Hand physiotherapy control method and device, control equipment and storage medium

Abstract

The present invention is applicable to the field of data processing, and discloses a hand therapy control method, device, control equipment and storage medium. The hand therapy control method includes: in response to a preset instruction of a user, collecting a target image corresponding to the user's hand; determining the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part according to the target image, and generating corresponding target control parameters; according to the target control parameters, adjusting the target joint part to the massage area corresponding to the preset target position information, so as to adjust the user's hand to the target massage area corresponding to the massage component; when the adjustment operation is completed, controlling the massage component corresponding to the target massage area to perform a massage operation on the hand. The present invention automatically adjusts the hand position through a hand adjustment module, so that the massage operation is always targeted at the correct massage area of ​​the hand, thereby improving the therapy effect.

Description

Technical Field

[0001] The present invention belongs to the field of data processing, and in particular relates to a hand physiotherapy control method and device, a control device and a storage medium. Background Art

[0002] Hand therapy devices can provide functions such as heating and massage, but they still face challenges in practical applications.

[0003] Traditional hand therapy devices generally perform the entire therapy cycle based on default parameters. Due to improper hand placement or user adjustments during the massage, the hand position may deviate from the optimal massage area of ​​the therapy device. In this case, the traditional hand therapy device cannot adjust the hand position by itself, the massage effect will be affected, and the comfort of the hand massage will be poor. Summary of the invention

[0004] In view of this, the embodiments of the present invention provide a hand therapy control method, apparatus, control device and storage medium, which can solve the problem of low comfort of traditional hand massage methods in the related art.

[0005] A first aspect of the present invention provides a hand physiotherapy control method, the method comprising:

[0006] In response to a preset instruction of the user, a target image corresponding to the user's hand is collected;

[0007] Determine the current position information of the target joint of the hand and the preset target position information corresponding to the target joint according to the target image, and generate corresponding target control parameters;

[0008] According to the target control parameters, the target joint part is adjusted to the massage area corresponding to the preset target position information, so as to adjust the user's hand to the target massage area corresponding to the massage component;

[0009] When the adjustment operation is completed, the massage component corresponding to the target massage area is controlled to perform a massage operation on the hand.

[0010] Optionally, in a first implementation of the first aspect of the present invention, the step of generating corresponding target control parameters according to the current position information of the target joint part and the preset target position information corresponding to the target joint part includes:

[0011] Acquire the current position information of the hand and the preset position information corresponding to the target massage area according to the target image;

[0012] The current position information of the target joint of the hand and the preset target position information corresponding to the target joint are determined according to the current position information of the hand and the preset position information corresponding to the target massage area to generate corresponding target control parameters.

[0013] Optionally, in a second implementation of the first aspect of the present invention, the step of acquiring the current position information of the hand and the preset position information corresponding to the target massage area according to the target image further includes:

[0014] Obtaining the current position information of the hand according to the target image;

[0015] Determine hand shape information of the hand according to the current position information of the hand, the hand shape information includes the left hand shape and the right hand shape;

[0016] If the hand shape information is a left hand shape, obtaining first preset position information corresponding to the first target massage area;

[0017] If the hand shape attribute information is a right hand attribute, second preset position information corresponding to the second target massage area is obtained.

[0018] Optionally, in a third implementation of the first aspect of the present invention, the step of determining the current position information of the target joint of the hand and the preset target position information corresponding to the target joint according to the current position information of the hand and the preset position information corresponding to the target massage area to generate the target control parameter includes:

[0019] Determining whether the user's hand has an abnormal posture according to the current position information of the hand and the preset position information corresponding to the target massage area, wherein the current position information of the hand includes the current position information of the palm and the current position information of the fingers, and the preset position information corresponding to the target massage area includes the preset palm position information corresponding to the palm massage area and the preset finger position information corresponding to the finger massage area;

[0020] If the palm posture of the hand is abnormal, the current position information of the target joint of the hand and the preset target position information corresponding to the target joint are determined according to the current position information of the palm and the preset position information of the palm, so as to generate corresponding target control parameters;

[0021] If the finger posture of the hand is abnormal, the current position information of the target joint of the hand and the preset target position information corresponding to the target joint are determined according to the current position information of the fingers and the preset position information of the fingers to generate corresponding target control parameters.

[0022] Optionally, in a fourth implementation of the first aspect of the present invention, in response to a preset instruction of the user, the step of acquiring a target image corresponding to the user's hand includes:

[0023] In response to a preset instruction of the user, detecting whether the user's hand is in a preset massage area;

[0024] When it is detected that the hand is completely placed in the preset massage area, the target image corresponding to the hand is collected;

[0025] When it is detected that the hand is not completely placed in the preset massage area, the user is prompted to reposition the hand, and the preset massage area includes a first target massage area and a second target massage area.

[0026] Optionally, in a fifth implementation of the first aspect of the present invention, the step of generating corresponding target control parameters according to the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part specifically includes:

[0027] The target rotation speed and the target rotation direction are calculated according to the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part, and the target control parameters are generated according to the target rotation speed and the target rotation direction.

[0028] In a second aspect, an embodiment of the present invention provides a hand therapy control device, comprising:

[0029] An image acquisition module, used to acquire a target image corresponding to the user's hand in response to a preset instruction of the user;

[0030] A control parameter generation module is used to determine the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part according to the target image, and generate corresponding target control parameters;

[0031] A hand adjustment module, used to adjust the target joint part of the hand to the massage area corresponding to the preset target position information according to the target control parameter, so as to adjust the user's hand to the target massage area corresponding to the massage component;

[0032] The massage component control module is used to control the massage component corresponding to the target massage area to perform a massage operation on the hand when the adjustment operation is completed.

