Tactile enhancement rehabilitation training system based on virtual-real interaction

Abstract

The invention discloses a virtual-real interaction-based tactile enhancement rehabilitation training system, which comprises a hand exoskeleton module, a hand exoskeleton target detection module, a tactile feedback control module and a virtual-real interaction rehabilitation training game module, and is characterized in that the hand exoskeleton module comprises a hand fixing unit, a power transmission unit, a Hall encoder and a finger execution unit; the hand fixing unit is provided with finger execution units matched with fingers of a patient, the tactile feedback control module comprises a controller and an electrical stimulation device, and the virtual-real interaction rehabilitation training game module is configured with a specific control strategy. According to the virtual-real interaction-based tactile enhancement rehabilitation training system provided by the embodiment of the invention, motion cognitive training and sensory enhancement are provided at the same time, exoskeleton assistance is controlled according to a detected virtual-real interaction state, and electrical stimulation is triggered to enhance tactile feedback; and the ability of the rehabilitation training system to stimulate the active participation of the user and the adaptability to different rehabilitation recovery conditions are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training, and in particular to a tactile enhancement rehabilitation training system based on virtual-real interaction. Background Art

[0002] Hand rehabilitation exoskeletons are a type of technology used to assist hand rehabilitation and enhance hand function. They are usually composed of mechanical structures, sensors, actuators, and control systems, which can simulate the movement of hand joints and help those who are injured or disabled regain hand function.

[0003] Rehabilitation training games attract patients to actively participate in rehabilitation training by providing interesting and challenging game tasks. Virtual reality technology can provide an immersive rehabilitation experience, allowing patients to feel like they are in a virtual environment and interact with virtual objects. Augmented reality technology can superimpose virtual objects on the real world, allowing patients to perform rehabilitation training in a real environment. By increasing user participation, applying virtual reality and augmented reality technologies, and personalized customization, rehabilitation training games have brought new possibilities to the field of rehabilitation and provided patients with a more interesting, effective and personalized rehabilitation training experience.

[0004] The tactile enhanced rehabilitation training system based on virtual-reality interaction combines rehabilitation training with game elements to increase patient participation, provide an interesting rehabilitation experience, and promote the improvement of rehabilitation effects. Since the rehabilitation process of each patient is gradual and variable, the existing rehabilitation training system sets fixed training parameters and is difficult to adapt to the patient's rehabilitation recovery.

[0005] It can be seen that how to improve the adaptability of the rehabilitation training system to patients has become a technical problem that needs to be urgently solved by those skilled in the art. Summary of the invention

[0006] The present invention provides a tactile enhancement rehabilitation training system based on virtual-reality interaction to solve the technical problem that the rehabilitation training system has low adaptability to patients, so as to achieve the effect of improving the high adaptability of the rehabilitation training system to patients.

[0007] In order to solve the above technical problems, an embodiment of the present invention provides a tactile enhancement rehabilitation training system based on virtual-reality interaction, including a virtual-reality interaction rehabilitation training game module and a hand exoskeleton module, a tactile feedback control module and a hand exoskeleton target detection module respectively controlled by the virtual-reality interaction rehabilitation training game module;

[0008] The hand exoskeleton module includes a hand fixing unit, a power transmission unit, a Hall encoder and a finger actuator unit, wherein the hand fixing unit is connected to the power transmission unit, the hand fixing unit is provided with the finger actuator unit matching each finger of the patient, and the Hall encoder is connected to the finger actuator unit;

[0009] The virtual-reality interactive rehabilitation training game module is configured as follows:

[0010] Generate a virtual hand target control strategy based on the task requirements of the virtual rehabilitation training model;

[0011] In a virtual rehabilitation training game, the Hall encoder is used to collect motion posture data in real time, and the hand exoskeleton target detection module is used to obtain hand position data in real time, and the motion posture data at least includes gesture grasping motion data;

[0012] Compare and interact the target data corresponding to the virtual hand target control strategy with the motion posture data and the hand position data, and generate an exoskeleton assistance strategy and a tactile enhancement control strategy based on the interaction results;

[0013] The exoskeleton assistance strategy is used to update the first control signal of the finger execution unit, and the tactile enhancement control strategy is used to update the second control signal of the tactile feedback control module to achieve tactile enhancement rehabilitation training.

