A training device and a training method for tactile perception recovery

Abstract

The present disclosure relates to the technical field of tactile perception human-computer interaction, and discloses a training device and a training method for tactile perception recovery, wherein the training device includes a controller, a tactile stimulation generator and a tactile feedback glove, wherein the controller is electrically connected to the tactile stimulation generator, the tactile stimulation generator includes a plurality of first output terminals and a second output terminal, wherein the plurality of first output terminals are electrically connected to different first gel electrode sheets respectively, the second output terminal is electrically connected to the second gel electrode sheet, the second gel electrode sheet is embedded in the palm of the tactile feedback glove, and the tactile stimulation generator includes an electrically connected waveform generation module, a DC bias module and a voltage amplification module. The training method is applied to the above-mentioned training device. The present disclosure can realize rehabilitation training of the user's tactile perception through electrical stimulation, and can optimize and find the most suitable electrical stimulation intensity for different users according to their different situations, which is conducive to improving the efficiency of rehabilitation training and ensuring the training effect.

Description

Technical Field

[0001] The present disclosure relates to the technical field of tactile perception human-computer interaction, and in particular to a training device and a training method for tactile perception recovery. Background Art

[0002] With the improvement of living standards, the proportion of the aging population continues to increase. Stroke is a common disease among the elderly, with the characteristics of high morbidity, high disability rate, high mortality rate and high recurrence rate. Hemiplegia caused by stroke will greatly affect the patient's daily life.

[0003] The functional impairment left after a stroke seriously affects the patient's daily life, and currently the focus is on motor function rehabilitation. However, there are few smart devices for sensory rehabilitation in the existing technology. Relevant literature proves that peripheral nerve electrical stimulation can regulate the activation of related brain areas.

[0004] Therefore, it is a technical problem that needs to be urgently solved by technical personnel in this field to provide a training device and a training method for tactile perception recovery that can achieve rehabilitation training for the user's tactile perception through electrical stimulation, and can find the most suitable electrical stimulation intensity for different users according to their different situations, which is beneficial to improving the efficiency of rehabilitation training and ensuring the training effect. Summary of the invention

[0005] In order to solve the above technical problems, the present disclosure provides a training device and a training method for tactile perception recovery, so as to solve the problem that there are few sensory rehabilitation devices for stroke patients and the training effect is poor in the prior art.

[0006] The present disclosure provides a training device for tactile perception recovery, comprising a controller, a tactile stimulation generator and a tactile feedback glove, wherein the controller is electrically connected to the tactile stimulation generator, the tactile stimulation generator comprises a plurality of first output ends and a second output end, the plurality of first output ends are electrically connected to different first gel electrode sheets respectively, the first gel electrode sheets are embedded in the finger ends of the tactile feedback glove; the second output end is electrically connected to the second gel electrode sheet, the second gel electrode sheet is embedded in the palm part of the tactile feedback glove, and the second output end is used to output a ground signal to the second gel electrode sheet; wherein the tactile stimulation generator comprises a waveform generation module, a DC bias module and a voltage amplification module, the controller is electrically connected to the waveform generation module, the output end of the waveform generation module is electrically connected to the input end of the DC bias module, the output end of the DC bias module is electrically connected to the input end of the voltage amplification module, and the output end of the voltage amplification module is electrically connected to the first output end of the tactile stimulation generator;

[0007] The waveform generation module controls the waveform generation according to the control signal provided by the controller;

[0008] The DC bias module is used to bias and adjust the amplitude voltage of the waveform generated by the waveform generation module;

[0009] The voltage amplification module is used to amplify the voltage after the DC bias module biases and adjusts the voltage, and outputs it to different first gel electrode sheets through the first output end of the tactile stimulation generator.

[0010] Optionally, the tactile stimulation generator further includes a boost module, an output end of the boost module is electrically connected to the voltage amplification module, and the boost module is used to control the voltage amplification module to amplify the voltage after the DC bias module biases and adjusts the voltage.

[0011] Optionally, the voltage amplitude range of the output between the first output terminal and the second output terminal of the tactile stimulation generator is -30V~30V.

[0012] Optionally, a monitoring module is also included between the controller and the tactile stimulation generator, and the monitoring module is also electrically connected to the alarm; the monitoring module includes a voltage signal monitoring end and a time signal monitoring end, the voltage signal monitoring end is respectively electrically connected to the first output end and the second output end of the tactile stimulation generator, and the time signal monitoring end is respectively electrically connected to the first output end and the second output end of the tactile stimulation generator.

[0013] Optionally, the size of the second gel electrode sheet is larger than the size of the first gel electrode sheet.

[0014] Optionally, the finger ends of the tactile feedback glove include a first opening, and the palm portion of the tactile feedback glove includes a second opening; a first gel electrode sheet is embedded in the first opening, and a second gel electrode sheet is embedded in the second opening.

