules 300 and pipes 400 are arranged on the base 200. When the glove body 100 is worn on the hand, the base 200 is located on the palm side to measure the force of each area when the hand grasps; multiple groups of capsules 300 are arranged on the side of the base 200 away from the glove body 100, and are distributed in the finger area, or the finger area and the palm area. As a protruding structure on the surface of the base 200, when the hand grasps or pinches an object, the capsules 300 will be squeezed so that the internal pressure changes; multiple pipes 400 are arranged on the base 200, and each group of capsules 300 passes through a pipe. The capsule 300 is connected to the base 200, one end of the pipe 400 is connected to the capsule 300, and the other end extends out of the base 200. The capsule 300 is connected to the pressure sensing module through the pipe 400. The pressure sensing module senses the internal pressure of each group of capsules 300 through the pipe 400. The pressure sensing module can be, for example, a pressure sensor, which detects the pressure inside the capsule 300, so as to obtain the force data of the hand area corresponding to the capsule 300. Multiple groups of capsules 300 are measured separately, which can achieve accurate measurement of the force of each area of ​​the finger and palm when grasping or pinching an object. The capsule 300 is used as a detection component, which is safe, lightweight and comfortable.

[0052] See also Figures 1 to 7 According to an embodiment provided by the present invention, the base 200 is fixedly connected to the glove body 100, and a plurality of protruding capsules 300 are arranged on the surface thereof. The capsules 300 are hollow structures, and each group of capsules 300 is connected through a pipe 400 and connected to a pressure sensor through the pipe 400. When the hand performs actions such as grasping, the base 200 bends with the glove body 100, and the capsules 300 press the surface of the object, causing the pressure inside the capsules 300 to change, so that the pressure sensor can be used to measure the state of force of each group of capsules 300 corresponding to the hand position.

[0053] See also Figures 1 to 7 According to an embodiment provided by the present invention, the base 200 can be an integral fixing seat, fixed to the glove body 100, and it uses a material with a relatively low hardness, such as silicone, to achieve the bending and grasping of the hand. There are multiple measurement areas corresponding to the surface of the base 200, and multiple groups of capsules 300 are arranged corresponding to each measurement area and corresponding to each area of ​​the hand, which can measure each area of ​​the finger and / or palm separately, and more accurately obtain the state of force when the hand moves; it can be understood that the measurement area of ​​the base 200 and the specific distribution of the capsules 300 can be set differently according to the measurement needs. In other embodiments, the base 200 can also be a separate structure, in which case each base 200 is a measurement area, and a group of capsules 300 are arranged on it, and the specific number and position of the base 200 are arranged according to the required measurement partitions.

[0054] See also Figures 1 to 7 According to an embodiment provided by the present invention, the base 200 includes a pipeline layer. When multiple groups of capsules 300 are connected by multiple pipelines 400, each pipeline 400 is located in the chamber of the base 200 and distributed in the pipeline layer. The pipeline layer and the capsule 300 are not in the same plane, thereby avoiding interference between the pipeline 400 and the capsule 300; one end of the pipeline 400 extends out of the base 200 and is connected to the pressure sensor, and the measurement will not be affected by the bending of the glove body 100 with the hand; the entire force measurement device is connected as a whole, and the structure is simple. It can be understood that when there are fewer measurement partitions and the pipeline 400 is simply arranged, the pipeline layer can also be omitted, and the pipeline 400 and the capsule 300 are in the same plane.

[0055] See also Figures 1 to 7 According to an embodiment of the present invention, multiple groups of capsules 300 are connected by multiple pipes 400, and each pipe layer is correspondingly provided with at least one pipe 400. When there are more measurement areas, the number of pipes 400 is large and the distribution is complex. Arranging multiple pipe layers inside the base 200 is more convenient for arranging the pipes 400, avoiding interference between the pipes 400 and the capsules 300, and between the pipes 400. Accordingly, at this time, the base 200 is appropriately thickened to facilitate the arrangement of the capsules 300 and the pipes 400.

[0056] See also Figures 1 to 7 According to an embodiment of the present invention, one end of the pipe 400 away from the capsule 300 is correspondingly arranged in the palm base area, and multiple pipes 400 are respectively connected to each group of capsules 300, and then extend from the palm base to the base 200 and connect to an external device.

