Traditional Chinese medicine massage glove, system and device

Abstract

The invention discloses a traditional Chinese medicine massage glove, system and device, and the glove comprises a glove body which is provided with a plurality of flexible sensors; the flexible sensor is used for collecting pressure data applied to a preset pressing position by adopting a preset technique; the preset manipulation comprises pressing, kneading, dotting, vibrating and shaking; the IMU inertial measurement module is used for collecting operation data in real time, and the operation data comprises a movement track and inertial data; the ADC module is used for converting a voltage analog signal output by the flexible sensor into a digital signal; and the control module is used for analyzing the acquired digital signals and operation data, carrying out massage manipulation analysis and constructing a traditional Chinese medicine massage manipulation database. Accurate data acquisition, real-time feedback and visual display of the traditional Chinese medicine massage manipulation are realized, and the teaching, inheriting and efficiency of the massage manipulation are effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of traditional Chinese medicine massage, in particular to a traditional Chinese medicine massage glove, a system and a device. Background Art

[0002] Tuina is a clinical discipline with strong skills and operability. The force of the manipulation in "manipulation mechanics training" is the basis and key to the teaching and inheritance of Tuina. Force is the basic characteristic of Tuina manipulation. The main difference between different Tuina manipulations is mainly determined by the nature of the force they generate. When practicing manipulations, the nature of the force of the manipulation must be mastered in order to improve the learner's hands-on practical ability in a short period of time. However, Chinese medicine manipulations have extremely high requirements for the operator's control of the force of the manipulation, and are easy to learn but difficult to master. Many Chinese medicine manipulations are facing the risk of being lost. It can be seen that measuring the mechanical parameters of the treatment manipulations of experienced Tuina physicians, so that learners have objective and visual norms to follow, is the key to the teaching and inheritance of Tuina manipulations.

[0003] At present, the determination of mechanical parameters of massage techniques can be divided into indirect measurement and direct measurement. Although the indirect measurement method can intuitively show the stress changes of massage techniques, it has the disadvantage of insufficient reliability of the test results. The indirect measurement method mainly includes motion capture, finite element model, multi-body dynamics model, etc., which can intuitively show the stress changes of massage techniques without destroying the integrity of the joints, but the reliability of the results is insufficient. The direct measurement method mainly includes massage technique measuring instruments, in vitro models, in vivo measurement systems, etc. The direct measurement method can truly reflect the mechanical characteristics of the massage techniques. The data collected by direct measurement is more accurate, but the sensors used in existing studies are large in size, rough in touch, and poor in softness. The software operating system that matches the sensors is not perfect, and the test data is not accurate and comprehensive enough. Summary of the invention The present invention provides a traditional Chinese medicine massage glove and system, which realizes accurate data collection, real-time feedback and visual display of traditional Chinese medicine massage techniques, and effectively improves the teaching, inheritance and efficiency of massage techniques.

[0004] In a first aspect, the present invention provides a traditional Chinese medicine massage glove, characterized in that it comprises: The glove body is provided with a plurality of flexible sensors; the flexible sensors are used to collect pressure data applied to a preset pressing position by a preset technique; the preset techniques include pressing, kneading, tapping, vibrating, and trembling; IMU inertial measurement module, real-time acquisition of operation data, the operation data including motion trajectory and inertial data; An ADC module converts the voltage analog signal output by the flexible sensor into a digital signal; The control module analyzes the collected digital signals and operation data, performs massage technique analysis, and builds a database of traditional Chinese medicine massage techniques.

[0005] In some embodiments, the flexible sensor includes a first sensor, a second sensor, a third sensor, a fourth sensor, a fifth sensor, a sixth sensor, and a seventh sensor, wherein the first sensor, the second sensor, the third sensor, the fourth sensor, and the fifth sensor are respectively arranged at the fingertips of the thumb, the index finger, the middle finger, and the ring finger on the palm surface of the glove body and fixed at the palm and the hypothenar area; The seventh sensor is arranged at the cuff of the glove body, and the seventh sensor is used to detect pressure data of the arm.