[0015] Based on the same inventive concept, the present disclosure also provides a training method for tactile perception recovery, which is applied to the above-mentioned training device for tactile perception recovery; the training method comprises:

[0016] Determine the maximum amplitude Vmax provided by the first output terminal electrically connected to different first gel electrode sheets, and Vmax≤36V;

[0017] The user wears the tactile feedback gloves and confirms that the first gel electrode sheet fits the user's fingertips and the second gel electrode sheet fits the user's palm;

[0018] The tactile stimulation generator controls the first gel electrode sheet to stimulate the user's fingertips and confirms whether the user has normal tactile perception each time by asking; at this time, the voltage value output from the first output terminal to the first gel electrode sheet is V1, V1≤Vmax;

[0019] If the user has tactile feedback every time, the controller controls the voltage amplitude output from the first output terminal of the tactile stimulation generator to be reduced by A%. At this time, the voltage value output from the first output terminal to the first gel electrode sheet is V2, V2=V1×(1-A%);

[0020] Repeat the stimulation training, and continue to confirm in an inquiry manner whether the current finger end stimulated by the first gel electrode sheet has tactile perception at this time;

[0021] The voltage amplitude output from the first output terminal of the tactile stimulation generator is reduced by A% through the controller. After repeated stimulation training:

[0022] If the user continues to have tactile perception, the controller continues to control the voltage amplitude output from the first output terminal of the tactile stimulation generator to decrease by A%;

[0023] If the user has no tactile perception, the controller controls the voltage amplitude output from the first output terminal of the tactile stimulation generator to increase by B%, and the stimulation training is repeated; wherein B < A; at this time, the voltage value output from the first output terminal to the first gel electrode sheet is V3, V3 = V2 × (1 + B%);

[0024] Through multiple stimulation trainings, each first gel electrode optimizes and obtains the minimum voltage value V0 at which the user has tactile perception, and allows the user to adapt to the tactile perception at the minimum voltage value V0.

[0025] Optionally, a monitoring module is further included between the controller and the tactile stimulation generator; the monitoring module includes a voltage signal monitoring terminal and a time signal monitoring terminal, the voltage signal monitoring terminal is electrically connected to the first output terminal and the second output terminal of the tactile stimulation generator respectively, the time signal monitoring terminal is electrically connected to the first output terminal and the second output terminal of the tactile stimulation generator respectively, and the monitoring module is also electrically connected to the alarm;

[0026] Before the training method starts, the method also includes monitoring the waveform of the first output end of the tactile stimulation generator through a monitoring module and an alarm:

[0027] The monitoring module monitors the first output terminal and the second output terminal of the tactile stimulation generator, and the voltage signal monitoring terminal monitors whether the actual voltage signal output between the first output terminal and the second output terminal is greater than 0;

[0028] If not, the alarm sounds, and the controller controls the tactile stimulation generator to be re-debugged;

[0029] If so, the time signal monitoring end continues to monitor whether the time T1 of the actual voltage signal output between the first output end and the second output end is greater than the preset value T0;

[0030] If T1 ≥ T0, the monitoring module ends its work and starts the training method;

[0031] If T1<T0, the alarm will sound and the controller will control the tactile stimulation generator to be re-debugged.

[0032] Optionally, before the tactile stimulation generator controls the first gel electrode sheet to perform stimulation training on the user's fingertips, an evaluation process is also included; the evaluation process includes:

[0033] The controller controls the tactile stimulation generator to generate multiple groups of stimulation signals to randomly stimulate each fingertip of the user, and each group of stimulation signals satisfies that the voltage value output from the first output end to the first gel electrode sheet is less than or equal to Vmax;

[0034] In the process of randomly stimulating the fingertips of the user with multiple sets of stimulation signals, the user is asked which finger has tactile perception by asking;

[0035] According to the user's answer, the finger with weak or no tactile perception is determined;

[0036] Subsequently, training is performed on the fingers with weak or no tactile perception.

[0037] Optionally, after the tactile stimulation generator controls the first gel electrode sheet to perform stimulation training on the user's fingertips, an evaluation process is also included; the evaluation process includes:

[0038] The controller controls the tactile stimulation generator to generate multiple groups of stimulation signals to randomly stimulate each fingertip of the user, and each group of stimulation signals satisfies that the voltage value output from the first output end to the first gel electrode sheet is less than or equal to Vmax;

[0039] In the process of randomly stimulating the fingertips of the user with multiple sets of stimulation signals, the user is asked which finger has tactile perception by asking;

[0040] According to the user's answer, if every finger has tactile perception, the training of the user is completed; if only some fingers have tactile perception, and the remaining fingers still have weak or no tactile perception, training will continue for the fingers with weak or no tactile perception.

[0041] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0042] The tactile stimulation generator in the training device provided by the present disclosure can regulate the electrical stimulation signal, so that the waveform stimulation signal received by the first gel electrode sheet and the second gel electrode sheet on the final tactile feedback glove is mainly square wave, the frequency is adjustable, and the amplitude is guaranteed to be adjustable within a certain safety range, which is conducive to ensuring the safety and reliability of the electrical stimulation signal input. When the training device is training the user's tactile perception recovery, the controller controls the tactile stimulation generator to first gradually reduce the stimulation intensity by an amplitude of A% to find the minimum and most sensitive stimulation intensity for the user. When the stimulation intensity is continuously reduced, the user has no tactile perception, and then the stimulation intensity is gradually increased by B% with an amplitude smaller than A%, so as to find the minimum stimulation threshold voltage that causes the user's tactile perception, and then through the minimum threshold voltage, continuous stimulation and continuous training, so that the user adapts to the tactile perception under the minimum threshold voltage, reshapes the brain's perception of tactile information after injury, and is conducive to reducing the threshold voltage range of the user's tactile perception as much as possible, repeatedly stimulating it so that it perceives the minimum stimulation signal, and finally achieves normal perception ability. The training device provided by the present disclosure can achieve rehabilitation training for the patient's tactile perception by regulating the electrical stimulation signal, and can find the electrical stimulation intensity that is most suitable for the patient and can cause the patient's tactile perception according to the different conditions of different patients, which is conducive to improving the efficiency of rehabilitation training and ensuring the training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 is a structural schematic diagram of a training device for tactile perception recovery provided by an embodiment of the present invention;

