Arm massage control method based on data acquisition glove and related equipment

Abstract

The embodiment of the invention discloses an arm massage control method based on a data collection glove and related equipment, and the method comprises the steps: obtaining motion data collected by the data collection glove worn on a hand when a mechanical arm stored in an intelligent sofa armrest is exported to massage the arm, the motion data comprises bending angles of finger joints, motion information of a palm in space and finger grasping force; according to the motion data, massage parameters are adjusted, and the massage parameters comprise massage strength, massage frequency and massage duration; controlling the mechanical arm to massage the arm according to the adjusted massage parameters; during massage, the data collection glove is matched to collect motion data, massage is flexibly adjusted according to the motion condition of fingers of a user, and the arm rehabilitation effect can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of smart sofas, and in particular to an arm massage control method based on data acquisition gloves and related equipment. Background Art

[0002] For people with physical disabilities, rehabilitation training can be performed on their limbs. At present, many sofas have massage functions, and you can use the sofa to massage your limbs at home, which is a convenient method of daily rehabilitation training. However, the sofas on the market only provide fixed massage methods. For example, if you need to rehabilitate arm disabilities (paralysis, stiffness, numbness), whether it is in the early, middle or late stages of rehabilitation, the inherent massage method is used, which lacks flexibility and is not conducive to improving the rehabilitation effect. Summary of the invention

[0003] The embodiment of the present application discloses an arm massage control method based on a data acquisition glove and related equipment, which can flexibly adjust the massage according to the movement of the user's fingers during the massage, which is beneficial to improving the arm rehabilitation effect.

[0004] In a first aspect, an embodiment of the present application discloses an arm massage control method based on a data acquisition glove, which may include:

[0005] When the robotic arm stored in the armrest of the smart sofa is massaging the arm, motion data collected by the data collection glove worn on the hand is obtained, and the motion data includes the bending angle of the finger joints, the motion information of the palm in space and the gripping strength of the fingers;

[0006] According to the motion data, adjusting massage parameters, the massage parameters including massage intensity, massage frequency and massage duration;

[0007] The mechanical arm is controlled to massage the arm with the adjusted massage parameters.

[0008] Optionally, before controlling the robotic arm to massage the arm with the massage parameters, the method further includes:

[0009] Detecting whether a massage rule is set, wherein the massage rule is to use multiple massage modes in sequence according to a preset order to perform cyclic massage, wherein the multiple massage modes include point massage, kneading massage, pressure massage, pinching massage and striking massage;

[0010] The controlling the mechanical arm to massage the arm with the adjusted massage parameters comprises:

[0011] When it is detected that the massage rule is set, the robot arm is controlled to massage the arm with adjusted massage parameters according to the massage rule.

[0012] Optionally, when detecting that the massage rule is set, and before controlling the mechanical arm to massage the arm with the adjusted massage parameters according to the massage rule, the method further includes:

[0013] When it is detected that the massage rule is set, the identity information and type information of the current massage staff are obtained;

[0014] When the type information indicates that the current massage staff is a first type of user, detecting whether voice soothing information associated with the identity information is saved;

[0015] After detecting the voice soothing information, the voice soothing information is sent to the wireless audio device to control the wireless audio device to play the voice soothing information.

[0016] Optionally, the method further includes: when the type information indicates that the current massage staff is a second type of user, prompting whether music needs to be played through the wireless audio device;

[0017] After receiving the confirmation information sent by the remote controller connected to the smart sofa, it is detected whether the smart sofa stores pre-stored music. If so, the pre-stored music is sent to the wireless audio device to control the wireless audio device to play the pre-stored music.

[0018] Optionally, the method also includes: when exporting the robotic arm housed in the armrest of the smart sofa to massage the arm, obtaining the external finger image inside the glove collected by the data acquisition glove, and sending the external finger image and motion data to the connected terminal, so that the terminal adjusts the established rehabilitation curve according to the external finger image and motion data, and the rehabilitation curve is established by the terminal based on the historical external finger images and historical motion data collected previously.

[0019] Optionally, after controlling the robotic arm to massage the arm with the massage parameters, the method further includes:

[0020] After taking off the data acquisition gloves, if the palm is placed on the armrest of the smart sofa and the massage function is not turned off, the robotic arm is controlled to massage the back of the hand and fingers.

[0021] Optionally, before the motion data collected by the data collection glove worn on the hand is obtained when the mechanical arm stored in the armrest of the smart sofa massages the arm, the method includes:

[0022] Establishing a communication connection between the smart sofa and the data acquisition glove;

[0023] Detecting whether the data acquisition glove is worn on the hand;

[0024] If so, in response to the massage start instruction, the robotic arm is guided out from the accommodation position of the smart sofa armrest and moved to the position corresponding to the initial massage point.