[0006] In some embodiments, the control module includes a pressure visualization unit and a data storage unit; the pressure visualization unit is used to perform visualization operations on the pressure data and operation data collected by the flexible sensor; The data storage unit is used to store operation data, and the operation data also includes pressure data, pressing position, inertia data and time.

[0007] In some embodiments, the pressure visualization unit generates a heat map for the pressure data of the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, and the sixth sensor using a diagonal matrix as a covariance matrix, and generates a heat map for the pressure data of the seventh sensor using a covariance matrix with variance; the heat map is used to display the pressure points and the pressure data corresponding to the points.

[0008] In some embodiments, a heat map is generated by the following formula:

[0009] Where n represents the dimension of the generated heat map, K represents the covariance matrix, μ represents the center of the heatmap and x represents a point on the image.

[0010] In some embodiments, the IMU inertial measurement includes an MPU6050 acquisition chip, which is used to monitor the acceleration and angular velocity in the three directions of X, Y, and Z in real time, calculate the motion trajectory and rotational motion, inertial data, and obtain posture changes.

[0011] In some embodiments, the seventh sensor adopts a square thin film pressure sensor with a measuring range of 10~20kg; the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, and the sixth sensor all adopt circular thin film pressure sensors with a measuring range of 6~20kg, and the area of ​​the seventh sensor is larger than the areas of the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, and the sixth sensor.

[0012] In a second aspect, the present invention provides a traditional Chinese medicine massage system, comprising: A traditional Chinese medicine massage glove as described above; A control device is connected to the traditional Chinese medicine massage gloves; the control device determines whether the pressure data meets the preset requirements according to the traditional Chinese medicine massage technique database; and gives a prompt when the preset requirements are not met.

[0013] In a third aspect, the present invention provides a traditional Chinese medicine massage device, comprising: a traditional Chinese medicine massage system as described in any one of the above.

[0014] The present invention provides a traditional Chinese medicine massage glove, system and device. The pressure sensor arranged on the traditional Chinese medicine massage glove collects pressure data through manipulation operations such as pressing, kneading, tapping, vibration and trembling in real time, builds a traditional Chinese medicine massage database, realizes the digitization, visualization and intelligence of traditional Chinese medicine massage manipulation, and provides strong technical support and guarantee for clinical practice and teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the structure of a traditional Chinese medicine massage glove provided by the present invention; Figure 2 A circuit schematic diagram of a sensor output interface of a traditional Chinese medicine massage glove provided by the present invention; Figure 3 A circuit diagram of a control module of a traditional Chinese medicine massage glove provided by the present invention; Figure 4 A circuit schematic diagram of an ADC module of a traditional Chinese massage glove provided by the present invention; Figure 5 A schematic diagram of a circuit of an IMU module of a traditional Chinese medicine massage glove provided by the present invention; Figure 6 A heat map of a traditional Chinese medicine massage glove provided by the present invention; Figure 7 A curve diagram of pressure data of a traditional Chinese medicine massage glove provided by the present invention; Figure 8 A schematic diagram of the motion trajectory of a traditional Chinese medicine massage glove provided by the present invention; Fig. 9 A schematic diagram of another motion trajectory of a traditional Chinese medicine massage glove provided by the present invention; In the figure: 1, glove body; 11, first sensor; 12, seventh sensor. DETAILED DESCRIPTION

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0017] like Figure 1As shown, the present application provides a traditional Chinese medicine massage glove, which realizes accurate data collection, real-time feedback and visual display of traditional Chinese medicine massage techniques, and effectively improves the teaching and inheritance efficiency of massage techniques.