[0033] In a third aspect, an embodiment of the present invention provides a control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned hand physiotherapy control method when executing the computer program.

[0034] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned hand physiotherapy control method are implemented.

[0035] In a fifth aspect, an embodiment of the present invention provides a computer program product, which, when executed on a control device, enables the control device to execute the above-mentioned hand physiotherapy control method.

[0036] In a sixth aspect, an embodiment of the present invention provides a hand device, comprising the above-mentioned control device;

[0037] Optionally, it further includes an image acquisition component, which is arranged in the hand therapy device and connected to the control device, and is used to acquire a target image corresponding to the user's hand;

[0038] Optionally, a hand adjustment component is further included, which is arranged in the hand therapy device and connected to the control device, and is used to adjust the hand target joint part to the target massage area corresponding to the preset target position information according to the target control parameter;

[0039] Optionally, a massage component is also included, which is arranged in the hand therapy device and connected to the control device for performing massage operations on the user's hands.

[0040] The beneficial effects of the embodiments of the present invention compared with the prior art are: in response to the preset instructions of the user, the target image corresponding to the user's hand is collected; according to the target image, the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part are determined, and the corresponding target control parameters are generated; according to the target control parameters, the target joint part is adjusted to the massage area corresponding to the preset target position information, so as to adjust the user's hand to the target massage area corresponding to the massage component; when the adjustment operation is completed, the massage component corresponding to the target massage area is controlled to perform a massage operation on the hand. By collecting the target image of the user's hand, the position area and state of each joint part of the hand can be identified. When it is detected that there is an abnormal physical therapy posture of the target joint part of the hand, the target control parameters can be generated, and the hand position can be automatically adjusted through the hand adjustment module, so that the massage operation is always targeted at the correct massage area of ​​the hand, thereby improving the physical therapy effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0042] Figure 1 A schematic diagram of an embodiment of a hand physiotherapy control method in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of a specific embodiment of step S102 of the hand physiotherapy control method in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of a specific embodiment of step S1021 of the hand physiotherapy control method in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of an embodiment of a hand physiotherapy control device in an embodiment of the present invention;

[0046] Figure 5 FIG. 1 is a schematic diagram of an embodiment of a control device in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are protected by the present invention.

[0048] It should be noted that the terms "include", "comprises" and "have" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, terminal, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In the claims, specifications and drawings of the present invention, relational terms such as "first" and "second" are merely used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such real-time relationship or order between these entities / operations / objects.

[0049] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0050] Hand therapy devices can provide functions such as heating and massage, but they still face challenges in practical applications.

[0051] Traditional hand therapy devices generally perform the entire therapy cycle based on default parameters. Due to improper hand placement or user adjustments during the massage, the hand position may deviate from the optimal massage area of ​​the therapy device. In this case, the traditional hand therapy device cannot adjust the hand position by itself, the massage effect will be affected, and the comfort of the hand massage will be poor.

[0052] In view of this, the embodiments of the present invention provide a hand therapy control method, device, control equipment and storage medium, which can identify the position area and state of each joint of the hand by collecting the target image of the user's hand. When the target joint of the hand with abnormal therapy posture is detected, the target control parameter can be generated, and the hand position can be automatically adjusted through the hand adjustment module, so that the massage operation always targets the correct massage area of ​​the hand, thereby improving the therapy effect.

[0053] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0054] Figure 1 The present invention provides a hand therapy control method implementation flow diagram, which can be applied to a control device. The control device can be a computing device such as a mobile phone, a tablet computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, and a cloud server.

[0055] Specifically, the above-mentioned hand physiotherapy control method may include the following steps S101 to S104.

[0056] Step S101, in response to a preset instruction of the user, capturing a target image corresponding to the user's hand.

[0057] In some specific implementation schemes, this embodiment is applied to a hand therapy device, which includes an image acquisition component, a hand adjustment component, and a massage component.

[0058] In this embodiment, the hand therapy device can be a therapy device that implements hand therapy based on the principle of air wave massage. Correspondingly, exemplarily, the massage component includes a massage airbag driven by an air pump; the hand therapy device can also be a therapy device that implements hand therapy based on the principle of vibration massage. Correspondingly, exemplarily, the massage component includes a vibrating massage head driven by a vibration motor.

[0059] Specifically, the preset instruction refers to a pre-set instruction, for example, it may be a preset instruction of a hand therapy device, which is used to initialize the image acquisition component, the hand adjustment component and the massage component to implement the hand therapy control method of the present application.

[0060] The image acquisition component includes an infrared thermal imager, which utilizes an infrared detector, an optical imaging objective lens, and an optomechanical scanning system to receive the infrared radiation energy distribution pattern of the target to be measured and reflect it on the photosensitive element of the infrared detector. Between the optical system and the infrared detector, there is an optomechanical scanning mechanism to scan the infrared thermal image of the object to be measured and focus it on a unit or spectroscopic detector. The detector converts the infrared radiation energy into an electrical signal, which is amplified, converted, or displayed as a standard video signal through a television screen or monitor.

[0061] After receiving the preset instructions from the user, the infrared thermal imager is initialized so that it can start normally and prepare to collect the target image. After the infrared thermal imager is started, it starts to collect infrared radiation from the corresponding area of ​​the hand. The infrared thermal imager can capture the temperature distribution on the surface of the palm and fingers, thereby generating a target image corresponding to the hand.

[0062] The hand adjustment component includes a plurality of Mecanum wheel motors. After receiving a preset instruction from a user, the plurality of Mecanum wheel motors are initialized so that the plurality of Mecanum wheel motors can move specific joints of the hand according to target control parameters, thereby adjusting the hand to a target massage area corresponding to the massage component.