[0014] As one preferred solution, the task requirements include a first virtual training task matching a first rehabilitation level, a second virtual training task matching a second rehabilitation level, and a third virtual training task matching a third rehabilitation level;

[0015] The virtual hand target control strategy is generated based on the task requirements of the virtual rehabilitation training mode, including:

[0016] The virtual hand target control strategy matching the hand position is generated according to the first virtual training task, the second virtual training task and the third virtual training task respectively, wherein the target data includes virtual posture data and virtual object position data.

[0017] As one of the preferred solutions, the finger execution unit includes a thumb execution unit and a four-finger execution unit, and the virtual-reality interactive rehabilitation training game module is further configured as follows:

[0018] Acquire the first motion posture data corresponding to the thumb execution unit collected in real time by the Hall encoder, and acquire the second motion posture data corresponding to the four-finger execution unit collected in real time by the Hall encoder;

[0019] A hand posture difference value is calculated based on the difference between the first motion posture data, the second motion posture data and the virtual posture data, and a hand position difference value is calculated based on the difference between the hand position data and the virtual object position data. The hand posture difference value and the hand position difference value are processed to obtain the exoskeleton assistance strategy and the tactile enhancement control strategy.

[0020] As one preferred solution, the tactile feedback control module includes a controller and an electrical stimulation device controlled by the controller, and the controller includes a host computer and a slave single-chip microcomputer;

[0021] The second control signal includes stimulation parameters and stimulation mode corresponding to the electrical stimulation device, and the stimulation parameters include frequency, pulse width and stimulation intensity.

[0022] As one of the preferred solutions, the four-finger execution unit includes four finger execution mechanisms corresponding to the index finger, middle finger, ring finger and little finger respectively, and multiple finger joint fixings corresponding to the index finger, middle finger, ring finger and little finger.

[0023] As one of the preferred solutions, the thumb actuator unit includes a secondary transmission mechanism, a thumb fixing member, a finger actuator corresponding to the thumb, and a knuckle fixing member corresponding to the thumb.

[0024] As one of the preferred solutions, the hand fixing unit includes a fixing plate, a motor fixing frame and a number of fixing connecting parts, and the power transmission unit includes a linear motor, a motor connecting part, a planar connecting rod mechanism and a connecting rotating shaft.

[0025] As one of the preferred schemes, the fixed plate connects the hand with the finger actuator unit, the motor fixing frame fixes the linear motor on the fixed plate, the fixed connecting part includes a fixed connecting part 1 connected to the thumb fixing part, a fixed connecting part 2 connected to the planar linkage mechanism, and a fixed connecting part 3 connected to the finger actuator, the motor connecting part connects the linear motor and the planar linkage mechanism, and the planar linkage mechanism connects the connecting rotating shaft.

[0026] As one of the preferred solutions, the connecting rotating shaft connects the finger actuator of the four-finger actuator unit and the secondary transmission mechanism of the thumb actuator unit, and the secondary transmission mechanism connects the finger actuator of the thumb actuator unit.

[0027] As one preferred solution, the real-time acquisition of hand position data using the hand exoskeleton target detection module includes:

[0028] In the virtual rehabilitation training game, real-time acquisition of hand exoskeleton images;

[0029] Hand position data in the hand exoskeleton image is extracted based on a target detection algorithm.

[0030] Yet another embodiment of the present invention provides a computer-readable storage medium storing a computer program, wherein when the device where the computer-readable storage medium is located executes the computer program, the tactile enhancement rehabilitation training system based on virtual-reality interaction as described above is implemented.