[0018] Specifically, the traditional Chinese medicine massage glove includes a glove body 1, which is provided with a plurality of flexible sensors; the flexible sensor is used to collect pressure data applied to a preset pressing position using a preset technique; the preset techniques include pressing, kneading, tapping, vibration, and tremor; an IMU inertial measurement module, which collects motion trajectory and inertial data in real time; an ADC module, which converts the voltage analog signal output by the flexible sensor into a digital signal through the ADC module; and a control module, which parses the collected digital signal, motion trajectory, and inertial data, performs massage technique analysis, and constructs a traditional Chinese medicine massage technique database.

[0019] The glove body is made of flexible material, and multiple flexible sensors are set on the glove. When performing point, vibration and tremor manipulation, the doctor mainly uses four fingers to treat the patient; when performing pressing and kneading manipulation, the doctor mainly uses the palm, side of the hand and arm to complete the treatment. The specific treatment method is switched according to the area of ​​the treatment part and the required pressure. In this embodiment, the flexible sensor includes a first sensor 1, a second sensor, a third sensor, a fourth sensor, a fifth sensor, a sixth sensor, and a seventh sensor 12. The first sensor, the second sensor, the third sensor, the fourth sensor, and the fifth sensor are respectively arranged at the fingertips of the thumb, index finger, middle finger, and ring finger on the palm of the glove body and fixed at the palm and the hypothenar area; the seventh sensor is arranged at the cuff of the glove body, and the seventh sensor is used to detect pressure data of the arm.

[0020] The first sensor 1, the second sensor, the third sensor, the fourth sensor, the fifth sensor and the sixth sensor are used to capture the pressure data of various parts of the palm during the massage process, and can reflect the changes in the strength of different manipulations, such as pressing, kneading, tapping, vibration and trembling, at different operation points, so as to help analyze and optimize the manipulation operation, ensure that the pressure applied by each manipulation at different parts meets the requirements, and improve the massage effect.

[0021] The seventh sensor 12 is arranged at the sleeve of the glove body and fixed to the operator's arm through the glove to monitor the overall pressure and movement trajectory of the arm, which is particularly important for certain techniques that require the whole arm to exert force, such as pressing and kneading. The pressure data collected by the seventh sensor can provide more comprehensive mechanical parameters to help understand the overall force of the technique, thereby improving the teaching and training effect of the massage technique.

[0022] All flexible sensors collect data in real time, and the data is packaged by the ESP32 module and transmitted to the host computer through the UDP protocol. Real-time data transmission and processing are achieved, ensuring that the host computer can instantly receive sensor data for analysis and visualization, provide instant feedback, and improve the accuracy and effect of massage techniques.

[0023] In this embodiment, the seventh sensor is a square thin film pressure sensor with a measurement range of 10-20 kg. Since the seventh sensor is usually placed on the arm, the arm may exert greater force during massage and needs to monitor larger pressure changes. Therefore, the flexible sensor is square, covering a larger contact area, and providing more stable and accurate pressure data.

[0024] The first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, and the sixth sensor all use circular thin film pressure sensors with a measurement range of 6~20kg, and the area of ​​the seventh sensor is larger than the areas of the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, and the sixth sensor. Specifically, the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, and the sixth sensor are circular thin film pressure sensors with an outer diameter of 18mm, and the seventh sensor is a square 40*40mm thin film pressure sensor. The seventh sensor has a larger area to cover a larger contact area of ​​the arm, improve the stability of the measured pressure data, and capture the greater force and distribution applied by the arm. The sensors in the palm and fingers are smaller in area and can accurately capture the subtle pressure changes in the palm and fingers.

[0025] The above settings enable the gloves to fully cover all key pressure points from fingers, palms to arms, ensuring that the pressure data of all key parts during the massage process can be accurately captured. Through the combination of sensors with different ranges and areas, the control system can obtain richer and more detailed pressure data, conduct more accurate analysis and evaluation, and improve the training and teaching effects of massage techniques. Ensure the comprehensiveness, accuracy and stability of the data collection of massage techniques, and provide important support for the scientific research and teaching of Chinese medicine massage techniques.