[0025] In a second aspect, the present application embodiment discloses a smart sofa, which may include:

[0026] A first acquisition module is used to acquire motion data collected by a data acquisition glove worn on a hand when a mechanical arm stored in an armrest of a smart sofa is massaging an arm, wherein the motion data includes a bending angle of a finger joint, motion information of a palm in space, and a gripping strength of the fingers;

[0027] An adjustment module, used for adjusting massage parameters according to the motion data, wherein the massage parameters include massage intensity, massage frequency and massage duration;

[0028] The massage module is used to control the robotic arm to massage the arm with adjusted massage parameters.

[0029] In a third aspect, the present application embodiment discloses a smart sofa, which may include:

[0030] a memory storing a computer program;

[0031] a processor coupled to the memory;

[0032] The processor calls the computer program stored in the memory to execute an arm massage control method based on a data acquisition glove disclosed in the first aspect of an embodiment of the present application.

[0033] In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute an arm massage control method based on a data acquisition glove disclosed in the first aspect of the embodiment of the present application.

[0034] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0035] In the embodiment of the present application, when the smart sofa exports the mechanical arm stored in the armrest to massage the arm, it obtains the motion data collected by the data acquisition gloves worn on the hand, the collected motion data include the bending angle of the finger joints, the movement information of the palm in space and the gripping strength of the fingers, and adjusts the massage parameters according to the motion data, and the massage parameters include massage strength, massage frequency and massage duration, and controls the mechanical arm to massage the arm with the adjusted massage parameters; through the embodiment of the present application, during the massage, it is possible to cooperate with the data acquisition gloves to collect motion data, and flexibly adjust the massage according to the movement of the user's fingers, which is conducive to improving the rehabilitation effect of the arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 This is a schematic diagram of the structure of a smart sofa in which a mechanical arm is stored in an armrest according to an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the structure of the robotic arm disclosed in an embodiment of the present application;

[0039] Figure 3 This is a schematic diagram of the structure of a data collection glove disclosed in an embodiment of the present application;

[0040] Figure 4 This is a flow chart of the arm massage control method based on the data acquisition glove disclosed in Example 1 of the present application;

[0041] Figure 5 This is a flow chart of the arm massage control method based on the data acquisition glove disclosed in Example 2 of the present application;

[0042] Figure 6 This is a flow chart of the arm massage control method based on the data acquisition glove disclosed in Example 3 of the present application;

[0043] Figure 7 This is a schematic diagram of the modular structure of the smart sofa disclosed in Example 1 of the present application;

[0044] Figure 8 This is a schematic diagram of the modular structure of the smart sofa disclosed in Example 2 of the present application;

[0045] Fig. 9 This is a schematic diagram of the structure of the smart sofa disclosed in Example 2 of the present application. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] It should be noted that the terms "first", "second", "third" and "fourth" in the specification and claims of the present application are used to distinguish different objects rather than to describe a specific order. The terms "including" and "having" in the embodiments of the present application and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] See also Figure 1 to Figure 2 , Figure 1 This is a schematic diagram of the structure of a smart sofa in which a mechanical arm is stored in an armrest according to an embodiment of the present application. Figure 2 Schematic diagram of the structure of the robotic arm disclosed in the embodiment of the present application. Figure 1 As shown, the smart sofa includes: a base 10, a backrest 20, armrests 30 arranged on both sides of the base, and a footrest arranged in front of the base 10 (stored and stacked in front of the base 10, not shown). Among them, the base 10 includes a base bracket, a base cushion placed on the base bracket, and a base leather wrapped around the base bracket and the base cushion. The backrest 20 includes a backrest body, a backrest cushion and a backrest leather. The backrest body is provided with a waist massage device and a neck massage device. The backrest cushion is placed on the surface of the backrest body that contacts the user's back, and then the backrest body and the backrest cushion are wrapped with the backrest leather. A Bluetooth speaker 40 is provided on the side of the backrest near the user's ear (when the user leans back against the backrest), which can be wirelessly connected to the terminal to control the playing of songs through the terminal. An opening is opened at the corresponding position on the backrest leather, and the Bluetooth speaker 40 is exposed to the outside through the opening.

[0049] The armrest 30 on each side includes an armrest body and an armrest cortex, wherein the armrest cortex is wrapped around the outside of the armrest body, wherein a control panel is provided on the armrest body of one side of the armrest, and physical buttons are provided on the control panel 50, including a physical button for an external remote control (one of the dots on the control panel 50), a physical button for turning on or off the massage function (another dot on the control panel 50), etc. A corresponding opening is provided on the armrest cortex, and the control panel 50 is exposed to the outside through the opening, which is convenient for user operation. A connection interface for a small table lamp is also provided on the armrest body, and similarly, a corresponding through hole is provided on the armrest cortex, and the connection interface is exposed to the outside through the through hole, which is convenient for connecting a small table lamp 60.