[0063] After receiving the user's preset instructions, the massage components are initialized so that each massage airbag or massage head can receive the therapy instructions and perform corresponding massage operations.

[0064] In some specific implementations, in order to achieve the movement of the target joint part, a coordinate system is constructed based on the plane of the massage base where the hand is placed, and the position coordinates of each specific joint of the hand in the corresponding area of ​​the massage base plane can be determined according to the target image of the hand. The position coordinates corresponding to the target massage area are pre-set as the expected position of each specific joint to adjust the posture, which is a reference for subsequent adjustment of the hand position.

[0065] Step S102, determining the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part according to the target image, and generating corresponding target control parameters.

[0066] Specifically, the hand posture analysis is performed based on the target image. In some specific implementations, the hand contour and the position information of the area where each joint is located can be detected by calling an image processing algorithm.

[0067] Next, the detected joint position information is compared with the preset target position information. The preset target position information of each joint can be set based on the physical therapy specification to ensure that the hand maintains the correct posture during physical therapy. By comparison, it can be determined whether there are abnormal physical therapy postures in each joint of the hand. The joints with abnormal physical therapy postures are used as target joints and need to be adjusted.

[0068] If a target joint part with an abnormal therapy posture is detected, the current position information (first coordinate information) of the target joint part will be automatically obtained, and the preset target position information (second coordinate information) corresponding to the target joint part will be obtained at the same time.

[0069] In some specific implementation schemes, in order to adjust the hand posture to the correct physiotherapy position, it is necessary to calculate the speed and rotation direction of the Mecanum wheel motor. The Mecanum wheel is a special wheel that can support 360° rotation in place and is widely used in equipment that requires flexible movement. In this embodiment, a plurality of Mecanum wheels are equipped under the chassis of the hand massager. The massage chassis contacts the hand through the cloth cover, and the direction of the wheel can be rotated, thereby driving the cloth cover to rotate and adjusting the direction of the hand.

[0070] When adjusting the hand therapy posture, at least one Mecanum wheel motor is configured to correspond to a specific joint of the hand, such as the palm joint, thumb joint, index finger joint, middle finger joint, ring finger joint and little finger joint (other joints can be selected according to actual needs), so as to adjust the position of the specific joint of the hand when contacting the specific joint of the hand.

[0071] In some specific implementation schemes, in order to calculate the precise rotation speed and rotation direction of the Mecanum wheel, this embodiment also constructs an inverse kinematics model. The inverse kinematics model can solve the speed of the four Mecanum wheels according to the motion state of the Mecanum wheel chassis. Since the mathematical model of the Mecanum wheel chassis is relatively complex, the construction of the inverse kinematics model needs to be carried out in steps:

[0072] First, the motion of the McLennan chassis is decomposed into three independent variables to describe (X-axis translation, Y-axis translation, and yaw-axis rotation);

[0073] Then calculate the speed of each wheel axis position;

[0074] Next, the speed of each wheel's roller in contact with the ground is calculated;

[0075] Finally, the actual rotation speed of the wheel is calculated based on the speed of the roller.

[0076] In this embodiment, the massage chassis on which the hand is placed is equivalent to the Mecanum wheel chassis, and the movement requirements of the specific joints of the hand are equivalent to the motion state of the Mecanum wheel chassis. Based on the movement requirements of the specific joints of the hand, the real speed and rotation direction of the wheels under the massage chassis are calculated through the inverse kinematics model, which can be used as the target control parameters of this embodiment. These control parameters will be directly used to control the operation of the Mecanum wheel motor, so that the specific joints of the hand are moved to the target position according to the predetermined trajectory, so as to adjust the hand therapy posture.

[0077] It should be noted that the first coordinate information and the second coordinate information provide the deviation between the current hand posture and the desired posture. In order to adjust the hand posture to the correct therapy position, the speed and rotation direction of the Mecanum wheel motor need to be calculated. The calculation process is based on the inverse kinematics model. The inverse kinematics model can solve the speed of the four Mecanum wheels according to the motion state of the chassis (that is, the movement requirements of specific joints of the hand). The chassis motion state, that is, the movement requirements of specific joints of the hand, is actually determined by the "first coordinate information" and the "second coordinate information", that is, the movement required for the hand to move from the current position to the target position.

[0078] In some specific implementation schemes, an inverse kinematics calculation method is used to determine the rotation speed of the four wheels of an omnidirectional mobile chassis (such as a McLennan chassis) during a compound motion (translation + rotation). This calculation method is based on the principle of linear decomposition of chassis motion, simplifying complex motion into three basic components: translation along the X-axis, translation along the Y-axis, and rotation around the geometric center. Through testing or observation, the speeds of the four wheels of the chassis during these three basic motions are obtained, and then through simple addition operations, the wheel speed required for compound motion can be obtained. This calculation method simplifies the cumbersomeness of the traditional inverse kinematics derivation process.

[0079] Step S103, according to the target control parameters, the target joint part is adjusted to the massage area corresponding to the preset target position information, so as to adjust the user's hand to the target massage area corresponding to the massage component.

[0080] Specifically, the Mecanum wheel motor is driven to rotate according to the target control parameters, so that the massage base on which the hand is placed adjusts the target joint of the hand to the massage area corresponding to the preset target position information through a compound movement, thereby adjusting the position of the hand.

[0081] In some specific embodiments, the hand position may be continuously monitored until the hand is adjusted to within a preset target massage area.

[0082] Step S104, when the adjustment operation is completed, the massage component corresponding to the target massage area is controlled to perform a massage operation on the hand.