[0031] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0032] (1) The hand exoskeleton module, tactile feedback control module, hand exoskeleton target detection module and virtual-reality interaction rehabilitation training game module together constitute a tactile enhancement rehabilitation training system based on virtual-reality interaction. Considering that the rehabilitation stages of the patient's four fingers and thumb may be different, the finger execution unit includes a thumb execution unit and a four-finger execution unit. The rehabilitation training effects of the four-finger execution unit and the thumb execution unit are analyzed and controlled separately, rather than analyzing and controlling the four-finger execution unit and the thumb execution unit as a whole, thereby improving the adaptability of the rehabilitation training system to different parts of the patient;

[0033] (2) The virtual-reality interactive rehabilitation training game module generates a virtual hand target control strategy that matches the hand part based on the task requirements of the virtual rehabilitation training mode. The virtual hand target control strategy includes virtual posture data and virtual object position data. During the training process, the Hall encoder collects the first motion posture data of the thumb actuator and the second motion posture data of the four-finger actuator in real time. The hand exoskeleton target detection module collects the hand position data in real time, analyzes the difference between the first motion posture data, the second motion posture data and the virtual posture data, and calculates the hand posture difference value. The difference between the hand position data and the virtual object position data is analyzed and calculated. Considering the gap between the real-time collected patient hand motion posture and position and the set virtual posture data and virtual object position data, the first control signal of the finger actuator and the second control signal of the tactile feedback control module are updated to achieve enhanced feedback control of the hand part, and the stimulation parameters and stimulation modes corresponding to the electrical stimulation device are adjusted, thereby improving the ability of the rehabilitation training system to stimulate users' active participation and its adaptability to different rehabilitation recovery situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic structural diagram of a hand exoskeleton module in one embodiment of the present invention;

[0035] Figure 2is a processing flow chart of a virtual-reality interactive rehabilitation training game module in one embodiment of the present invention;

[0036] Reference numerals:

[0037] Among them, 1. Hand fixing unit; 2. Power transmission unit; 3. Thumb execution unit; 4. Four-finger execution unit. DETAILED DESCRIPTION

[0038] 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. The purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive. 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.

[0039] In the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0040] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 indirectly connected through an intermediate medium, or it can be a connection between the two elements. The terms "vertical", "horizontal", "left", "right", "upper", "lower" and similar expressions used herein are only for illustrative purposes, and do not indicate or imply 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. The term "and / or" used herein includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] In the description of this application, it should be noted that, unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art. The terms used 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. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0042] An embodiment of the present invention provides a tactile enhancement rehabilitation training system based on virtual-real interaction. For details, see Figure 1 , Figure 1 FIG. 1 is a schematic diagram of the structure of a hand exoskeleton module in one embodiment of the present invention. For details, see Figure 2 , Figure 2 Shown is a processing flow chart of a virtual-reality interactive rehabilitation training game module in one embodiment of the present invention.

[0043] In this embodiment, the tactile enhancement rehabilitation training system based on virtual-reality interaction includes a hand exoskeleton module, a hand exoskeleton target detection module, a tactile feedback control module and a virtual-reality interaction rehabilitation training game module. The hand exoskeleton module includes a hand fixation unit, a power transmission unit, a Hall encoder and a finger execution unit, the hand fixation unit is connected to the power transmission unit, the hand fixation unit is provided with a finger execution unit matching each finger of the patient, the Hall encoder is connected to the finger execution unit, the tactile feedback control module includes a controller and an electrical stimulation device, and the controller includes a host computer and a lower single-chip microcomputer.

[0044] It should be noted that since the recovery of each finger of the patient may be different, the overall training may affect the training effect of other fingers due to the pain or limitation of a certain finger. Training the four fingers and the thumb separately can more accurately solve their respective problems.

[0045] The finger execution unit of the present application includes a thumb execution unit and a four-finger execution unit. The four-finger execution unit includes four finger execution mechanisms corresponding to the index finger, middle finger, ring finger and little finger respectively, and multiple finger joint fixings corresponding to the index finger, middle finger, ring finger and little finger; the thumb execution unit includes a secondary transmission mechanism, a thumb fixing member, a finger execution mechanism corresponding to the thumb, and a finger joint fixing member corresponding to the thumb.