[0046] Figure 2 yes Figure 1 A schematic diagram of an electrical connection structure of a training device;

[0047] Figure 3 yes Figure 1 Another schematic diagram of the electrical connection structure of the training device;

[0048] Figure 4 yes Figure 1 Another schematic diagram of the electrical connection structure of the training device;

[0049] Figure 5 is a schematic flow chart of a training method for tactile perception recovery provided by an embodiment of the present invention;

[0050] Figure 6 It is a schematic block diagram of a process for monitoring the waveform of the first output end of the tactile stimulation generator through a monitoring module and an alarm provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0052] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0053] Please refer to Figure 1 and Figure 2 , Figure 1 is a structural schematic diagram of a training device for tactile perception recovery provided by an embodiment of the present invention, Figure 2 yes Figure 1 A schematic diagram of an electrical connection structure of a training device in the embodiment, a training device 000 for tactile perception recovery provided in the present embodiment includes a controller 10, a tactile stimulation generator 20 and a tactile feedback glove 30, the controller 10 is electrically connected to the tactile stimulation generator 20, the tactile stimulation generator 20 includes a plurality of first output terminals 20-out1 and a second output terminal 20-out2, the plurality of first output terminals 20-out1 are electrically connected to different first gel electrode sheets 301 respectively, the first gel electrode sheet 301 is embedded in the finger end of the tactile feedback glove 30; the second output terminal 20-out2 is electrically connected to the second gel electrode sheet 302, the second gel electrode sheet 302 is embedded in the palm part of the tactile feedback glove 30, and the second output terminal 20-out2 is used to output a ground signal to the second gel electrode sheet 302; wherein,

[0054] The tactile stimulation generator 20 includes a waveform generating module 201, a DC bias module 202 and a voltage amplifying module 203. The controller 10 is electrically connected to the waveform generating module 201. The output end of the waveform generating module 201 is electrically connected to the input end of the DC bias module 202. The output end of the DC bias module 202 is electrically connected to the input end of the voltage amplifying module 203. The output end of the voltage amplifying module 203 is electrically connected to the first output end 20-out1 of the tactile stimulation generator 20.

[0055] The waveform generation module 201 controls waveform generation according to the control signal provided by the controller 10;

[0056] The DC bias module 202 is used to bias and adjust the amplitude voltage of the waveform generated by the waveform generation module 201;

[0057] The voltage amplification module 203 is used to amplify the voltage after bias regulation by the DC bias module 202 , and output it to different first gel electrode sheets 301 through the first output terminal 20 - out1 of the tactile stimulation generator 20 .

[0058] Specifically, the training device for tactile perception recovery provided in this embodiment can be applied to electrical stimulation training for patients with tactile perception dysfunction left over from stroke, so that the patient's tactile perception function can be restored as quickly and effectively as possible. The training device 000 includes a controller 10, a tactile stimulation generator 20 and a tactile feedback glove 30. The controller can be an MCU controller, such as a microcontroller of the STM32F103VET6 model. The controller 10 is electrically connected to the tactile stimulation generator 20. The tactile stimulation generator 20 is used to generate an electrical stimulation signal under the control of the controller 10 and transmit it to the tactile feedback glove 30. The tactile stimulation generator 20 includes a plurality of first output terminals 20-out1 and a second output terminal 20-out2. The first output terminal 20-out1 can include five, respectively corresponding to the five finger ends of the tactile feedback glove 30 transmitting the electrical stimulation signal, and the second output terminal 20-out2 can be one, corresponding to the palm part of the tactile feedback glove 30 transmitting the electrical stimulation signal. It can be understood that the number of first gel electrode sheets 301 is the same as the number of first output terminals 20-out1, the number of second gel electrode sheets 302 can be the same as the number of second output terminals 20-out2, the five first output terminals 20-out1 are electrically connected to different first gel electrode sheets 301 respectively, the first gel electrode sheets 301 can be understood as anode electrode sheets, the first gel electrode sheets 301 are embedded in the finger ends of the tactile feedback glove 30, and the anode electrical stimulation signal is provided to the first gel electrode sheets 301 through the first output terminals 20-out1; the second output terminal 20-out2 is electrically connected to the second gel electrode sheet 302, the second gel electrode sheet 302 can be understood as cathode electrode sheet, the second gel electrode sheet 302 is embedded in the palm part of the tactile feedback glove 30, and the second output terminal 20-out2 is used to output the ground signal to the second gel electrode sheet 302, so that an electrical stimulation circuit is formed between each first gel electrode sheet 301 and the second gel electrode sheet 302 on the tactile feedback glove 30. In this embodiment, the electrode sheets embedded in the tactile feedback gloves 30 are all set as gel electrode sheets, which can not only enable the electrode sheets to directly fit the user's skin, but also ensure the conductive effect of the electrodes. The gel electrode sheets have a certain elasticity and can better fit the patient's fingertips and palms.