[0083] Specifically, after the execution is completed, the operation is adjusted and the infrared image of the hand is collected again using the infrared thermal imager.

[0084] In some specific implementation schemes, the hand size information is analyzed based on the collected infrared image, and the corresponding massage parameters (such as massage intensity and massage mode) are matched. According to the matched massage parameters, multiple air bags or massage heads corresponding to the target massage area are controlled to perform massage operations on the hand.

[0085] The beneficial effects of the embodiments of the present invention compared with the prior art are: controlling the image acquisition component to acquire the target image corresponding to the hand; if it is determined that at least one target joint part of the hand has an abnormal physical therapy posture according to the target image, then generating target control parameters according to the current position information of the target joint part and the preset target position information corresponding to the target joint part; according to the target control parameters, controlling the hand adjustment component to adjust the target joint part to the target massage area corresponding to the preset position information; when the adjustment operation is completed, controlling the multiple airbags or massage heads corresponding to the target massage area to perform a massage operation on the hand. By acquiring the target image corresponding to the hand in real time through the image acquisition component, the position and state of each joint of the hand can be accurately identified. When it is detected that there is a target joint part of the hand with an abnormal physical therapy posture, the target control parameters can be generated, and the hand position can be automatically adjusted through the hand adjustment component, so that the massage operation always targets the correct massage area, thereby improving the physical therapy effect.

[0086] Traditional hand therapy control methods rely on the user to manually adjust the hand posture, which often leads to inaccurate adjustment and affects the therapy effect. Based on this, the present invention proposes an optional embodiment.

[0087] Reference Figure 2 , Figure 2 1 is a schematic diagram of a specific embodiment of step S102 of the hand physiotherapy control method in an embodiment of the present invention. Step S102 also includes the following specific implementation methods.

[0088] Step S1021, obtaining the current position information of the hand and the preset position information corresponding to the target massage area according to the target image.

[0089] Specifically, the collected target image is deeply analyzed to identify the overall outline of the hand and the current position information of each joint. Based on image recognition technology and machine learning algorithms, the dynamic changes of the hand can be accurately tracked.

[0090] Specifically, the current position information is compared with the preset target position information stored in the database. The target massage area is the best massage area for hand placement determined based on ergonomics and hand therapy practice for the positions of multiple massage airbags or massage heads, aiming to ensure that the hand is in the most comfortable and effective position during the therapy.

[0091] Step S1022, determining the current position information of the target joint of the hand and the preset target position information corresponding to the target joint according to the current position information of the hand and the preset position information corresponding to the target massage area, so as to generate corresponding target control parameters.

[0092] Specifically, based on the comparison results, the control parameters required to adjust the hand from the current position to the preset target position are calculated. The parameters may include the rotation angle, the moving distance, the speed, etc., so that the hand can reach the target position smoothly and accurately.

[0093] In this optional embodiment, the current position of the hand is identified and compared with the preset target position to generate more accurate control parameters, so that the hand is always in the best position during the massage process, thereby improving the massage accuracy and therapeutic effect.

[0094] In traditional hand massage devices, the influence of hand shape differences on massage effects is often not considered. Most devices use a unified massage area and position information, resulting in users with different hand shapes not being able to obtain the best massage effect when receiving massage. Based on this, the present invention proposes an optional embodiment.

[0095] Reference Figure 3 , Figure 3 4 is a schematic diagram of a specific embodiment of step S1021 of the hand physiotherapy control method in an embodiment of the present invention. Step S1021 also includes the following specific implementation methods.

[0096] Step S10211, obtaining the current position information of the hand according to the target image.

[0097] Specifically, the current position information of the hand is extracted based on image processing technology (such as edge detection, contour recognition, etc.).

[0098] Step S10212, determining the hand shape information of the hand according to the current position information of the hand, the hand shape information includes the left hand shape and the right hand shape.

[0099] Specifically, based on the extracted current position information of the hand, the morphological features of the hand (such as the length of the fingers, the width of the palm, etc.) are analyzed to determine whether the hand is the left hand or the right hand.

[0100] Step S10213: if the hand shape attribute information is a right hand attribute, obtain the second preset position information corresponding to the second target massage area.

[0101] Step S10214: if the hand shape information is a left hand shape, obtain the first preset position information corresponding to the first target massage area.

[0102] Specifically, after the hand shape information is determined, the preset position information of the target massage area corresponding to the hand shape can be obtained according to the preset database. For example, for the left hand, there is a set of specific massage areas and position information; for the right hand, there is another set.

[0103] Optionally, in order to improve the readability of the infrared image, the infrared image is rendered in pseudo color so that different temperature areas are displayed in different colors, thereby obtaining a target infrared image. According to the calculated rotation speed and rotation direction, a target control parameter for controlling the joint adjustment module is generated. Among them, the pseudo color rendering operation refers to an image processing technology, the core of which is to convert a black and white image or a monochrome image into a color image, or to transform a monochrome image into an image with a specific color distribution.

[0104] Each pixel value of a pseudo-color image is actually an index value or code, which is used as the entry address of a certain item in the color look-up table (CLUT). Based on this address, the color containing the actual red (R), green (G), and blue (B) intensity values ​​can be found. The color generated by the lookup mapping method is called pseudo-color.

[0105] In some specific implementation schemes, the grayscale image can be divided into different levels according to the grayscale range, and then each level is assigned a different color, thereby enhancing the contrast between different levels.

[0106] In some specific implementations, each pixel value of the grayscale image may be converted into a corresponding color value according to the correspondence between grayscale and color.

[0107] In some specific implementation schemes, the image may be filtered in the frequency domain and then a pseudo-color image may be obtained by inverse transformation.