[0046] It should be noted that the Hall encoder uses lightweight but high-strength materials to manufacture the housing and other structural components, and its core component, the Hall element, is small in size and light in weight. In order to make the finger actuator unit as lightweight as possible, there is no bending sensor in the finger actuator unit to directly detect the degree of finger bending. Instead, a Hall encoder is set to collect the motion posture data of the finger.

[0047] In order to fix the patient's hand and provide power assistance for rehabilitation training, a hand fixation unit and a power transmission unit are set up. The hand fixation unit includes a fixing plate, a motor fixing frame and a number of fixing connecting parts. The power transmission unit includes a linear motor, a motor connecting part, a planar connecting rod mechanism and a connecting rotating shaft.

[0048] It should be noted that the hand fixation unit provides stable support for the patient's hand by fixing the position of the wrist, palm and fingers. It can effectively protect the injured part and prevent it from external impact and pressure. It helps prevent further damage to the hand due to inappropriate activities during the rehabilitation process. It also provides a good foundation for subsequent rehabilitation training.

[0049] The fixing plate connects the hand with the finger actuator unit, the motor fixing frame fixes the linear motor on the fixing plate, and the fixing connecting parts include a fixing connecting part 1 connected with the thumb fixing part, a fixing connecting part 2 connected with the planar connecting rod mechanism, and a fixing connecting part 3 connected with the finger actuator.

[0050] The motor connector connects the linear motor and the planar linkage mechanism, and the planar linkage mechanism is connected to the connecting rotating shaft. The connecting rotating shaft connects the finger actuator of the four-finger actuator unit and the secondary transmission mechanism of the thumb actuator unit, and the secondary transmission mechanism connects the finger actuator of the thumb actuator unit.

[0051] It should be noted that rehabilitation training games refer to the combination of rehabilitation training with game elements through technical means such as virtual reality, augmented reality, electronic games and mobile applications, in order to increase patient participation, provide interesting rehabilitation experience and promote the improvement of rehabilitation effects.

[0052] The virtual-reality interactive rehabilitation training game module generates a virtual hand target control strategy that matches the hand part based on the task requirements of the virtual rehabilitation training mode. It should be noted that the task requirements include a first virtual training task that matches the first rehabilitation level, a second virtual training task that matches the second rehabilitation level, and a third virtual training task that matches the third rehabilitation level, and the target data of the virtual hand target control strategy includes virtual posture data and virtual object position data.

[0053] It should be noted that during the interactive process of the rehabilitation training game, based on the task requirements of the virtual rehabilitation training mode, virtual objects are constructed by setting different virtual posture data and virtual object position data, so that patients can actively participate in the rehabilitation training game and interact with the virtual objects, and the second control signal of the tactile feedback control module and the first control signal of the finger execution unit are updated to achieve tactile enhancement.

[0054] When stimulating the proximal end of the injury, various somatic sensations associated with the hand can be evoked, so relevant inputs can be provided to the brain from the area of ​​the hand affected by the nerve injury. Functional electrical stimulation technology is a method that uses electric current to stimulate nerves and muscles to restore or improve motor function. Functional electrical stimulation technology is widely used in the field of rehabilitation, especially in the rehabilitation of patients with central nervous system injuries, amputations, spinal cord injuries and strokes. It can be used to restore muscle strength, improve motor control and coordination, and promote the prevention of muscle atrophy. Functional electrical stimulation technology stimulates the patient's nerves and muscles to cause muscle contraction and movement. Through appropriate stimulation parameters and patterns, it can help patients perform active muscle contraction and movement, promote the regeneration and reconstruction of neural pathways, and improve motor function.

[0055] During the rehabilitation training game, a camera is used to capture images of the hand exoskeleton in the virtual rehabilitation training game. Since the actual collected images of the hand exoskeleton may include other parts of the human body, background environment, etc., it is difficult to analyze the hand alone. Therefore, it is necessary to use a target detection algorithm to perform target detection on the hand exoskeleton image and extract the hand position data in the hand exoskeleton image.