[0050] The above-mentioned footrest is connected to the electric mechanism provided on the base bracket. When not in use, the footrest is folded and stacked in front of the base 10 by the electric mechanism, and can be used as a part of the base. When in use, it is in a fixed position after being opened by the electric mechanism. Generally speaking, the fixed position is that the angle between the opened footrest and the base 10 is about 90 degrees. After the footrest is opened, the lower surface layer is a leather layer, and the leather layer can be the same as the leather layer and the leather layer of the backrest, so that the footrest can be integrated with the base when it is folded and stacked in front of the base. The upper surface is a massage layer, and a plurality of massage units are distributed in the footrest, which can be distributed in a point array, and the massage unit can be a columnar structure. When the foot massage function is not turned on, the upper surface of the massage unit is flush with the upper surface of the footrest, that is, on the same horizontal plane. Each massage unit is individually connected to a massage controller (if the volume of the footrest allows, the massage controller can be set inside the footrest, or the massage controller is set on the base bracket). The massage controller can control each massage unit to be individually exported. The export method can be a spiral export method. Each massage unit can be exported at different heights. The state presented by the massage unit after export is similar to the massage particles of the massage stone on the massage track. When the massage unit is massaging, its massage method is to strike the sole of the foot at a specified striking frequency. In order to better achieve the striking massage, the massage unit can be controlled to switch between exporting at its position and entering a certain distance.

[0051] like Figure 2 As shown, the mechanical arm 31 can be stored on the armrest 30 when not in use, specifically a storage cavity matching the shape of the mechanical arm 31. A button can be set next to the storage cavity of the armrest 30 or on the control panel 50, or a corresponding button can be set on the remote control for exporting the mechanical arm 31 and folding the mechanical arm 31. Among them, the button can distinguish the left and right armrests, that is, the mechanical arm 31 of the left or right armrest can be controlled to be exported or folded separately. The shape of the mechanical arm 31 is similar to that of the human hand, including arm joints, palms and finger joints. The massage modes that can be set for the mechanical arm 31 are: point massage, kneading massage, pressure massage, pinching massage and striking massage. A single massage mode can be selected to massage the user's arm, or a set of massage rules can be set, such as using multiple massage modes in sequence in a preset order for cyclic massage, and each massage mode has a preset massage duration. For example, the preset order is: point massage-kneading massage-pressure massage-pinching massage-strike massage, and the massage duration of each massage mode is 2 minutes. Massage is performed cyclically in the above order.

[0052] In addition to the above-mentioned arm massage performed by the robotic arm 31, a waist massage device, a neck massage device, etc. are also provided to realize massages including waist massage, neck massage, etc. Correspondingly, the above-mentioned massage modes point massage, kneading massage, pressure massage, pinching massage and striking massage can also be set for the waist and neck, or can also be set to acupuncture massage, tapping massage, kneading massage, etc.

[0053] Furthermore, the smart sofa is also provided with a microcontroller unit (MCU) and a communication module. The MCU can be installed on the backrest body or on the base bracket. The communication module is connected to the MCU, and the above-mentioned control panel, connection interface of the small table lamp, Bluetooth audio, various massage devices, electric mechanism, robotic arm, etc. are all connected to the MCU.

[0054] Furthermore, a desk lamp controller (not shown) can be provided inside the armrest. The desk lamp controller is connected to the MCU. The user can send a switch command to the smart sofa via a remote control. The smart sofa controls the desk lamp switch via the desk lamp controller, which is simple and convenient.

[0055] Optionally, a sensor, such as a pressure sensor, may be installed on the backrest body to collect the user's back pressure to assist in massage.

[0056] Furthermore, the smart sofa also includes a memory connected to the MCU for storing collected motion data, massage modes, external finger images, data collected by sensors, etc.

[0057] It is understood that the structure disclosed in the embodiment of the present application does not constitute a specific limitation on the smart sofa. In other embodiments of the present application, the smart sofa may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0058] like Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of a data acquisition glove disclosed in an embodiment of the present application. The finger part of the data acquisition glove is provided with an angle sensor (not shown), the palm part is provided with an inertial sensor (not shown), and the inner layer of the glove is provided with a flexible pressure sensor (not shown). The smart sofa can be connected to the data acquisition glove through an MCU to perform data acquisition.

[0059] It is to be understood that the structure disclosed in the embodiments of the present application does not constitute a specific limitation on the data acquisition glove. In other embodiments of the present application, the data acquisition glove may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0060] In combination with the above introduction, the embodiment of the present application discloses an arm massage control method based on data acquisition gloves and related equipment, which can flexibly adjust the massage according to the movement of the user's fingers during massage, which is conducive to improving the arm rehabilitation effect. The following is a detailed description of the technical solution of the present application from the perspective of the smart sofa through specific embodiments.