[0108] In this optional embodiment, by distinguishing between the left hand and the right hand, more accurate and personalized massage services can be provided for different hand shapes, thereby improving the user's comfort. In addition, different massage areas and position information are designed for different hand shapes, which can better match the actual needs of the user, thereby improving the massage effect.

[0109] Traditional hand therapy devices often lack the ability to accurately judge and automatically adjust hand postures. When using the device, users need to adjust their hand positions to match the massage area of ​​the device, which not only affects the accuracy of the therapy but may also cause discomfort due to improper hand postures. Based on this, the present invention proposes an optional embodiment.

[0110] Step S1022 also includes the following specific implementation methods.

[0111] Step S10221, determine whether the user's hand has an abnormal posture based on the current position information of the hand and the preset position information corresponding to the target massage area, the current position information of the hand includes the current position information of the palm and the current position information of the fingers, and the preset position information corresponding to the target massage area includes the palm preset position information corresponding to the palm massage area and the finger preset position information corresponding to the finger massage area.

[0112] Specifically, abnormal hand posture may include abnormal palm posture, such as the palm is not fully extended or is excessively bent, or the palm deviates from the palm massage area, and abnormal finger posture, such as the fingers are not properly aligned or are bent at too large an angle, or the fingers deviate from the finger massage area.

[0113] In some specific implementation schemes, the current position information of the palm can be used to calculate the contour area of ​​the current position of the palm on the massage base, and the preset position of the palm corresponding to the palm massage area can be used to calculate the contour area of ​​the target palm massage area on the massage base, and whether the palm posture is abnormal can be determined based on the coverage of the contour area of ​​the current position of the palm and the contour area of ​​the target palm area. For example, if the coverage of the contour area of ​​the current position of the palm and the contour area of ​​the target palm area is less than 95%, it is determined that the palm has an abnormal posture and the current position of the palm needs to be adjusted; similarly, it can be determined whether the finger has an abnormal posture based on the current position information of the finger and the preset position information of the finger, and the current position of the finger can be adjusted.

[0114] Step S10222, if the palm posture of the hand is abnormal, determine the current position information of the target joint of the hand and the preset target position information corresponding to the target joint according to the current position information of the palm and the preset position information of the palm to generate corresponding target control parameters.

[0115] Specifically, if the palm posture is judged to be abnormal, the difference between the current position information of the hand target joint (such as the wrist joint or the palm joint) and the preset target position information is calculated based on the current position information of the palm and the preset position information of the palm, and the target control parameters are generated based on the difference, such as adjusting the rotation angle and rotation direction of the hand position.

[0116] Step S10223, if the finger posture of the hand is abnormal, determine the current position information of the target joint of the hand and the preset target position information corresponding to the target joint according to the current position information of the finger and the preset position information of the finger to generate corresponding target control parameters.

[0117] Specifically, if it is determined that the finger posture is abnormal, the difference between the current position information of the finger joint and the preset target position information is calculated based on the current position information of the finger and the preset position information of the finger, and the corresponding target control parameters are generated.

[0118] In this optional embodiment, by judging and adjusting the hand posture, the hand can be accurately placed in the preset target massage area, thereby improving the physical therapy effect. In addition, it can effectively avoid the poor physical therapy effect caused by the user's improper hand posture.

[0119] It is understandable that in order to improve the massage accuracy, after the current position of the palm or finger is adjusted, that is, after step S10223, the following specific implementation is also included.

[0120] Step S10224, collecting the adjusted target image of the user's hand, obtaining the current position information of the hand, and executing steps S10221 to S10223;

[0121] Repeat step S10224 until there is no abnormal posture of the user's hand.

[0122] Traditional hand therapy devices usually lack intelligent hand adjustment functions. When using, users need to manually adjust the hand position to match the massage area of ​​the device, which is not only cumbersome to operate, but may also affect the therapy effect due to inaccurate hand position. Based on this, the present invention proposes an optional embodiment.

[0123] Step S102 also includes the following specific implementation methods.

[0124] Step S1023, calculating the target rotation speed and the target rotation direction according to the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part, and generating the target control parameters according to the target rotation speed and the target rotation direction.

[0125] Specifically, the distance and direction that the target hand joint needs to move are calculated based on the difference between the current position information and the preset target position information. Based on the biomechanical characteristics of hand movement and the movement ability of the device, the moving distance and direction are converted into a target speed and a target rotation direction. The target speed refers to the speed at which the hand joint moves, and the target rotation direction refers to the direction in which the hand joint moves.

[0126] The calculated target speed and target rotation direction are encoded as control parameters that can be recognized by the device. The control parameters may include motor speed, rotation direction, rotation time, etc. The generated target control parameters are sent to the hand adjustment component to control multiple Mecanum wheels to move the target joint of the hand to the preset target position.

[0127] In this optional embodiment, by calculating the movement distance and direction of the target joint of the hand and converting them into control parameters recognizable by the device, the hand can be accurately moved to the preset therapy position, thereby improving the therapy effect.

[0128] If the hand is not ready or in an incorrect position, the acquired target image may not accurately reflect the actual state of the hand, thereby affecting the therapeutic effect. Alternatively, if it is not detected whether the hand is placed in the correct massage area, it may not be possible to determine when to start acquiring infrared images. Based on this, the present invention proposes an optional embodiment.

[0129] Step S101 also includes the following specific implementation methods.

[0130] Step S1011, in response to a preset instruction of the user, detecting whether the user's hand is in a preset massage area.

[0131] Specifically, when the user starts the hand therapy control function, it is detected whether the user's hand has been completely placed in the preset massage area. This can be achieved by infrared sensors, cameras or other image recognition technologies.