[0026] More specifically, the flexible sensor is a FSR402 sensor, which is tightly fixed on the fabric glove. Figure 2 , 3As shown in Figures 4 and 5, the sensor output interface is a metal pin with a pitch of 2.54 mm. A dedicated interface board is used to solder the sensor output interface to the pad, and a 10k resistor is soldered on the back of the board as a voltage divider resistor, and a SH1.0 3Pin horizontal terminal block is soldered to connect to the control module. A soft flat cable is used to connect the flexible sensor to the ADC module to reduce the discomfort of wearing and improve the accuracy of the pressure data collected by the flexible sensor.

[0027] The ADC module converts the voltage analog signal output by the flexible sensor into a digital signal through the ADC module. The ADC chip uses two ADS1115 chips, each with 4-channel 16-bit ADC. Two chips can provide 8-channel analog-to-digital conversion function to meet the use requirements of 7 channels of the sensor. The input voltage of the ADC module is 5V, which is provided by the control unit through the SH1.0 4Pin line. The signal transmission adopts IIC bus communication. The IIC addresses of the two ADS1115 chips are configured as 0x48 and 0x49, and pull-up resistors are loaded. They are connected to the PCB base plate through surface mounting. In addition, 8 SH1.0 3Pin horizontal terminal blocks and 1 SH1.0 4Pin horizontal terminal block need to be mounted on the base plate. The 3Pin pins are GND, 5V and signal lines, which are used to provide 5V voltage to the sensor and transmit the sensor analog voltage back to the analog-to-digital converter; the 4Pin terminal pins are 5V, SDA, SCL and GND, which are used to receive 5V voltage and provide IIC bus communication interface to transmit data between the control unit.

[0028] The IMU module collects operation data in real time, and the operation data includes motion trajectory and inertial data. Figure 5 As shown in the figure, the MPU6050 chip is used, which includes a three-axis accelerometer and a three-axis gyroscope for measuring linear acceleration and angular velocity. The IMU module communicates with the control unit through the IIC (Inter-Integrated Circuit) bus. The three-axis accelerometer in the IMU module can measure the acceleration in the three directions of X, Y, and Z. By detecting the acceleration changes of the hand in different directions, the motion trajectory of the hand is calculated. At the same time, the three-axis gyroscope can measure the angular velocity in the three directions of X, Y, and Z. By measuring the rotation speed of the hand in different directions, the rotational motion of the hand is calculated. The angular velocity data can help to infer the posture changes of the hand, such as the tilt and rotation of the palm during massage.

[0029] The IMU module transmits the collected acceleration and angular velocity data to the wireless controller through the I2C bus. After receiving the motion trajectory and inertial data of the IMU module, the controller performs data analysis. The analyzed data is used to generate a 3D motion trajectory display of the hand, and to visualize the massage technique in combination with the pressure data of the flexible sensing glove. In this way, the IMU inertial detection module can record and reflect the motion trajectory and posture changes of the user's hand in real time, and combine the pressure sensing data to achieve comprehensive detection and evaluation of Chinese medicine massage techniques.

[0030] The control module analyzes the collected digital signals, motion trajectories, and inertial data, performs massage technique analysis, and builds a database of traditional Chinese medicine massage techniques. After obtaining the above digital signals, motion trajectories, and inertial data, data preprocessing, cleansing data standardization, and data feature extraction are performed. Based on the pressure data of the flexible sensor, the strength, frequency, period, amplitude, and trajectory of each massage technique are extracted, and the motion trajectory of the hand is calculated through the IMU module data.