[0056] In the virtual rehabilitation training game, the first motion posture data of the thumb execution unit and the second motion posture data of the four-finger execution unit are collected in real time through the Hall encoder, the differences among the first motion posture data, the second motion posture data and the virtual posture data are analyzed, the hand posture difference value is calculated, the difference between the hand position data and the virtual object position data is analyzed, the hand position difference value is calculated, the hand posture difference value and the hand position difference value are processed to obtain the exoskeleton assistance strategy and the tactile enhancement control strategy, the exoskeleton assistance strategy is used to update the first control signal of the finger execution unit, and the tactile enhancement control strategy is used to update the second control signal of the tactile feedback control module, and the tactile enhancement rehabilitation training is realized based on the interaction between the virtual object and the actual hand movement.

[0057] It should be noted that the second control signal includes stimulation parameters and stimulation modes corresponding to the electrical stimulation device. The stimulation parameters include frequency, pulse width and stimulation intensity. The electrodes are placed on the patient's skin surface or implanted into muscle tissue, and the stimulation signals are transmitted through electric current.

[0058] In order to facilitate the user to interact with the exoskeleton device, as another embodiment of the application, a user interface, such as buttons, a touch screen or a voice control function, can be provided in the tactile feedback control module. The user interface allows the user to adjust the stimulation parameters and stimulation mode of the electrical stimulation device and electrodes.

[0059] The principle of tactile enhancement rehabilitation training is as follows: according to the preset or initial rehabilitation level, the task requirements of the virtual rehabilitation training mode are determined, a virtual hand target control strategy matching the hand part is generated, and the first control signal of the finger execution unit is used to control the stimulation parameters and stimulation mode of the electrical stimulation device. In the process of the rehabilitation training game, the motion posture data of the thumb execution unit and the four-finger execution unit are collected in real time through the Hall encoder, and the hand position data is collected in real time through the hand exoskeleton target detection module. By analyzing the difference between the first motion posture data, the second motion posture data and the virtual posture data, the hand posture difference value is calculated, the difference between the hand position data and the virtual object position data is analyzed, and the hand position difference value is calculated, the exoskeleton auxiliary strategy and the tactile enhancement control strategy are determined, and the first control signal of the finger execution unit and the second control signal of the tactile feedback control module are updated, so that the user actively participates in the rehabilitation training, so that the difference between the virtual hand target control strategy and the real-time collected motion posture data and hand position data gradually decreases, providing real-time tactile feedback for the user, and the target action in the virtual environment triggers the electrical stimulation to provide sensory feedback, thereby enhancing the immersion in the virtual environment or augmented reality scene and achieving tactile enhancement. By simulating tactile sensations, users can participate in virtual experiences more immersively, improving the authenticity of perception and the realism of interaction, thereby enhancing rehabilitation effects.

[0060] Those skilled in the art can understand that all or part of the processes in the above embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0061] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A tactile enhancement rehabilitation training system based on virtual-real interaction, characterized in that: It includes a virtual-reality interactive rehabilitation training game module and a hand exoskeleton module, a tactile feedback control module and a hand exoskeleton target detection module respectively controlled by the virtual-reality interactive rehabilitation training game module; The hand exoskeleton module includes a hand fixing unit, a power transmission unit, a Hall encoder and a finger actuator unit, wherein the hand fixing unit is connected to the power transmission unit, the hand fixing unit is provided with the finger actuator unit matching each finger of the patient, and the Hall encoder is connected to the finger actuator unit; The virtual-reality interactive rehabilitation training game module is configured as follows: Generate a virtual hand target control strategy based on the task requirements of the virtual rehabilitation training model; In a virtual rehabilitation training game, the Hall encoder is used to collect motion posture data in real time, and the hand exoskeleton target detection module is used to obtain hand position data in real time, and the motion posture data at least includes gesture grasping motion data; Compare and interact the target data corresponding to the virtual hand target control strategy with the motion posture data and the hand position data, and generate an exoskeleton assistance strategy and a tactile enhancement control strategy based on the interaction results; The exoskeleton assistance strategy is used to update the first control signal of the finger execution unit, and the tactile enhancement control strategy is used to update the second control signal of the tactile feedback control module to achieve tactile enhancement rehabilitation training.