[0057] See also Figures 1 to 7 According to an embodiment of the present invention, the capsules 300 are divided into multiple groups according to the measurement area, and each group of capsules 300 is connected through a pipe 400, and each group of capsules 300 can measure the state of the hand area force corresponding to a measurement area. When the glove body 100 grasps an object with the hand movement, the capsule 300 contacts the object and presses the surface of the object, and the internal pressure of the capsule 300 changes. The pressure change is converted into an electrical signal change by connecting to the sensor through the pipe 400. The corresponding relationship between the known pressure change and the output electrical signal change is obtained by calibration, and the force data size can be obtained by measuring the electrical signal. It can be understood that the number and distribution state of the capsules 300 are not limited, and different settings can be made according to specific circumstances, such as different hand sizes, different measurement partitions, etc.

[0058] See also Figures 1 to 7According to an embodiment of the present invention, the capsule 300 includes a palm area capsule 310 and a finger area capsule. The palm area capsule 310 is set corresponding to the palm area, and can measure the state of the force at the palm position when grasping different objects; the finger area capsule is set corresponding to the finger area, and can measure the state of each finger force when grasping or pinching different objects.

[0059] See also Figures 1 to 3 According to an embodiment of the present invention, the finger area capsule includes a thumb area capsule 320 and at least one group of four-finger area capsules. The thumb area capsule 320 is set corresponding to the thumb area; the four-finger area capsule is set corresponding to the four-finger area; the thumb area capsule 320 and the four-finger area capsule are connected by a pipe 400 respectively, and each pipe 400 is connected to a sensor for detecting the pressure of the capsule group it is connected to, so that the force data of the corresponding thumb and four-finger areas can be obtained.

[0060] See also Figure 3 According to an embodiment of the present invention, the capsule 300 includes three capsule groups, namely, a thumb area capsule 320, a four-finger area capsule and a palm area capsule 310. Each group of capsules is connected by a pipe 400 and corresponds to three measuring areas arranged on the base 200. Each pipe 400 is connected to a sensor for measuring the pressure of the group of capsules. When the glove body 100 grasps an object, both the finger and palm areas will be subjected to force. The sensors connected by the three pipes can respectively measure the force states of the thumb, the four fingers as a whole and the entire palm during grasping, thereby obtaining the overall force state data of the hand, measuring the states of each position of the hand when grasping different objects, analyzing the user's grip strength level, preliminarily evaluating the hand function and conducting training recovery.

[0061] See also Figure 4 According to an embodiment provided by the present invention, the palm area capsule 310 includes a proximal thumb area capsule 311 and at least one group of distal thumb area capsules. The proximal thumb area capsule 311 is arranged corresponding to an area close to the base of the thumb, and the distal thumb area capsule is arranged corresponding to an area far from the base of the thumb. The two groups of capsules are connected by pipes, respectively, and can measure the forces on the areas of the palm close to the four fingers and the areas far from the four fingers, respectively.

[0062] See also Figure 4According to an embodiment of the present invention, the distal thumb area capsule includes a proximal four-finger area capsule 312 and a palm area capsule 313. The proximal four-finger area capsule 312 corresponds to the area near the roots of the four fingers, and the palm area capsule 313 corresponds to the palm area; the proximal thumb area capsule 311, the proximal four-finger area capsule 312 and the palm area capsule 313 are respectively connected by a pipe 400, and each pipe 400 is connected to a sensor to detect the internal pressure of each group of capsules. The three groups of capsules correspond to the three areas of the palm, respectively, and can perform more detailed measurements of the forces at different positions of the palm when grasping an object, and accurately analyze the state of the palm when grasping an object.

[0063] See also Figure 4 According to an embodiment of the present invention, the capsules in the four-finger area are divided into four groups, including the capsule 330 in the index finger area, the capsule 340 in the middle finger area, the capsule 350 in the ring finger area, and the capsule 360 ​​in the little finger area, which are respectively located in the index finger area, the middle finger area, the ring finger area, and the little finger area; the capsule 330 in the index finger area, the capsule 340 in the middle finger area, the capsule 350 in the ring finger area, and the capsule 360 ​​in the little finger area are respectively connected by at least one pipe 400, or the capsule 330 in the index finger area, the capsule 340 in the middle finger area, the capsule 350 in the ring finger area, and the capsule 360 ​​in the little finger area are connected by one pipe 400. The four groups of capsules in the four-finger area and the capsule 320 in the thumb area are respectively arranged corresponding to the positions of the five fingers. When grasping or pinching, the force of each finger or further the force of different positions of each finger can be measured respectively, so that the grasping state of the hand and the coordination of the hand action can be analyzed more accurately.