[0132] In some specific implementation schemes, according to the different hand shapes of the user, such as the difference between the left hand and the right hand, corresponding airbags or massage heads can be set according to the hand shape to massage the left hand and the right hand, so that the optimal areas for hand placement corresponding to different massage airbags are also different, thereby improving the massage accuracy and physical therapy effect. Accordingly, the preset massage area includes a first target massage area corresponding to the left hand massage airbag or massage head and a second target massage area corresponding to the right hand massage airbag or massage head, so as to ensure that the target joint part of the hand can be adjusted to the preset target position according to the user's hand shape later.

[0133] Step S1012, when it is detected that the hand is completely placed in the preset massage area, a target image corresponding to the hand is collected.

[0134] Specifically, if it is detected that the user's hand has been completely placed in the preset massage area, the target image corresponding to the user's hand is collected for subsequent hand position analysis and joint positioning.

[0135] In some specific embodiments, placing the hand completely in the preset massage area means that the hand area from the wrist joint to the fingertips is placed in the preset massage area. To facilitate user operation, the position of the preset massage area can be marked on the massage chassis of the hand therapy device.

[0136] Step S1013, when it is detected that the hand is not completely placed in the preset massage area, the user is prompted to reposition the hand.

[0137] Specifically, if it is detected that the user's hand is not completely placed in the preset massage area, the user is prompted to place the hand completely in the preset massage area through sound prompts, screen displays, etc.

[0138] In this optional embodiment, by ensuring that the user's hand is completely placed in the preset massage area before starting to collect images, the accuracy of subsequent analysis and control can be ensured, thereby improving the effect of the entire physical therapy process and the user's satisfaction. In addition, if the hand is not completely placed in the massage area, image collection and massage control will not be started blindly, effectively avoiding poor physical therapy effects caused by misoperation.

[0139] The conventional hand therapy control device may not be able to monitor and adjust the hand therapy posture in real time during the massage process. Based on this, the present invention proposes an optional embodiment.

[0140] The following specific implementation is also included after step S104.

[0141] Step S105, capturing a target image of the user's hand at every preset time period, and repeatedly executing steps S102 to S104.

[0142] Specifically, the preset time period can be set arbitrarily. The smaller the time interval is, the more conducive it is to ensure that the hands are located in a suitable massage area, thereby improving the massage accuracy and therapeutic effect.

[0143] In the existing hand therapy control method, there is often a lack of accurate detection of the hand size. And no targeted therapy schemes are set for hands of different sizes. Based on this, the present invention proposes an optional embodiment.

[0144] Step S104 also includes the following specific implementation methods.

[0145] Step S1041, when the adjustment operation is completed, the hand size information is analyzed based on the target image.

[0146] Specifically, the acquired target image is used to extract the hand size information through image processing and analysis technology, including but not limited to key dimensions such as the length, width, and joint spacing of the hand.

[0147] Step S1042, matching massage parameters corresponding to the size information.

[0148] Specifically, according to the extracted hand size information, the massage parameters most suitable for the size are matched from the preset massage parameter library. The massage parameters may include massage intensity, massage mode (such as kneading, tapping, vibration, etc.), massage time, etc.

[0149] Step S1043, controlling the massage component to perform a massage operation on the hand according to the massage parameters, the massage parameters including massage intensity and massage mode.

[0150] Specifically, according to the matched massage parameters, instructions are sent to the massage component so that it performs massage operations on the hands according to the predetermined massage intensity and mode.

[0151] In this optional embodiment, by matching the most suitable massage parameters according to the hand size information, a personalized massage experience can be provided for hands of different sizes. The personalized massage parameters can better adapt to the hand structure, thereby more effectively relieving hand fatigue, promoting blood circulation and restoring hand function.

[0152] The conventional hand therapy control device may not be able to obtain and feedback the biological data of the hand in real time during the massage process, resulting in the inability to adjust the massage parameters in time according to the current state of the hand. Based on this, the present invention proposes an optional embodiment.

[0153] Step S1043 also includes the following specific implementation.

[0154] Step S1044, collecting hand biological data corresponding to the hand in real time.

[0155] Specifically, according to the matched massage parameters (such as massage intensity and massage mode), the massage component is controlled to perform massage operations on the hands.

[0156] Step S1045, modifying massage parameters according to the hand biometric data to adjust the massage operation in real time.

[0157] Specifically, during the massage operation, biological data of the hand, such as heart rate, skin temperature, muscle tension, etc., are collected in real time through the built-in collection device.

[0158] The collected hand biometric data are analyzed in real time to evaluate the impact of the current massage operation on the hands.

[0159] Based on the analysis results, determine whether to adjust the massage parameters, such as increasing or decreasing the massage intensity, changing the massage mode or frequency, to adapt to the current state and needs of the hands.

[0160] According to the modified massage parameters, the massage operation of the massage component is adjusted in real time to ensure the comfort of the massage.

[0161] In this optional embodiment, by collecting and analyzing hand biometric data in real time, the current state and needs of the hand can be understood more accurately, thereby adjusting the massage parameters to provide a better massage effect.

[0162] Figure 4 The structure diagram of a hand therapy control device provided by an embodiment of the present invention is shown. The hand therapy control device 400 can be configured on a control device. Specifically, the hand therapy control device 400 can include:

[0163] The image acquisition module 401 is used to acquire a target image corresponding to the user's hand in response to a preset instruction of the user;

[0164] A control parameter generating module 402 is used to determine the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part according to the target image, and generate corresponding target control parameters;

[0165] The hand adjustment module 403 is used to adjust the target joint part of the hand to the massage area corresponding to the preset target position information according to the target control parameter, so as to adjust the user's hand to the target massage area corresponding to the massage component;

[0166] The massage component control module 404 is used to control the massage component corresponding to the target massage area to perform a massage operation on the hand when the adjustment operation is completed.