[0059] Optional, such as Figure 1As shown, in this embodiment, the size of the second gel electrode sheet 302 is larger than that of the first gel electrode sheet 301, and the size of the second gel electrode sheet 302 can be three times the size of the first gel electrode sheet 301. The first gel electrode sheet 301 can be a circle with a diameter of about 5 mm, so as to ensure that the first gel electrode sheet 301 can fit better and be more suitable for the finger ends of different patients when it is embedded in the finger ends of the tactile feedback glove 30. The second gel electrode sheet 302 has a larger size, which can ensure that the second gel electrode sheet 302 has a larger contact area with the patient's skin when it is embedded in the palm of the tactile feedback glove 30, thereby ensuring the conduction of the electrical stimulation circuit.

[0060] Optional, such as Figure 1 As shown, in this embodiment, the finger end of the tactile feedback glove 30 includes a first opening 30K1, and the palm part of the tactile feedback glove 30 includes a second opening 30K2; the first opening 30K1 is clamped with a first gel electrode sheet 301, and the second opening 30K2 is clamped with a second gel electrode sheet 302. The size of the second opening 30K2 is larger than the size of the first opening 30K1. The material of the tactile feedback glove 30 can be mainly comfortable. Through the form of a bayonet, the first opening 30K1 is clamped with the first gel electrode sheet 301, and the second opening 30K2 is clamped with the second gel electrode sheet 302. The electrodes can be detached, which can facilitate the replacement of the gel electrodes (different patients need to disinfect and replace them after use), thereby improving safety and reliability.

[0061] like Figure 1 and Figure 2As shown, the tactile stimulation generator 20 of this embodiment includes a waveform generating module 201, a DC bias module 202 and a voltage amplifying module 203, the controller 10 is electrically connected to the waveform generating module 201, the output end of the waveform generating module 201 is electrically connected to the input end of the DC bias module 202, the output end of the DC bias module 202 is electrically connected to the input end of the voltage amplifying module 203, and the output end of the voltage amplifying module 203 is electrically connected to the first output end 20-out1 of the tactile stimulation generator 20, wherein the waveform generating module 201 is used to control the waveform generation according to the control signal provided by the controller 10, and the controller 10 is equivalent to a microcontroller, which plays a role in controlling the electrical signal of the entire training device. The waveform generated by the waveform generating module 201 under the control of the controller 10 is mainly square wave, and can also generate sine wave or triangle wave. The waveform generating module 201 can be a programmable waveform generator of the AD9833 model; it can be understood that in order to improve the effectiveness of the tactile perception function training, this embodiment takes the waveform generated by the waveform generating module 201 as a square wave as an example for illustration. The DC bias module 202 is used to bias and adjust the amplitude voltage of the waveform generated by the waveform generating module 201. For example, the waveform generated by the waveform generating module 201 can be modulated from 0V to 3.3V to -1.65V to 1.65V. The voltage amplification module 203 is used to amplify the voltage after biasing and adjusting the DC bias module 202. For example, the waveform voltage amplitude outputted after amplification by the voltage amplification module 203 becomes -30V to 30V, and then outputted to different first gel electrode sheets 301 through the first output terminal 20-out1 of the tactile stimulation generator 20.

[0062] The tactile stimulation generator 20 provided in this embodiment can regulate the electrical stimulation signal so that the waveform stimulation signal received by the first gel electrode sheet 301 and the second gel electrode sheet 302 on the final tactile feedback glove 30 is mainly square wave, the frequency can be adjusted from 1Hz to 1kHz, and the amplitude is guaranteed to be adjustable in the range of -30V to 30V, that is, the voltage amplitude range of the output between the first output terminal 20-out1 and the second output terminal 20-out2 of the tactile stimulation generator 20 of this embodiment is -30V to 30V, and the maximum voltage to ensure human safety is generally about 36V. Therefore, the requirements for human electrical stimulation signals can be met and the safety and reliability of the input of electrical stimulation signals can be ensured.

[0063] When the training device 000 of this embodiment is training the user's tactile perception recovery, the training method can be, first determine the maximum amplitude Vmax of the voltage stimulation signal provided by the first output terminal 20-out1 electrically connected to different first gel electrode sheets 301, and Vmax≤36V, to ensure the safety of the entire training process. The user (i.e., the patient) who needs to receive tactile perception training wears the tactile feedback glove 30, and confirms that the first gel electrode sheet 301 fits the user's fingertips, and the second gel electrode sheet 302 fits the user's palm, to ensure that there is a conductive circuit between each first gel electrode sheet 301 and the second gel electrode sheet 302 of the tactile feedback glove 30.

[0064] Then, under the control of the controller 10, the tactile stimulation generator 20 controls the first gel electrode sheet 301 to perform stimulation training on the user's fingertips, and confirms by inquiry whether the user has normal tactile perception each time; at this time, the voltage value outputted from the first output terminal 20-out1 to the first gel electrode sheet 301 is V1, V1≤Vmax, that is, when the stimulation training starts, the voltage value on the first gel electrode sheet 301 is V1 which is less than the maximum safe voltage value Vmax of the human body.