[0064] It can be understood that when the hand only performs a simple grasping action, its main force-bearing area is in the fingers, so it is only necessary to set the capsule 300 in the thumb and four-finger areas for measurement. Furthermore, objects can be pinched using only the thumb and index finger. At this time, the four-finger area capsule only includes the index finger area capsule 330, which corresponds to the index finger area setting, that is, the capsule 300 is divided into two groups: the thumb area capsule 320 and the index finger area capsule 330. No capsule is required in other finger areas, and the structure is simpler.

[0065] See also Figure 4According to an embodiment of the present invention, the capsule 300 includes eight capsule groups, namely, five groups of finger area capsules, namely, a thumb area capsule 320, an index finger area capsule 330, a middle finger area capsule 340, a ring finger area capsule 350 and a little finger area capsule 360, and three groups of palm area capsules 310, namely, a near thumb area capsule 311, a near four finger area capsule 312 and a palm area capsule 313. Each group of capsules is connected by a pipe 400, and each pipe is connected to a sensor to measure the internal pressure of the connected capsule group; the eight groups of capsules are located at the base 200 The eight measurement areas correspond to the force at the corresponding positions of the hand. When the glove body 100 grasps an object, it can measure the force of each finger pressing the object and the force of the three areas of the palm grasping the object respectively. The grasping force and grasping posture can be accurately analyzed, and the overall grip level of the hand can be further judged. The force data at different positions can also be used to analyze the flexibility and coordination of the hand, and further evaluate the hand function to assist in achieving more detailed and targeted rehabilitation training; when used for robot control, it can improve the flexibility and intelligence of the manipulator.

[0066] See also Figure 5 According to an embodiment of the present invention, the finger area capsule includes multiple groups of phalange area capsules, each group of phalange area capsules is connected by a pipe 400 and is respectively connected to the sensor. The multiple groups of phalange area capsules are arranged corresponding to each phalange area of ​​each finger, and can measure the force of each phalange position respectively, and make more refined measurements of the force state of each position of the finger, so as to make more refined analysis of hand function, and assist in realizing precise training of hand control ability and improve hand activity ability.

[0067] Specifically, see Figure 5 , adapted to the finger structure, for example, the index finger area capsule 330 includes an index finger proximal phalanx area capsule 331, an index finger middle phalanx area capsule 332 and an index finger distal phalanx area capsule 333, the three groups of capsules are respectively arranged corresponding to the proximal phalanx area, the middle phalanx area and the distal phalanx area of ​​the index finger, each group of capsules is connected by a pipe 400 and is respectively connected to the sensor to achieve accurate measurement of the force of each phalanx area on the index finger.

[0068] Similarly, see Figure 5The middle finger region capsule 340 includes a middle finger proximal phalanx region capsule 341, a middle finger middle phalanx region capsule 342 and a middle finger distal phalanx region capsule 343, and the three groups of capsules correspond to the proximal phalanx region, the middle phalanx region and the distal phalanx region of the middle finger respectively; the ring finger region capsule 350 includes a ring finger proximal phalanx region capsule 351, a ring finger middle phalanx region capsule 352 and a ring finger distal phalanx region capsule 353, and the three groups of capsules correspond to the proximal phalanx region of the ring finger respectively. , middle phalanx area and distal phalanx area; the little finger area capsule 360 ​​includes the little finger proximal phalanx area capsule 361, the little finger middle phalanx area capsule 362 and the little finger distal phalanx area capsule 363, and the three groups of capsules correspond to the proximal phalanx area, middle phalanx area and distal phalanx area of ​​the little finger respectively; the thumb area capsule 320 includes the thumb proximal phalanx area capsule 321 and the thumb distal phalanx area capsule 322, and the two groups of capsules correspond to the two phalanx areas of the thumb respectively.

[0069] See also Figure 5 According to an embodiment of the present invention, multiple groups of phalange area capsules are connected to sensors through pipes to measure the force of each phalanx of each finger. Combined with the thumb area capsule 311, the four-finger area capsule 312 and the palm area capsule 313, the force at different positions of the palm is measured, which can more accurately evaluate the hand function, including the grip strength level, flexibility and coordination, as well as the accuracy of hand control, so as to carry out targeted training to improve the hand activity ability.