[0061] See also Figure 4 , Figure 4 Schematic diagram of the process of the arm massage control method based on the data acquisition glove disclosed in the first embodiment of the present application; Figure 4 As shown, the arm massage control method based on the data acquisition glove may include:

[0062] 401. When the robotic arm stored in the armrest of the smart sofa is massaging the arm, motion data collected by the data collection gloves worn on the hand is obtained, and the motion data includes the bending angle of the finger joints, the movement information of the palm in space and the gripping strength of the fingers.

[0063] The execution subject of the embodiment of the present application is a smart sofa, for example, Figure 1 and Figure 2 shown.

[0064] Among them, the robotic arm is stored in the storage cavity of the armrest, and can be used to massage the user's arm and obtain motion data collected by the data acquisition gloves worn by the masseur. The motion data includes the bending angle of the finger joints, the movement information of the palm in space and the finger gripping strength.

[0065] Optionally, when exporting the mechanical arm stored in the armrest of the smart sofa to massage the arm, the motion data collected by the data collection glove worn on the hand is obtained, including:

[0066] Detect the operation of the button (located next to the armrest storage cavity or on the control panel) used to control the extension or folding of the robotic arm, or receive the extension instruction sent by the remote control to instruct the control of the robotic arm to be extended, control the robotic arm to be extended from the storage cavity and massage the arm, and obtain the motion data collected by the data acquisition gloves worn on the hand.

[0067] In the above embodiment, a storage cavity is provided for storing the mechanical arm, and the structure can be simplified when the mechanical arm is not in use, and the mechanical arm is guided out only when in use. The mechanical arm can be guided out by the corresponding button on the smart sofa or the remote control, and a variety of control methods can be selected, which is simple and convenient.

[0068] Exemplarily, the data collection gloves are as follows Figure 3As shown, the finger part of the data acquisition glove is provided with an angle sensor, the palm part is provided with an inertial sensor, and the inner layer of the glove is provided with a flexible pressure sensor. Before use, a communication connection is established with the smart sofa. The angle sensor is used to collect the bending angle of the finger joints, the inertial sensor is used to detect the spatial motion state of the entire palm, thereby obtaining the motion information of the palm in space, and the flexible pressure sensor is used to detect the pressure value of each part of the finger when grasping, and obtain the gripping strength of each finger. Optionally, the motion information of the palm in space includes the acceleration measured by the inertial sensor in three dimensions, that is, the motion information indicates the motion amplitude of the palm.

[0069] Optionally, controlling the robotic arm to massage the arm includes: massaging the arm using a default massage mode with default massage parameters; wherein the default massage mode is pre-set and is the default massage mode used when the user has not selected a massage mode, and the default massage parameters are also preset and the massage parameters used before have not been adjusted.

[0070] Wherein, optionally, the default massage mode is any one of point massage, kneading massage, pressure massage, pinching massage and striking massage, or a combination of at least two of them. Wherein, the default massage mode may first adopt a relatively gentle massage mode. The default massage parameters may also adopt the minimum parameters or relatively small parameters.

[0071] 402. Adjust massage parameters according to the motion data, where the massage parameters include massage intensity, massage frequency, and massage duration.

[0072] It can be seen that the greater the bending angle of the finger joints, the greater the movement amplitude indicated by the motion information, and the greater the gripping force of each finger, the better the massager's arm rehabilitation effect is. For paralyzed or vegetative users, it reflects the continuous recovery of brain consciousness and the stronger the perception of the arm. Therefore, at the beginning, the default massage parameter is a relatively small value, and the massage effect is relatively mild. If the motion data indicates that the user's finger activity is large, the massage parameter value can be appropriately increased to achieve a better massage effect; on the contrary, if the motion data indicates that the user's fingers are almost not active or the reaction fingers are relatively stiff, it is judged that the user cannot withstand the massage effect of the default massage parameter. If there are massage parameters with smaller values ​​than the default massage parameters, the massage parameters can be adjusted down to obtain a gentler massage effect and avoid unnecessary physical harm to the massager.

[0073] 403. Control the robotic arm to massage the arm with the adjusted massage parameters.

[0074] Optionally, the massage track can be saved in the robot arm, such as starting the massage from the uppermost part of the arm (initial massage point) and slowly moving to the wrist. Of course, the massage track can also be saved in the memory of the smart sofa, and the smart sofa can send the massage track to the robot arm after exporting the robot arm.

[0075] In the embodiment of the present application, when the smart sofa exports the mechanical arm stored in the armrest to massage the arm, it obtains the motion data collected by the data acquisition gloves worn on the hand, the collected motion data include the bending angle of the finger joints, the movement information of the palm in space and the gripping strength of the fingers, and adjusts the massage parameters according to the motion data, and the massage parameters include the massage strength, massage frequency and massage duration, and controls the mechanical arm to massage the arm with the massage parameters; through the embodiment of the present application, during the massage, the motion data can be collected in conjunction with the data acquisition gloves, and the massage can be flexibly adjusted according to the movement of the user's fingers, which is conducive to improving the rehabilitation effect of the arm.