[0065] By asking the user, if the user has tactile perception feedback every time, the controller 10 controls the voltage amplitude output by the first output terminal 20-out1 of the tactile stimulation generator 20 to be reduced by A%. At this time, the voltage value output from the first output terminal 20-out1 to the first gel electrode sheet 301 is V2, V2=V1×(1-A%); assuming A is 10, that is, the controller 10 controls the voltage amplitude output by the first output terminal 20-out1 of the tactile stimulation generator 20 to be reduced by 10%, and then repeats the training with the amplitude voltage of V2=V1×(1-10%).

[0066] During the repeated stimulation training, the user continues to confirm by inquiry whether the finger end currently stimulated by the first gel electrode sheet 301 has tactile perception; the controller 10 controls the voltage amplitude outputted by the first output terminal 20-out1 of the tactile stimulation generator 20 to be reduced by A%, that is, after repeated stimulation training with the amplitude voltage of V2=V1×(1-10%):

[0067] If the user still has tactile perception, the controller 10 continues to control the voltage amplitude output from the first output terminal 20-out1 of the tactile stimulation generator 20 to be reduced by A%;

[0068] If the user has no tactile perception, the controller 10 controls the voltage amplitude output from the first output terminal 20-out1 of the tactile stimulation generator 20 to be increased by B%, and the stimulation training is repeated; wherein B<A, such as A is 10, then B can be 5 or other values ​​smaller than 10; at this time, the voltage value output from the first output terminal 20-out1 to the first gel electrode sheet 301 is V3, V3=V2×(1+B%).

[0069] Finally, through multiple stimulation trainings, each first gel electrode 301 corresponding to different fingertips optimizes the minimum voltage value V0 for the user's tactile perception, and allows the user to adapt to the tactile perception at the minimum voltage value V0.

[0070] The training device 000 of this embodiment can adopt the above training process, first gradually reduce the stimulation intensity by an amplitude of A% to find the minimum and most sensitive stimulation intensity for the user, when the user has no tactile perception after the stimulation intensity is lowered all the time, then gradually increase the stimulation intensity by an amplitude of B% smaller than A%, and then find the minimum stimulation threshold voltage that causes the user's tactile perception, and then through the minimum threshold voltage, continuously stimulate and train, so that the user adapts to the tactile perception under the minimum threshold voltage, reshapes the tactile information perceived by the brain after injury, which is conducive to reducing the threshold voltage range of the user's tactile perception as much as possible, repeatedly stimulating so that it perceives the minimum stimulation signal, and finally achieves normal perception ability. It can be seen from this that the training device 000 provided in this embodiment can realize the rehabilitation training of the patient's tactile perception through the regulation of the electrical stimulation signal, and can optimize the electrical stimulation intensity that is most suitable for the patient and can cause the patient's tactile perception according to the different conditions of different patients, which is conducive to improving the efficiency of rehabilitation training and ensuring the training effect.

[0071] Optional, please refer to Figure 1 and Figure 3 , Figure 3 yes Figure 1 Another electrical connection structure diagram of the training device is shown in FIG. 2 . In this embodiment, the tactile stimulation generator 20 further includes a boost module 204, the output end of the boost module 204 is electrically connected to the voltage amplifier module 203, and the boost module 204 is used to control the voltage amplifier module 203 to amplify the voltage after the bias voltage adjustment of the DC bias module 202. This embodiment explains that the voltage amplifier module 203 amplifies the voltage after the bias voltage adjustment of the DC bias module 202, which can be achieved through the boost module 204, such as the boost module 204 makes the waveform voltage amplitude output by the voltage amplifier module 203 become -30V~30V, so as to realize the voltage amplification function of the voltage amplifier module 203.

[0072] In some optional embodiments, please refer to Figure 1 and Figure 4 , Figure 4 yes Figure 1 Another electrical connection structure diagram of the training device, in this embodiment, a monitoring module 40 is further included between the controller 10 and the tactile stimulation generator 20, and the monitoring module 40 is also electrically connected to the alarm 50;

[0073] The monitoring module 40 includes a voltage signal monitoring terminal and a time signal monitoring terminal. The voltage signal monitoring terminal is electrically connected to the first output terminal 20-out1 and the second output terminal 20-out2 of the tactile stimulation generator 20 respectively, and the time signal monitoring terminal is electrically connected to the first output terminal 20-out1 and the second output terminal 20-out2 of the tactile stimulation generator 20 respectively.

[0074] Optionally, the monitoring module 40 in this embodiment can be independently provided and electrically connected to the tactile stimulation generator 20 and the controller 10, or the monitoring module 40 can also be integrated into the controller 10 to reduce the volume of the entire training device 000. Figure 4 An example in which the monitoring module 40 is independently disposed between the controller 10 and the tactile stimulation generator 20 is used for illustration.