2. The tactile enhancement rehabilitation training system based on virtual-reality interaction as claimed in claim 1, characterized in that: The task requirements include a first virtual training task matching a first rehabilitation level, a second virtual training task matching a second rehabilitation level, and a third virtual training task matching a third rehabilitation level; The virtual hand target control strategy is generated based on the task requirements of the virtual rehabilitation training mode, including: The virtual hand target control strategy matching the hand position is generated according to the first virtual training task, the second virtual training task and the third virtual training task respectively, wherein the target data includes virtual posture data and virtual object position data.

3. The tactile enhancement rehabilitation training system based on virtual-reality interaction as claimed in claim 2, characterized in that: The finger execution unit includes a thumb execution unit and a four-finger execution unit, and the virtual-reality interactive rehabilitation training game module is further configured as follows: Acquire the first motion posture data corresponding to the thumb execution unit collected in real time by the Hall encoder, and acquire the second motion posture data corresponding to the four-finger execution unit collected in real time by the Hall encoder; A hand posture difference value is calculated based on the difference between the first motion posture data, the second motion posture data and the virtual posture data, and a hand position difference value is calculated based on the difference between the hand position data and the virtual object position data. The hand posture difference value and the hand position difference value are processed to obtain the exoskeleton assistance strategy and the tactile enhancement control strategy.

4. The tactile enhancement rehabilitation training system based on virtual-reality interaction according to claim 1, characterized in that: The tactile feedback control module includes a controller and an electrical stimulation device controlled by the controller, wherein the controller includes a host computer and a slave single chip microcomputer; The second control signal includes stimulation parameters and stimulation mode corresponding to the electrical stimulation device, and the stimulation parameters include frequency, pulse width and stimulation intensity.

5. The tactile enhancement rehabilitation training system based on virtual-reality interaction as claimed in claim 3, characterized in that: The four-finger execution unit includes four finger execution mechanisms corresponding to the index finger, middle finger, ring finger and little finger respectively, and a plurality of finger joint fixing parts corresponding to the index finger, middle finger, ring finger and little finger.

6. The tactile enhancement rehabilitation training system based on virtual-reality interaction as claimed in claim 5, characterized in that: The thumb actuator unit includes a secondary transmission mechanism, a thumb fixing member, a finger actuator corresponding to the thumb, and a knuckle fixing member corresponding to the thumb.

7. The tactile enhancement rehabilitation training system based on virtual-reality interaction according to claim 6, characterized in that: The hand fixing unit includes a fixing plate, a motor fixing frame and a plurality of fixing connecting parts, and the power transmission unit includes a linear motor, a motor connecting part, a planar connecting rod mechanism and a connecting rotating shaft.

8. The tactile enhancement rehabilitation training system based on virtual-reality interaction as claimed in claim 7, characterized in that: The fixed plate connects the hand with the finger actuator unit, the motor fixing frame fixes the linear motor on the fixed plate, the fixed connecting member includes a fixed connecting member 1 connected to the thumb fixing member, a fixed connecting member 2 connected to the planar linkage mechanism, and a fixed connecting member 3 connected to the finger actuator, the motor connecting member connects the linear motor and the planar linkage mechanism, and the planar linkage mechanism is connected to the connecting rotating shaft.

9. The tactile enhancement rehabilitation training system based on virtual-reality interaction as claimed in claim 7, characterized in that: The connecting rotation shaft is connected to the finger actuator of the four-finger actuator unit and to the secondary transmission mechanism of the thumb actuator unit, and the secondary transmission mechanism is connected to the finger actuator of the thumb actuator unit.

10. The tactile enhancement rehabilitation training system based on virtual-reality interaction according to claim 1, characterized in that: The method of using the hand exoskeleton target detection module to obtain hand position data in real time includes: In the virtual rehabilitation training game, real-time acquisition of hand exoskeleton images; Hand position data in the hand exoskeleton image is extracted based on a target detection algorithm.

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