[0076] See also Figure 5 , Figure 5 Schematic diagram of the flow of the arm massage control method based on the data acquisition glove disclosed in the second embodiment of the present application; Figure 5 As shown, the arm massage control method based on the data acquisition glove includes:

[0077] 501. When the robotic arm stored in the armrest of the smart sofa is massaging the arm, motion data collected by the data collection gloves worn on the hand is obtained, and the motion data includes the bending angle of the finger joints, the movement information of the palm in space and the gripping strength of the fingers.

[0078] The execution subject of the embodiment of the present application is a smart sofa, for example, Figure 1 and Figure 2 shown.

[0079] Exemplarily, data collection gloves such as Figure 3 shown.

[0080] 502. Adjust massage parameters according to the motion data, where the massage parameters include massage intensity, massage frequency, and massage duration.

[0081] Optionally, the massage parameters may be the pressure applied to the masseur when the robotic arm massages the palm or finger joints, the frequency used during the massage, and the duration of the massage.

[0082] 503. Detect whether a massage rule is set, and the massage rule is to use multiple massage modes in a preset order for cyclic massage, and the multiple massage modes include point massage, kneading massage, pressure massage, pinching massage and striking massage; when it is detected that the massage rule is set, execute step 504, and when the massage rule is not detected, execute step 505.

[0083] In an embodiment of the present application, massage rules can be set for massage, and the massage rules are to use multiple massage modes in sequence according to a preset order for cyclic massage. The multiple massage modes include point massage, kneading massage, pressure massage, pinching massage and striking massage, and each massage mode massages for 2 minutes.

[0084] 504. Control the robotic arm to massage the arm according to the massage rule with the adjusted massage parameters.

[0085] In step 504, the adjusted massage parameters are used to replace the original massage parameters to massage the arm. Exemplarily, the massage rule can be implemented by a cycle of point massage and kneading massage, that is, point massage-kneading massage-point massage-kneading massage-point massage-kneading massage---, until the massage duration is met and ends, and the massage duration can include the duration of a single massage of each massage mode and the total duration, when the duration of a single massage mode is met, switch to the next sequential massage mode, and end the massage when the total duration is met.

[0086] Further, controlling the robotic arm to massage the arm with the adjusted massage parameters according to the massage rule includes: according to the massage mode in the massage rule, controlling the palm or finger joints of the robotic arm to massage the arm with the adjusted massage parameters. Exemplarily, the massage rule is implemented by a point massage and a kneading massage cycle, first controlling the finger joints of the robotic arm to click at a massage frequency, and when switching to a kneading massage, controlling the palm of the robotic arm to massage at the massage frequency in a kneading manner.

[0087] Optionally, in combination with the massage trajectory, the robotic arm massages the arm with the adjusted massage parameters according to the massage rules in the path of the massage trajectory. Exemplarily, the massage rule is implemented by a cycle of point massage and kneading massage, that is, point massage-kneading massage-point massage-kneading massage-point massage-kneading massage---, until the massage duration is met, the path of the massage trajectory is upper upper arm-lower upper arm-upper forearm-lower forearm, and then the massage duration can include the duration of a single massage of each massage mode, the duration corresponding to each node in the path of the massage trajectory in sequence, and the total duration, when the duration of a single massage mode is met, switch to the next order of massage mode, when the duration of each node in the path is met, move to the next node, and end the massage when the total duration is met.

[0088] Optionally, in an optional implementation, when it is detected that massage rules are set, the identity information and type information of the current masseur are obtained; when the type information indicates that the current masseur is a first type of user, it is detected whether voice soothing information associated with the identity information is saved; after the voice soothing information is detected, the voice soothing information is sent to the wireless audio device to control the wireless audio device to play the voice soothing information.

[0089] Among them, the first type of users may be vegetative people or people paralyzed by stroke, who are completely unable to move. For this type of users, in the embodiment of the present application, relatives can pre-record a voice, which can be a voice like a daily conversation with them or an encouraging voice that they want to say to the masseur to encourage or stimulate physical functions. As voice soothing information, it can be associated with the identity information of the masseur and saved in the smart sofa, or saved in the terminal.

[0090] In the above implementation, when the current masseur is a first type of user, voice comforting messages from relatives can be played through wireless audio equipment. While massaging the current masseur, the body functions of the current masseur can be stimulated through words, which helps the current masseur's recovery.

[0091] Alternatively, when the type information indicates that the current massager is a second type user, the wireless audio device prompts whether to play music; after receiving the confirmation information sent by the remote control connected to the smart sofa, it is detected whether the smart sofa stores pre-stored music, and if so, the pre-stored music is sent to the wireless audio device to control the wireless audio device to play the pre-stored music. In this embodiment, the second type user can be an ordinary user with stiff or numb arms. For this type of user, they can choose whether to play music, which helps to relax their body and mind.