[0070] It should be noted that, according to the needs of measurement and training, the distribution of capsule groups can have a variety of different combinations, that is, the measurement zones of the hand are different. For example, when measuring and analyzing the gripping force of each finger and the entire palm, or conducting overall rehabilitation training for the hand, the sensors connected to the thumb area capsule 320, the index finger area capsule 330, the middle finger area capsule 340, the ring finger area capsule 350, the little finger area capsule 360 ​​and the palm area capsule 310 can be used to measure and control the force of each finger and palm respectively; when it is necessary to measure, analyze and train the flexibility of the finger and the control ability of the finger, it is necessary to use multiple groups of phalange area capsules to measure and control each phalanx of the finger respectively; when measuring and training the pinching force of the finger, the capsule group corresponding to the distal phalanx of each finger is mainly used for measurement, etc. According to the purpose of use, each capsule group can be combined with each other to measure multiple hand positions.

[0071] See also Figures 1 to 7According to an embodiment provided by the present invention, the data glove also includes a control device, and one end of the pipeline 400 away from the capsule 300 is connected to the control device, and the control device is connected to the pressure sensor. The data glove is controlled in combination with feedback information from the pressure sensor to enable the hand to reach a preset activity state. For example, during rehabilitation training, the control device can be used to control the input pressure so that the pressure of each group of capsules reaches the required pressure value when the hand is grasping, so as to control the hand to achieve a preset action, thereby achieving precise rehabilitation.

[0072] See also Figures 1 to 7 The user wears the data glove firmly on the hand through the glove body 100. When the hand grasps an object, the multiple groups of capsules on the surface of the base 200 press the surface of the object to generate internal pressure changes. Each group of capsules is connected to the pressure sensor through the pipeline 400, which can measure the force data of each measurement area, thereby obtaining the force state of each position of the hand and detecting the grip level of the user's hand; the distribution of the capsule 300 is set, which can not only measure and evaluate the grip force of the hand, but also detect the force state of different positions of the palm and each phalanx position of each finger, and perform accurate force feedback, so as to judge the flexibility and coordination of the hand, and further evaluate and analyze the hand function and the user's control ability over hand activities.

[0073] See also Figures 1 to 7 The present invention can be used as a rehabilitation glove, which can accurately control hand movements such as grasping and pinching according to force feedback, especially for mirror rehabilitation training, to promote the rehabilitation of the patient's hand and the recovery of the brain functional area. During rehabilitation training, the data glove is worn on the patient's healthy side, and the rehabilitation glove is worn on the patient's affected side. The gripping force of each area of ​​the palm when the data glove grasps an object is measured by the force measuring device on the data glove, and the gripping force data is transmitted to the computer. The computer controls the output pressure through the control device to drive the rehabilitation glove to achieve the same gripping force, thereby achieving the effect of rehabilitation treatment. Mirror training can effectively reduce the patient's anxiety and self-consciousness disorder, improve the enthusiasm and self-confidence of rehabilitation training, obtain the best rehabilitation effect, and achieve precise rehabilitation. Of course, the present invention can also be used for hand training of ordinary people, enhance the grip strength of the hand, and further improve the ability of hand activities, enhance the coordination of hand and brain, and train the hand to master more refined control ability.

[0074] See also Figure 8According to an embodiment of the present invention, the interior of each capsule 300 can also be divided into two separate chambers, and the independent chambers at the same position in the capsule 300 in the same area are connected by a pipe 400 respectively. Through a plurality of capsules 300, force data can be measured for different areas of the hand. The independent chambers at different positions can sense forces from different directions, so that it can detect the deformation of the capsule 300 in multiple directions and then sense its multi-dimensional force distribution. For example, each capsule 300 can be divided into two independent upper and lower chambers, namely the first sub-area and the second sub-area. In each measurement area, the first sub-areas of all capsules 300 are connected by a pipe, and all second sub-areas are connected by another different pipe. Of course, in other embodiments, the capsule 300 can also be divided into two independent left and right chambers or a combination of multiple partition settings, so that the positive pressure applied by the hand and the friction force of the front and back and / or left and right can be distinguished.

[0075] It should be noted that the number of independent chambers, i.e., sub-areas within the capsule 300, can be set to 3, 4, or other numbers. Each sub-area within the same measurement area is connected by a corresponding pipe 400, i.e., each independent pipe 400 connects the independent chambers at the same position within each capsule 300 within the same measurement area. In addition to measuring the hand force data in different zones, the forces in different directions within the same area can be further measured and distinguished, so that the multi-dimensional forces at different positions of the hand can be measured more accurately. On this basis, the capsule 300 can be pressurized through a fluid medium, and then the capsule 300 is deformed to generate pressure and other stimulations to the corresponding hand, thereby generating tactile feedback.