[0031] In this embodiment, if Figure 6 As shown in the figure, the control module is a wireless controller, which is used to package and process the signals on the IIC bus through the ESP32-C3 chip, and send them to the host computer on the same local area network by the UDP protocol. The main control uses the ESP32-C3-SuperMini module based on the ESP32-C3 chip, which is welded on the PCB base plate using surface mount technology. In addition, a SH1.0 4Pin interface is set to power the ADC module and the sensor. The 300mah 3.7V polymer lithium battery is matched with the LX-LBC3 module to complete the power supply to the base plate and the lithium battery charging and discharging functions.

[0032] Specifically, the control module includes a pressure visualization unit and a data storage unit; the pressure visualization unit is used to perform visualization operations on the pressure data and operation data collected by the flexible sensor; the data storage unit is used to store the operation data, and the operation data also includes pressure data, pressing position, inertia data and time.

[0033] like Figure 6 , 7 As shown, the pressure visualization unit can visualize the operation data and pressure data, so that doctors or users can intuitively see the data in the massage technique, which can be used in the practice of data collection of massage techniques, pressure data display, teaching massage results comparison, etc. In this embodiment, the visualization operation includes heat map, line chart display, etc. Figure 5 In the figure, a heat map is shown of the glove body and the location where the flexible sensor is set.

[0034] The Gaussian heat map is constructed by the following formula:

[0035] Among them, n represents the dimension of the generated heat map, K represents the covariance matrix, μ Indicates the center of the heat map, and x indicates a point on the image. In this application, since the thin film pressure sensor set at the finger of the glove body is circular, a diagonal matrix is ​​selected as the covariance matrix, and a directional covariance matrix is ​​selected for the back of the hand and the arm to generate the heat map. The heat map generated in the above way can better express the pressure change of the fitting contact surface. Figure 6 In the figure, P1, P2, P3, P4, and P5 are the force application points during the massage process. The depth of color represents different pressure levels. Through the heat map, you can intuitively see which parts are subjected to greater pressure and which parts are subjected to less pressure. Through the heat map, you can get the force applied, the range that the massage technique needs to cover, and the pressure distribution in different areas of the palm and arm. You can observe the change of pressure over time during the manipulation, and understand the duration of the technique and the trend of force change. By analyzing the frequency and period of pressure changes in the heat map, you can understand the operation frequency and rhythm of different techniques.

[0036] In terms of teaching, by comparing the heat maps of teachers and students, we can analyze the differences in the operation of the same technique and find the gap in standardized operation. Students can observe the heat map to understand the differences between themselves and the standard operation and conduct targeted practice and improvement.

[0037] Figure 7 It is a pressure curve chart showing the pressure data at different points. After reading the data, it will display the change in pressure in the form of a sliding window, showing the force applied by the massage technique at different time points, helping to analyze how the force changes during the operation. The force changes of the manipulation operation are displayed in real time, providing instant feedback to help the operator adjust the force. By observing the peaks on the line graph, the maximum and minimum pressure points applied by the manipulation can be identified. When entering the teaching mode, the hand pressure difference between teachers and students is displayed to guide students to apply more pressure during physical therapy. By reviewing the force changes in the line graph, students and doctors can find deficiencies in the operation and make targeted improvements.

[0038] Furthermore, the pressure visualization unit can also Figure 8 , 9As shown, the user's hand movement trajectory is displayed in real time, showing the path of the hand during the massage operation, helping to understand the specific movements and routes of the manipulation, showing the specific position changes of the operator's hand at different time points, helping to analyze the application of the manipulation in different parts, and realizing the visualization of the massage technique. Teachers and students can find the direction of improvement and optimization by analyzing the specific movement path, force distribution and dynamic changes of the manipulation in detail, and improve the accuracy and effect of the massage technique.