[0092] 505. Control the robotic arm to massage the arm with the adjusted massage parameters.

[0093] When the above embodiment is implemented, the smart sofa obtains motion data collected by the data acquisition gloves worn on the hands when the mechanical arm stored in the armrest is used to massage the arms. The collected motion data include the bending angles of the finger joints, the motion information of the palm in space and the gripping strength of the fingers. The massage parameters are adjusted according to the motion data. The massage parameters include the massage strength, the massage frequency and the massage duration. If there are massage rules, the mechanical arm is controlled to massage the arms with the adjusted massage parameters according to the massage rules. Through the embodiments of the present application, the motion data can be collected in cooperation with the data acquisition gloves during massage, and the massage can be flexibly adjusted according to the movement of the user's fingers, which is conducive to improving the rehabilitation effect of the arms.

[0094] See also Figure 6 , Figure 6 Schematic diagram of the flow of the arm massage control method based on the data acquisition glove disclosed in Example 3 of the present application; Figure 6 As shown, the arm massage control method based on the data acquisition glove may include:

[0095] 601. Establish a communication connection between the smart sofa and the data acquisition gloves.

[0096] The execution subject of the embodiment of the present application is a smart sofa, for example, Figure 1 and Figure 2 shown.

[0097] Exemplarily, the data collection gloves are as follows Figure 3 shown.

[0098] 602. Detect whether the data collection gloves are worn on the hands; if so, execute step 603; if not, execute step 602.

[0099] 603. In response to the massage start instruction, the robotic arm is guided out from the accommodation position of the smart sofa armrest and moved to the position corresponding to the initial massage point.

[0100] In the embodiment of the present application, the robot arm can be controlled to be led out through the massage start instruction, that is, there is no need to give an export instruction to instruct the robot arm to be led out, but a massage start instruction (an opening instruction for arm massage) can be directly input, and then the robot arm can be led out to start massaging the arm. Figure 5 Description: Optionally, the path of the preset massage trajectory, the initial massage point is the uppermost part of the upper arm.

[0101] Optionally, since a table lamp is also provided on one of the armrests, after detecting the massage start command, it is detected whether the table lamp hinders the robotic arm from massaging the arm. If so, the smart sofa sends a move command to the table lamp controller to control the table lamp to move to other directions to avoid hindering the robotic arm massage.

[0102] Furthermore, if the desk lamp can be folded up when not in use, the smart sofa can directly send a folding instruction to the desk lamp controller to fold up the desk lamp.

[0103] 604. When the robotic arm stored in the armrest of the smart sofa is massaging the arm, motion data collected by the data collection gloves worn on the hand is obtained, and the motion data includes the bending angle of the finger joints, the movement information of the palm in space and the gripping strength of the fingers.

[0104] Optionally, when the robotic arm housed in the armrest of the smart sofa is exported to massage the arm, the collected external finger image is obtained, and the external finger image and motion data are sent to the connected terminal, so that the terminal adjusts the established rehabilitation curve according to the external finger image and motion data, and the rehabilitation curve is established by the terminal based on the historical external finger images and historical motion data collected previously.

[0105] Optionally, a camera can be set at the backrest position behind the armrest or at the corresponding position of the armrest to capture the image of the entire smart hand sock and obtain the external finger image. The activity of the fingers can be observed from the outside, and combined with the internal motion data, a more accurate recovery curve can be established for massage personnel.

[0106] Furthermore, when the camera is turned on to capture external finger images, the smart sofa can also detect the ambient brightness. When the ambient brightness is less than the brightness threshold, a light control instruction is sent to the table lamp controller on the smart sofa to control the small table lamp on the armrest to turn on.

[0107] In the above embodiment, each time the arm is massaged, the motion data and external finger images collected by the data acquisition gloves are sent to the terminal, and the terminal creates a rehabilitation curve chart through the APP. After that, after receiving the motion data and external finger images, the terminal adjusts the rehabilitation curve chart to record the rehabilitation status of the user's arm.

[0108] 605. Adjust massage parameters according to the motion data, where the massage parameters include massage intensity, massage frequency, and massage duration.

[0109] 606. Control the robotic arm to massage the arm with the adjusted massage parameters.

[0110] Optionally, after taking off the data collection gloves, if the palm is placed on the armrest of the smart sofa and the massage function is not turned off, the robotic arm is controlled to massage the back of the hand and fingers.

[0111] In the above embodiment, after taking off the data collection gloves, the palms can be placed on the armrests of the smart sofa, and then the backs of the hands and fingers can be further massaged.