[0167] The beneficial effects of the embodiments of the present invention compared with the prior art are: in response to the preset instructions of the user, the target image corresponding to the user's hand is collected; the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part are determined according to the target image, and the corresponding target control parameters are generated; according to the target control parameters, the target joint part is adjusted to the massage area corresponding to the preset target position information; when the adjustment operation is completed, the massage component corresponding to the target massage area is controlled to perform a massage operation on the hand. By collecting the target image corresponding to the hand, the position and state of each joint of the hand can be identified. When the target joint part of the hand with an abnormal physical therapy posture is detected, the target control parameters can be generated, and the hand position can be automatically adjusted through the joint adjustment component, so that the massage operation is always targeted at the correct massage area, thereby improving the physical therapy effect.

[0168] In some implementations of the present invention, the control parameter generating module 402 is further used to:

[0169] Acquire the current position information of the hand and the preset position information corresponding to the target massage area according to the target image;

[0170] The current position information of the target joint of the hand and the preset target position information corresponding to the target joint are determined according to the current position information of the hand and the preset position information corresponding to the target massage area to generate corresponding target control parameters.

[0171] In some implementations of the present invention, the control parameter generation module 402 may also be used to:

[0172] Obtaining the current position information of the hand according to the target image;

[0173] Determine hand shape information of the hand according to the current position information of the hand, the hand shape information includes the left hand shape and the right hand shape;

[0174] If the hand shape information is a left hand shape, obtaining first preset position information corresponding to the first target massage area;

[0175] If the hand shape attribute information is a right hand attribute, second preset position information corresponding to the second target massage area is obtained.

[0176] In some implementations of the present invention, the control parameter generation module 402 may also be used to:

[0177] Determining whether the hand has abnormal posture according to the current position information of the hand and the preset position information corresponding to the target massage area, the current position information of the hand includes the current position information of the palm and the current position information of the fingers, the preset position information corresponding to the target massage area includes the preset palm position information corresponding to the palm massage area and the preset finger position information corresponding to the palm massage area, and the abnormal posture includes abnormal palm posture and abnormal finger posture;

[0178] If the palm posture of the hand is abnormal, the current position information of the target joint of the hand and the preset target position information corresponding to the target joint are determined according to the current position information of the palm and the preset position information of the palm, so as to generate corresponding target control parameters;

[0179] If the finger posture of the hand is abnormal, the current position information of the target joint of the hand and the preset target position information corresponding to the target joint are determined according to the current position information of the fingers and the preset position information of the fingers to generate corresponding target control parameters.

[0180] In some implementations of the present invention, the control parameter generation module 402 may also be used to:

[0181] The target rotation speed and the target rotation direction are calculated according to the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part, and the target control parameters are generated according to the target rotation speed and the target rotation direction.

[0182] In some embodiments of the present invention, the image acquisition module 401 may also be used for:

[0183] In response to a preset instruction of the user, detecting whether the user's hand is in a preset massage area;

[0184] When it is detected that the hand is completely placed in the preset massage area, the target image corresponding to the hand is collected;

[0185] When it is detected that the hand is not completely placed in the preset massage area, the user is prompted to reposition the hand, and the preset massage area includes a first target massage area and a second target massage area.

[0186] like Figure 5, which is a schematic diagram of a control device provided in an embodiment of the present invention. The control device 500 may include: a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and executable on the processor 501, such as a hand therapy control program. When the processor 501 executes the computer program 503, the steps in the above-mentioned various hand therapy control embodiments are implemented. Alternatively, when the processor 501 executes the computer program 503, the functions of the modules / units in the above-mentioned various device embodiments are implemented.

[0187] The computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 502 and executed by the processor 501 to complete the present invention. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the control device.

[0188] The control device may include, but is not limited to, a processor 501 and a memory 502. Those skilled in the art will appreciate that Figure 5 These are merely examples of control devices and do not constitute limitations on the control device. The control device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the control device may also include input and output devices, network access devices, buses, etc.

[0189] The processor 501 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0190] The memory 502 may be an internal storage unit of the control device, such as a hard disk or memory of the control device. The memory 502 may also be an external storage device of the control device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the control device. Further, the memory 502 may also include both an internal storage unit of the control device and an external storage device. The memory 502 is used to store computer programs and other programs and data required by the control device. The memory 502 may also be used to temporarily store data that has been output or is to be output.

[0191] It should be noted that, for the convenience and brevity of description, the structure of the above-mentioned control device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0192] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0193] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned hand physiotherapy control method can be implemented.

[0194] An embodiment of the present invention provides a computer program product. When the computer program product is run on a mobile terminal, the steps in the above-mentioned hand physiotherapy control method can be implemented when the mobile terminal executes the computer program product.

[0195] The embodiment of the present invention further provides a hand physiotherapy device, comprising the above-mentioned control device;

[0196] Optionally, it further includes an image acquisition component, which is arranged in the hand therapy device and connected to the control device, and is used to acquire a target image corresponding to the user's hand;

[0197] Optionally, a hand adjustment component is further included, which is arranged in the hand therapy device and connected to the control device, and is used to adjust the hand target joint part to the target massage area corresponding to the preset target position information according to the target control parameter;

[0198] Optionally, a massage component is also included, which is arranged in the hand therapy device and connected to the control device for performing massage operations on the user's hands.