[0076] The present invention can also be used in the field of robot control. By measuring and feeding back the gripping posture and gripping force in a timely manner, the flexibility and intelligence of the manipulator can be improved, and the setting of the capsule 300 will not cause damage to the object while achieving accurate measurement. In addition, it can also be used for human-computer interaction in virtual scenes. With the help of the force feedback function of the data glove, a real sense of touch is created when the user interacts with the three-dimensional object made by the computer, and the object information is fed back to the user, so that the user can truly feel the surface touch of the object, "touch" the virtual world in person, and interact with the virtual world more directly and naturally, greatly enhancing the interactivity and immersion.

[0077] In summary, the multifunctional data glove of the present invention sets a force measuring device on the glove body 100, and uses the pressure change generated by the contact between the capsule 300 on the base 200 and the object when the glove body 100 grasps or pinches the object with the hand to measure the grip force of various parts of the hand. The capsule 300 is connected to the sensor through the pipeline 400, and has a light structure, high flexibility, and is comfortable and safe to wear. Multiple groups of capsules are set corresponding to different positions of the hand, which can accurately measure the force of various positions of the hand and more accurately evaluate and analyze the hand function. The data glove is adjusted in combination with the control device so that the capsule 300 reaches a preset pressure, so that the wearing data glove The hand of the glove can reach a preset action state, different rehabilitation strategies can be adopted for different patients, and targeted rehabilitation training can be carried out. The data glove of the present invention can also be used as a rehabilitation glove for mirror training, and accurate measurement is performed using the data glove worn on the healthy hand, and the rehabilitation glove of the affected hand is controlled in real time through data feedback to perform preset actions. Mirror training can effectively improve the enthusiasm of patients for rehabilitation treatment, and the control is fine, and it can adapt to a variety of rehabilitation strategies. During the rehabilitation training process, the plan can be adjusted in time according to feedback to achieve accurate rehabilitation. In addition, the present invention can also be used for robot control and virtual interaction, etc., with a wide range of uses, simple structure, low cost, and easy to wear and use.

[0078] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

[0079] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present invention, the remaining technical features will not be described here in detail.

Claims

1. A multifunctional data glove, characterized in that: include: Glove body; A force measuring device is connected to the glove body and is located in the finger area, or the finger area and the palm area, and includes: A base body connected to the glove body; A plurality of capsules are arranged on the substrate and distributed in the finger region, or the finger region and the palm region; A plurality of pipes, each group of capsules is connected through one of the pipes; The pressure sensing module senses the internal pressure of each group of the capsules through the pipeline.

2. The multifunctional data glove according to claim 1, characterized in that: The capsule includes a finger area capsule, which is arranged corresponding to the finger area and includes: The thumb area capsule corresponds to the thumb area setting; At least one set of four-finger region capsules is arranged corresponding to the four-finger region.

3. The multifunctional data glove according to claim 2, characterized in that: The four-finger area capsule includes an index finger area capsule, which is arranged corresponding to the index finger area.

4. The multifunctional data glove according to claim 2, characterized in that: The four-finger area capsule also includes a middle finger area capsule and / or a ring finger area capsule and / or a little finger area capsule. The middle finger area capsule, the ring finger area capsule, and the little finger area capsule are located in the middle finger area, the ring finger area, and the little finger area, respectively.

5. The multifunctional data glove according to claim 1, characterized in that: The capsule also includes a palm area capsule, which is arranged corresponding to the palm area and includes: The proximal thumb capsule corresponds to the area near the base of the thumb; At least one group of distal thumb region capsules is disposed corresponding to an area distal to the base of the thumb.

6. The multifunctional data glove according to claim 5, characterized in that: The distal thumb region capsule comprises: The capsule of the proximal four-digit area corresponds to the area near the roots of the four fingers; The palm area capsule is set corresponding to the palm area.

7. The multifunctional data glove according to claim 2, characterized in that: The finger region capsules include a plurality of groups of phalange region capsules, and each of the phalange region capsules is arranged corresponding to each phalange region of each finger.

8. The multifunctional data glove according to claim 1, characterized in that: The substrate comprises a pipe layer, and the pipes are distributed in the pipe layer.

9. The multifunctional data glove according to claim 8, characterized in that: Each of the pipeline layers corresponds to at least one pipeline.

10. The multifunctional data glove according to claim 1, characterized in that: A control device is also included, and the pipeline is connected to the control device.

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