[0075] The monitoring module 40 of this embodiment is used to read the signals of the first output terminal 20-out1 and the second output terminal 20-out2 of the tactile stimulation generator 20, so as to monitor the electrical stimulation signal (i.e., the stimulation waveform) output by the tactile stimulation generator 20. The monitoring of the monitoring module 40 can be performed before the electrical stimulation signal acts on the gel electrode sheet, and before the training device starts the electrical stimulation training, the waveform voltage of the first output terminal 20-out1 and the second output terminal 20-out2 of the tactile stimulation generator 20 is monitored; optionally, the monitoring module 40 can be an INA226 monitoring chip. The voltage signal monitoring end of the monitoring module 40 has the function of monitoring the voltage signal value, monitoring whether the actual voltage signal output between the first output end 20-out1 and the second output end 20-out2 of the tactile stimulation generator 20 is greater than 0. If not, it means that the tactile stimulation generator 20 does not generate an electrical stimulation signal, and the monitoring module 40 feeds back the monitoring result to the alarm 50 for alarm, and the controller 10 controls the tactile stimulation generator 20 to be re-debugged; if so, it means that the tactile stimulation generator 20 generates an electrical stimulation signal; further, the time signal monitoring end has the function of monitoring the maintenance time. After the voltage signal monitoring end detects that the actual voltage signal output between the first output end 20-out1 and the second output end 20-out2 of the tactile stimulation generator 20 is greater than 0, the time signal monitoring end continues to monitor whether the time T1 of the actual voltage signal output between the first output end 20-out1 and the second output end 20-out2 is greater than the preset value T0, that is, monitors the generated waveform output time to ensure whether the waveform of the electrical stimulation signal is complete. If T1≥T0, it means that the stimulation waveform is complete, then the monitoring module 40 ends its work and starts the training method; if T1<T0, it means that the waveform output time is insufficient and the generated waveform is incomplete, then the monitoring module 40 feeds back the monitoring result to the alarm 50 to alarm, and the controller 10 controls the tactile stimulation generator 20 to be re-debugged. The monitoring module 40 provided in this embodiment can ensure that the stimulation waveform generated by the tactile stimulation generator 20 and the electrical stimulation signal received by the gel electrode sheet are safe and reliable, which is conducive to improving the training efficiency of the training device.

[0076] In some optional embodiments, please refer to Figure 1-Figure 4 and Figure 5 , Figure 5 : is a flowchart of a training method for tactile perception recovery provided by an embodiment of the present invention. This embodiment provides a training method for tactile perception recovery, which can be applied to the training device 000 for tactile perception recovery in any of the above embodiments. The training method of this embodiment includes:

[0077] S10: Determine the maximum amplitude Vmax provided by the first output terminal 20-out1 electrically connected to different first gel electrode sheets 301, and Vmax≤36V;

[0078] S20: The user wears the tactile feedback glove 30, and confirms that the first gel electrode sheet 301 fits the user's fingertips, and the second gel electrode sheet 302 fits the user's palm;

[0079] S30: the tactile stimulation generator 20 controls the first gel electrode sheet 301 to perform stimulation training on the user's fingertips, and confirms by inquiry whether the user has normal tactile perception each time; at this time, the voltage value outputted from the first output terminal 20-out1 to the first gel electrode sheet 301 is V1, V1≤Vmax;

[0080] S40: If the user has tactile feedback every time, the controller 10 controls the voltage amplitude output from the first output terminal 20-out1 of the tactile stimulation generator 20 to be reduced by A%. At this time, the voltage value output from the first output terminal 20-out1 to the first gel electrode sheet 301 is V2, V2=V1×(1-A%);

[0081] S50: Repeat the stimulation training, and continue to confirm in an inquiry manner whether the current finger end stimulated by the first gel electrode sheet 301 has tactile perception;

[0082] The controller 10 controls the voltage amplitude output from the first output terminal 20-out1 of the tactile stimulation generator 20 to be reduced by A%. After repeated stimulation training:

[0083] S501: If the user continues to have tactile perception, the controller 10 continues to control the voltage amplitude outputted from the first output terminal 20-out1 of the tactile stimulation generator 20 to be reduced by A%; and then the step S50 is continued to repeat the stimulation training;

[0084] S502: If the user has no tactile perception, the controller 10 controls the voltage amplitude output from the first output terminal 20-out1 of the tactile stimulation generator 20 to be increased by B%, and then the step S50 is continued to repeat the stimulation training; wherein B<A; at this time, the voltage value output from the first output terminal 20-out1 to the first gel electrode sheet 301 is V3, V3=V2×(1+B%);

[0085] S60: Through multiple stimulation trainings, each first gel electrode 301 optimizes and obtains the minimum voltage value V0 at which the user has tactile perception, and allows the user to adapt to the tactile perception at the minimum voltage value V0.

[0086] The training method provided in this embodiment is applied to Figure 1-Figure 4In any training device 000, during the training process, the stimulation intensity is first gradually reduced by an amplitude of A% to find the minimum and most sensitive stimulation intensity for the user. When the user has no tactile perception after the stimulation intensity is lowered, the stimulation intensity is gradually increased by B% which is smaller than A%, and the minimum stimulation threshold voltage that causes the user's tactile perception can be found. The minimum threshold voltage can be used for continuous stimulation and repeated training, so that the user can adapt to the tactile perception under the minimum threshold voltage, reshape the tactile information perceived by the brain after injury, and help to reduce the threshold voltage range of the user's tactile perception as much as possible, and repeatedly stimulate the user to perceive the minimum stimulation signal, and finally achieve normal perception ability. The training method provided in this embodiment realizes rehabilitation training of the patient's tactile perception by regulating the electrical stimulation signal, and can optimize the electrical stimulation intensity that is most suitable for the patient and can cause the patient's tactile perception according to the different conditions of different patients, which is conducive to improving the efficiency of rehabilitation training and ensuring the training effect.