[0112] When the above embodiment is implemented, the smart sofa obtains motion data collected by the data acquisition gloves worn on the hands when the mechanical arm stored in the armrest is used to massage the arms. The collected motion data include the bending angles of the finger joints, the motion information of the palm in space and the gripping strength of the fingers. The massage parameters are adjusted according to the motion data. The massage parameters include the massage strength, the massage frequency and the massage duration. The mechanical arm is controlled to massage the arms with the massage parameters. Through the embodiments of the present application, the motion data can be collected in cooperation with the data acquisition gloves during the massage. The massage can be flexibly adjusted according to the movement of the user's fingers, which is conducive to improving the rehabilitation effect of the arms.

[0113] See also Figure 7 , Figure 7 Schematic diagram of the modular structure of the smart sofa disclosed in Example 1 of this application; Figure 7 As shown, the smart sofa may include:

[0114] The first acquisition module 701 is used to obtain motion data collected by the data acquisition glove worn on the hand when the mechanical arm stored in the armrest of the smart sofa massages the arm, and the motion data includes the bending angle of the finger joint, the motion information of the palm in space and the gripping strength of the fingers;

[0115] An adjustment module 702, for adjusting massage parameters according to the motion data, the massage parameters including massage intensity, massage frequency and massage duration;

[0116] The massage module 703 is used to control the robot arm to massage the arm with the adjusted massage parameters.

[0117] In implementing the above embodiment, the smart sofa obtains motion data collected by the data acquisition gloves worn on the hands when exporting the mechanical arm stored in the armrest to massage the arm through the first acquisition module 701. The collected motion data include the bending angle of the finger joints, the movement information of the palm in space and the gripping strength of the fingers. The adjustment module 702 adjusts the massage parameters according to the motion data. The massage parameters include massage strength, massage frequency and massage duration. The massage module 703 controls the mechanical arm to massage the arm with the massage parameters. Through the embodiment of the present application, during massage, the motion data can be collected in conjunction with the data acquisition gloves, and the massage can be flexibly adjusted according to the movement of the user's fingers, which is conducive to improving the rehabilitation effect of the arm.

[0118] See also Figure 8 , Figure 8 This is a schematic diagram of the modular structure of the smart sofa disclosed in Example 2 of the present application; Figure 8 is Figure 7 The smart sofa shown is optimized based on Figure 8 The smart sofa shown also includes: a first detection module 801, a playback module 802, a second acquisition module 803 and a connection module 804.

[0119] The first detection module 801 is used to detect whether a massage rule is set before the massage module 703 controls the mechanical arm to massage the arm with the massage parameters, and the massage rule is to use multiple massage modes in a preset order to perform cyclic massage, and the multiple massage modes include point massage, kneading massage, pressure massage, pinching massage and striking massage;

[0120] Specifically, the massage module 703 is used to control the robot arm to massage the arm with the adjusted massage parameters in the following manner:

[0121] When it is detected that a massage rule is set, the robot arm is controlled to massage the arm with adjusted massage parameters according to the massage rule.

[0122] Further optionally, the first detection module 801 is also used to obtain the identity information and type information of the current masseur when it is detected that a massage rule is set, and before the massage module 703 controls the robotic arm to massage the arm with adjusted massage parameters according to the massage rule; when the type information indicates that the current masseur is a first type of user, detect whether voice soothing information associated with the identity information is saved; after detecting the voice soothing information, send the voice soothing information to the wireless audio device to control the wireless audio device to play the voice soothing information.

[0123] Alternatively, the first detection module 801 is further configured to prompt whether music needs to be played through a wireless audio device when the type information indicates that the current massager is a second type of user;

[0124] The playing module 802 is used to detect whether the smart sofa stores pre-stored music after receiving the confirmation information sent by the remote control connected to the smart sofa. If so, the pre-stored music is sent to the wireless audio device to control the wireless audio device to play the pre-stored music.

[0125] Optionally, the second acquisition module 803 is also used to obtain the external finger image inside the glove collected by the data acquisition glove when the robotic arm housed in the armrest of the smart sofa massages the arm, and send the external finger image and motion data to the connected terminal, so that the terminal adjusts the established rehabilitation curve according to the external finger image and motion data, and the rehabilitation curve is established by the terminal based on the historical external finger image and historical motion data collected previously.

[0126] The massage module 703 is also used to control the robotic arm to massage the arm with massage parameters, and after taking off the data acquisition gloves, if the palm is placed on the armrest of the smart sofa and the massage function is not turned off, to control the robotic arm to massage the back of the hand and fingers.

[0127] Optionally, the connection module 804 is used to establish a communication connection between the smart sofa and the data acquisition glove before the first acquisition module 701 obtains the motion data collected by the data acquisition glove worn on the hand when the robotic arm stored in the armrest of the smart sofa is exported to massage the arm; detect whether the data acquisition glove is worn on the hand; if so, in response to the massage start instruction, export the robotic arm from the accommodation position of the smart sofa armrest and move it to the position corresponding to the initial massage point.