[0199] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0200] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0201] In the embodiments provided by the present invention, it should be understood that the disclosed devices / control equipment and methods can be implemented in other ways. For example, the device / control equipment embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0202] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0203] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0204] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0205] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A hand physiotherapy control method, characterized in that: Methods include: In response to a preset instruction of the user, a target image corresponding to the user's hand is collected; Acquire the current position information of the hand and the preset position information corresponding to the target massage area according to the target image; Determine the current position information of the target joint of the hand and the preset target position information corresponding to the target joint according to the current position information of the hand and the preset position information corresponding to the target massage area, so as to generate corresponding target control parameters; According to the target control parameter, the target joint part is adjusted to the massage area corresponding to the preset target position information, so as to adjust the user's hand to the target massage area corresponding to the massage component; When the adjustment is completed, controlling the massage component corresponding to the target massage area to perform a massage operation on the hand; Wherein, the step of determining the current position information of the target joint of the hand and the preset target position information corresponding to the target joint according to the current position information of the hand and the preset position information corresponding to the target massage area to generate the target control parameter includes: Determining whether the user's hand has an abnormal posture according to the current position information of the hand and the preset position information corresponding to the target massage area, wherein the current position information of the hand includes the current position information of the palm and the current position information of the fingers, and the preset position information corresponding to the target massage area includes the preset palm position information corresponding to the palm massage area and the preset finger position information corresponding to the finger massage area; If the palm posture of the hand is abnormal, the current position information of the target joint of the hand and the preset target position information corresponding to the target joint are determined according to the current position information of the palm and the preset position information of the palm, so as to generate corresponding target control parameters; If the finger posture of the hand is abnormal, the current position information of the target joint of the hand and the preset target position information corresponding to the target joint are determined according to the current position information of the fingers and the preset position information of the fingers to generate corresponding target control parameters.

2. The hand therapy control method according to claim 1, characterized in that: The step of acquiring the current position information of the hand and the preset position information corresponding to the target massage area according to the target image also includes: Acquire current position information of the hand according to the target image; Determine hand shape information of the hand according to the current position information of the hand, wherein the hand shape information includes the left hand shape and the right hand shape; If the hand shape information is a left hand shape, obtaining first preset position information corresponding to the first target massage area; If the hand shape attribute information is a right hand attribute, second preset position information corresponding to the second target massage area is obtained.

3. The hand therapy control method according to claim 1, characterized in that: The step of collecting the target image corresponding to the user's hand in response to the user's preset instruction includes: In response to a preset instruction of the user, detecting whether the user's hand is in a preset massage area; When it is detected that the hand is completely placed in the preset massage area, the target image corresponding to the hand is collected; When it is detected that the hand is not completely placed in the preset massage area, the user is prompted to reposition the hand, and the preset massage area includes a first target massage area and a second target massage area.

4. The hand therapy control method according to claim 1, characterized in that: The step of generating corresponding target control parameters according to the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part specifically includes: The target rotation speed and the target rotation direction are calculated according to the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part, and the target control parameter is generated according to the target rotation speed and the target rotation direction.

5. A hand therapy control device, characterized in that: include: An image acquisition module, used to acquire a target image corresponding to the user's hand in response to a preset instruction of the user; A control parameter generating module, used for acquiring the current position information of the hand and the preset position information corresponding to the target massage area according to the target image; determining the current position information of the target joint part of the hand and the preset target position information corresponding to the target joint part according to the current position information of the hand and the preset position information corresponding to the target massage area, so as to generate corresponding target control parameters; A hand adjustment module, used for adjusting the hand target joint part to the massage area corresponding to the preset target position information according to the target control parameter, so as to adjust the user's hand to the target massage area corresponding to the massage component; a massage component control module, used for controlling the massage component corresponding to the target massage area to perform a massage operation on the hand when the adjustment is completed; Wherein, the control parameter generation module is also used for: Determining whether the user's hand has an abnormal posture according to the current position information of the hand and the preset position information corresponding to the target massage area, wherein the current position information of the hand includes the current position information of the palm and the current position information of the fingers, and the preset position information corresponding to the target massage area includes the preset palm position information corresponding to the palm massage area and the preset finger position information corresponding to the finger massage area; If the palm posture of the hand is abnormal, the current position information of the target joint of the hand and the preset target position information corresponding to the target joint are determined according to the current position information of the palm and the preset position information of the palm, so as to generate corresponding target control parameters; If the finger posture of the hand is abnormal, the current position information of the target joint of the hand and the preset target position information corresponding to the target joint are determined according to the current position information of the fingers and the preset position information of the fingers to generate corresponding target control parameters.

6. The hand therapy control device according to claim 5, characterized in that: The control parameter generation module is also used for: Acquire current position information of the hand according to the target image; Determine hand shape information of the hand according to the current position information of the hand, wherein the hand shape information includes the left hand shape and the right hand shape; If the hand shape information is a left hand shape, obtaining first preset position information corresponding to the first target massage area; If the hand shape attribute information is a right hand attribute, second preset position information corresponding to the second target massage area is obtained.

7. A control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the hand physiotherapy control method as claimed in any one of claims 1 to 4 when executing the computer program.

8. 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 hand physiotherapy control method according to any one of claims 1 to 4 are implemented.

9. A hand therapy device, characterized in that: include: The control device of claim 7; further comprising an image acquisition component, disposed in the hand therapy device, connected to the control device, and used to acquire a target image corresponding to the user's hand; It also includes a hand adjustment component, which is arranged in the hand therapy device and connected to the control device, and is used to adjust the hand target joint part to the target massage area corresponding to the preset target position information according to the target control parameter; It also includes a massage component, which is arranged in the hand therapy device and connected to the control device for performing a massage operation on the user's hands.

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