[0087] In some optional embodiments, please refer to Figure 1-Figure 4 and Figure 6 , Figure 6 It is a schematic block diagram of a process for monitoring the waveform of the first output terminal of the tactile stimulation generator through a monitoring module and an alarm provided by an embodiment of the present invention. In this embodiment, a monitoring module 40 is also included between the controller 10 and the tactile stimulation generator 20; the monitoring module 40 includes a voltage signal monitoring terminal and a time signal monitoring terminal, the voltage signal monitoring terminal is electrically connected to the first output terminal 20-out1 and the second output terminal 20-out2 of the tactile stimulation generator 20, respectively, the time signal monitoring terminal is electrically connected to the first output terminal 20-out1 and the second output terminal 20-out2 of the tactile stimulation generator 20, respectively, and the monitoring module 40 is also electrically connected to the alarm 50;

[0088] Before the stimulation training officially starts, after the first output terminal 20-out1 and the second output terminal 20-out2 of the tactile stimulation generator 20 generate a tactile stimulation signal, the waveform of the first output terminal 20-out1 of the tactile stimulation generator 20 is also monitored by the monitoring module 40 and the alarm 50. The monitoring process includes:

[0089] The monitoring module 40 monitors the first output terminal 20 - out1 and the second output terminal 20 - out2 of the tactile stimulation generator 20 , and the voltage signal monitoring terminal monitors whether the actual voltage signal VX outputted between the first output terminal 20 - out1 and the second output terminal 20 - out2 is greater than 0;

[0090] If VX≤0, the alarm 50 sounds an alarm, and the controller 10 controls the tactile stimulation generator 20 to be re-debugged;

[0091] If VX>0, the time signal monitoring end continues to monitor whether the time T1 of the actual voltage signal output between the first output end 20-out1 and the second output end 20-out2 is greater than the preset value T0;

[0092] If T1 ≥ T0, the monitoring module 40 ends its work and starts the training method;

[0093] If T1<T0, the alarm 50 sounds an alarm, and the controller 10 controls the tactile stimulation generator 20 to be re-debugged.

[0094] In the training method provided in this embodiment, before the stimulation training officially starts, after the first output terminal 20-out1 and the second output terminal 20-out2 of the tactile stimulation generator 20 generate a tactile stimulation signal, the waveform of the first output terminal 20-out1 of the tactile stimulation generator 20 is monitored by using the monitoring module 40 and the alarm 50, so as to ensure that the stimulation waveform generated by the tactile stimulation generator 20 and the electrical stimulation signal received by the gel electrode sheet are safe and reliable, which is beneficial to improving the training efficiency of the training device.

[0095] In some optional embodiments, please continue to refer to Figure 1-Figure 6 In the training method provided in this embodiment, before the tactile stimulation generator 20 controls the first gel electrode sheet 301 to formally stimulate the user's fingertips, an evaluation process is also included; the evaluation process includes: the controller 10 controls the tactile stimulation generator 20 to generate multiple groups of stimulation signals (such as ten groups of stimulation signals of different sizes) to randomly stimulate each fingertip of the user, and each group of stimulation signals satisfies that the voltage value output from the first output terminal 20-out1 to the first gel electrode sheet 301 is less than or equal to Vmax to ensure safety and reliability; in the process of randomly stimulating the user's fingertips with multiple groups of stimulation signals, the user is asked which finger has tactile perception; according to the user's answer, the finger with weak or no tactile perception is determined; and training is subsequently performed on the finger with weak or no tactile perception. The training method provided in this embodiment further sets an evaluation process before the tactile stimulation generator 20 controls the first gel electrode sheet 301 to formally perform stimulation training on the user's fingertips, so as to perform scanning random stimulation on each fingertip of the user through randomly generated stimulation signals. This can more quickly screen out the user's fingers with weak or no tactile perception. When performing targeted repeated stimulation training later, the stimulation training can focus on the screened fingers of the user with weak or no tactile perception, which is conducive to better improving the training efficiency.

[0096] In some optional embodiments, please continue to refer to Figure 1-Figure 6In the training method provided in this embodiment, after the tactile stimulation generator 20 controls the first gel electrode sheet 301 to formally stimulate the user's fingertips, an evaluation process is also included; the evaluation process includes:

[0097] The controller 10 controls the tactile stimulation generator 20 to generate multiple groups of stimulation signals (such as ten groups of stimulation signals of different sizes) to randomly stimulate the fingertips of the user, and each group of stimulation signals satisfies that the voltage value output from the first output terminal 20-out1 to the first gel electrode sheet 301 is less than or equal to Vmax to ensure safety and reliability; in the process of randomly stimulating the fingertips of the user by multiple groups of stimulation signals, the user is asked which finger has tactile perception; according to the user's answer, if every finger has tactile perception, the training of the user is terminated; if only some fingers have tactile perception, and the remaining fingers still have weak tactile perception or no tactile perception, then the training of the fingers with weak tactile perception or no tactile perception will continue. The training method provided in this embodiment further sets an evaluation process after the tactile stimulation generator 20 controls the first gel electrode sheet 301 to formally stimulate the user's fingertips, so as to perform scanning random stimulation on each fingertip of the user through randomly generated stimulation signals, so as to more quickly detect and evaluate the results of the phased training. If each finger of the user has tactile perception under the stimulation of multiple groups of random stimulation signals, the training of the user is completed. If only some fingers of the user have tactile perception, and the remaining fingers still have weak tactile perception or no tactile perception, then it is necessary to continue training for the fingers with weak tactile perception or no tactile perception. This evaluation process can not only detect the training results, but also better improve the efficiency of subsequent tactile perception training.