[0128] See also Fig. 9 , Fig. 9 This is a schematic diagram of the structure of the smart sofa disclosed in Example 2 of the present application; Fig. 9 The smart sofa shown may include:

[0129] A memory 901 storing a computer program;

[0130] a processor 902 coupled to the memory;

[0131] The processor calls the computer program stored in the memory to execute Figures 4 to 6 Any partial or complete steps of an arm massage control method based on a data acquisition glove.

[0132] The present application also discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute Figures 4 to 6 Disclosed is an arm massage control method based on a data acquisition glove.

[0133] The present application also discloses a computer program product, which, when executed on a computer, enables the computer to execute Figures 4 to 6 Part or all of the steps of any disclosed method.

[0134] The embodiment of the present application also discloses an application publishing platform, which is used to publish a computer program product, wherein when the computer program product is run on a computer, the computer executes Figures 4 to 6 Part or all of the steps of any disclosed method.

[0135] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0136] The above is a detailed introduction to an arm massage control method based on a data acquisition glove and related equipment disclosed in an embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An arm massage control method based on data acquisition gloves, characterized in that: include: When the robotic arm stored in the armrest of the smart sofa is massaging the arm, motion data collected by the data collection glove worn on the hand is obtained, and the motion data includes the bending angle of the finger joints, the motion information of the palm in space and the gripping strength of the fingers; According to the motion data, adjusting massage parameters, the massage parameters including massage intensity, massage frequency and massage duration; The mechanical arm is controlled to massage the arm with the adjusted massage parameters.

2. The method according to claim 1, characterized in that Before controlling the mechanical arm to massage the arm with the massage parameters, the method further includes: Detecting whether a massage rule is set, wherein the massage rule is to use multiple massage modes in sequence according to a preset order to perform cyclic massage, wherein the multiple massage modes include point massage, kneading massage, pressure massage, pinching massage and striking massage; The controlling the mechanical arm to massage the arm with the adjusted massage parameters comprises: When it is detected that the massage rule is set, the robot arm is controlled to massage the arm with adjusted massage parameters according to the massage rule.

3. The method according to claim 2, characterized in that When the massage rule is detected and before the mechanical arm is controlled to massage the arm with the adjusted massage parameters according to the massage rule, the method further includes: When it is detected that the massage rule is set, the identity information and type information of the current massage staff are obtained; When the type information indicates that the current massage staff is a first type of user, detecting whether voice soothing information associated with the identity information is saved; After detecting the voice soothing information, the voice soothing information is sent to the wireless audio device to control the wireless audio device to play the voice soothing information.

4. The method according to claim 3, characterized in that The method further comprises: When the type information indicates that the current massager is a second type of user, prompting whether to play music through the wireless audio device; After receiving the confirmation information sent by the remote controller connected to the smart sofa, it is detected whether the smart sofa stores pre-stored music. If so, the pre-stored music is sent to the wireless audio device to control the wireless audio device to play the pre-stored music.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the robotic arm housed in the armrest of the smart sofa is massaging the arm, the collected external finger image is obtained, and the external finger image and motion data are sent to the connected terminal, so that the terminal adjusts the established rehabilitation curve according to the external finger image and motion data, and the rehabilitation curve is established by the terminal according to the historical external finger image and historical motion data collected previously.

6. The method according to claim 1, characterized in that After controlling the mechanical arm to massage the arm with the massage parameters, the method further includes: After taking off the data acquisition gloves, if the palm is placed on the armrest of the smart sofa and the massage function is not turned off, the robotic arm is controlled to massage the back of the hand and fingers.

7. The method according to claim 1, characterized in that When the mechanical arm stored in the armrest of the smart sofa is massaging the arm, before obtaining the motion data collected by the data collection glove worn on the hand, the method includes: Establishing a communication connection between the smart sofa and the data acquisition glove; Detecting whether the data acquisition glove is worn on the hand; If so, in response to the massage start instruction, the robotic arm is guided out from the accommodation position of the smart sofa armrest and moved to the position corresponding to the initial massage point.

8. A smart sofa, characterized in that: include: A first acquisition module is used to acquire motion data collected by a data acquisition glove worn on a hand when a mechanical arm stored in an armrest of a smart sofa is massaging an arm, wherein the motion data includes a bending angle of a finger joint, motion information of a palm in space, and a gripping strength of the fingers; An adjustment module, used for adjusting massage parameters according to the motion data, wherein the massage parameters include massage intensity, massage frequency and massage duration; The massage module is used to control the robotic arm to massage the arm with adjusted massage parameters.

9. A smart sofa, characterized in that: include: a memory storing a computer program; a processor coupled to the memory; The processor calls the computer program stored in the memory to execute the arm massage control method based on the data acquisition glove as described in any one of claims 1-7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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