[0098] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0099] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A training device for tactile perception recovery, characterized in that: It includes a controller, a tactile stimulation generator and a tactile feedback glove, wherein the controller is electrically connected to the tactile stimulation generator, the tactile stimulation generator includes a plurality of first output ends and a second output end, the plurality of first output ends are electrically connected to different first gel electrode sheets respectively, the first gel electrode sheets are embedded in the finger ends of the tactile feedback glove; the second output end is electrically connected to a second gel electrode sheet, the second gel electrode sheet is embedded in the palm of the tactile feedback glove, and the second output end is used to output a ground signal to the second gel electrode sheet; wherein, The tactile stimulation generator includes a waveform generating module, a DC bias module and a voltage amplifying module, the controller is electrically connected to the waveform generating module, the output end of the waveform generating module is electrically connected to the input end of the DC bias module, the output end of the DC bias module is electrically connected to the input end of the voltage amplifying module, and the output end of the voltage amplifying module is electrically connected to the first output end of the tactile stimulation generator; The waveform generation module controls waveform generation according to a control signal provided by the controller; The DC bias module is used to bias and adjust the amplitude voltage of the waveform generated by the waveform generation module; The voltage amplification module is used to amplify the voltage after the bias voltage adjustment of the DC bias module, and output it to different first gel electrode sheets through the first output end of the tactile stimulation generator, and the maximum amplitude Vmax provided by the first output end electrically connected to different first gel electrode sheets is Vmax≤36V; After the user wears the tactile feedback gloves, the first gel electrode sheet fits the fingertips of the user; The tactile stimulation generator is configured to control the first gel electrode sheet to perform stimulation training on the fingertips of the user, and confirm by inquiry whether the user has normal tactile perception each time; at this time, the voltage value outputted from the first output end to the first gel electrode sheet is V1, V1≤Vmax; If the user has tactile feedback every time, the controller is configured to control the voltage amplitude output by the first output terminal of the tactile stimulation generator to be reduced by A%, and the voltage value output by the first output terminal to the first gel electrode sheet is V2, V2=V1×(1-A%); Repeat the stimulation training, and continue to confirm in an inquiry manner whether the current finger end stimulated by the first gel electrode sheet has tactile perception; The controller is configured to control the voltage amplitude outputted from the first output terminal of the tactile stimulation generator to be reduced by A%, and after repeated stimulation training for multiple times: If the user continues to have tactile perception, the controller is continuously configured to control the voltage amplitude outputted from the first output terminal of the tactile stimulation generator to be reduced by A%; If the user has no tactile perception, the controller is configured to control the voltage amplitude output from the first output terminal of the tactile stimulation generator to increase by B%, and repeat the stimulation training; wherein B<A; at this time, the voltage value output from the first output terminal to the first gel electrode sheet is V3, V3=V2×(1+B%); Through multiple stimulation trainings, each of the first gel electrodes optimizes and obtains the minimum voltage value V0 at which the user has tactile perception, and allows the user to adapt to the tactile perception at the minimum voltage value V0.

2. The training device for tactile perception recovery according to claim 1, characterized in that: The tactile stimulation generator also includes a boost module, an output end of the boost module is electrically connected to the voltage amplification module, and the boost module is used to control the voltage amplification module to amplify the voltage after the DC bias module biases and adjusts the voltage.

3. The training device for tactile perception recovery according to claim 1, characterized in that: The voltage amplitude range of the output between the first output terminal and the second output terminal of the tactile stimulation generator is -30V~30V.

4. The training device for tactile perception recovery according to claim 1, characterized in that: A monitoring module is also included between the controller and the tactile stimulation generator, and the monitoring module is also electrically connected to an alarm; The monitoring module comprises a voltage signal monitoring terminal and a time signal monitoring terminal, wherein the voltage signal monitoring terminal is electrically connected to the first output terminal and the second output terminal of the tactile stimulation generator respectively, and the time signal monitoring terminal is electrically connected to the first output terminal and the second output terminal of the tactile stimulation generator respectively; Before the user wears the tactile feedback gloves, the training device further includes the monitoring module and the alarm configured to monitor the waveform of the first output end of the tactile stimulation generator: The monitoring module is configured to monitor the first output terminal and the second output terminal of the tactile stimulation generator, and the voltage signal monitoring terminal is configured to monitor whether the actual voltage signal output between the first output terminal and the second output terminal is greater than 0; If not, the alarm sounds an alarm, and the controller is configured to control the tactile stimulation generator to be re-debugged; If yes, the time signal monitoring terminal is configured to continue monitoring whether the time T1 of the actual voltage signal output between the first output terminal and the second output terminal is greater than a preset value T0; If T1≥T0, the monitoring module ends its operation and the user wears the tactile feedback gloves; If T1<T0, the alarm sounds, and the controller is configured to control the tactile stimulation generator to be re-debugged.

5. The training device for tactile perception recovery according to claim 1, characterized in that: The size of the second gel electrode sheet is larger than that of the first gel electrode sheet.

6. The training device for tactile perception recovery according to claim 1, characterized in that: The finger ends of the tactile feedback glove include a first opening, and the palm portion of the tactile feedback glove includes a second opening; The first opening is engaged with the first gel electrode sheet, and the second opening is engaged with the second gel electrode sheet.

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