[0039] The data storage unit is used to store operation data, which also includes pressure data, pressing position, inertia data and time. When the operator completes the entry of the operation data of the manipulation, it can be saved locally or uploaded to the cloud. Specifically, the operator enters a manipulation action, such as a manipulation for treating cervical spondylosis, low back pain or knee osteoarthritis, including different contact states between the glove body and the patient, the position and time of applying pressure. When it is needed to be demonstrated later, the operation data of the manipulation can be directly retrieved for simulation and comparative learning. This data storage unit realizes the scientific, digital and intelligent manipulation through efficient data storage and management. The system can provide more accurate manipulation analysis and improvement suggestions, enhance the teaching and clinical effects of massage manipulation, and promote teaching training and remote communication.

[0040] The massage gloves provided in the present application use flexible tactile sensors and inertial measurement units to produce a Chinese medicine massage technique detection glove device, which can obtain real-time on-body phase parameters such as force, frequency, period, amplitude and trajectory of multiple operation points during manipulation operations such as pressing, kneading, tapping, vibration and tremor, thereby establishing a new massage technique collection and evaluation device, and collect the mechanical parameters of the manipulation methods used by veteran Chinese medicine doctor Guo Chengxiang in the clinical treatment of five diseases, including cervical spondylosis, low back pain, knee osteoarthritis, scapulohumeral periarthritis and insomnia, to establish a database for inheritance and teaching.

[0041] Based on the same inventive concept, the present application also provides a traditional Chinese medicine massage system, comprising: A traditional Chinese medicine massage glove as described above; and a control device connected to the traditional Chinese medicine massage glove; the control device determines whether the pressure data meets the preset requirements based on the traditional Chinese medicine massage technique database; and gives a prompt when the preset requirements are not met.

[0042] Specifically, the operator enters a manipulation action into the system, such as a manipulation for treating cervical spondylosis, low back pain or knee osteoarthritis, including different contact states between the glove body and the patient, the location and time of applying pressure. When it is necessary to demonstrate in the future, the operation data of the manipulation can be directly retrieved for simulation and comparative learning. The learner performs massage and pressing operations through the glove body, compares his own pressure data and operation data, learns the path of the operator's hand movement during the massage operation, displays the specific position changes of the operator's hand at different time points, analyzes the application of the two techniques in different parts, and understands the specific movements and routes of the manipulation. When the difference between the pressure data or operation data, the position of force application in the visualization unit and the manipulation action in the system exceeds the threshold, a corresponding prompt is issued to determine the required improvement position or force distribution, dynamic changes, etc., to improve the accuracy and effect of the massage manipulation. This system can provide more accurate manipulation analysis and improvement suggestions, improve the teaching and clinical effects of massage manipulation, and promote teaching training and remote communication. Make the manipulation scientific, data-based and intelligent, The present application provides a traditional Chinese medicine massage glove and system, which collects pressure data through pressing, kneading, tapping, vibration, tremor and other manipulation techniques in real time through pressure sensors installed on the traditional Chinese medicine massage gloves, builds a traditional Chinese medicine massage database, realizes the digitization, visualization and intelligence of traditional Chinese medicine massage techniques, and provides strong technical support and guarantee for clinical practice and teaching.

[0043] The present application also provides a traditional Chinese medicine massage device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the traditional Chinese medicine massage systems described above when executing the computer program.

[0044] The embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without paying creative labor.

[0045] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0046] Finally, it should be noted that the embodiments of the present invention disclose only preferred embodiments of the present invention, which 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 aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. 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 various embodiments of the present invention.

Claims

1. A traditional Chinese medicine massage glove, characterized in that: include: The glove body is provided with a plurality of flexible sensors; the flexible sensors are used to collect pressure data applied to a preset pressing position by a preset technique; the preset techniques include pressing, kneading, tapping, vibrating, and trembling; IMU inertial measurement module, real-time acquisition of operation data, the operation data including motion trajectory and inertial data; An ADC module converts the voltage analog signal output by the flexible sensor into a digital signal; The control module analyzes the collected digital signals and operation data, performs massage technique analysis, and builds a database of traditional Chinese medicine massage techniques.

2. A Chinese medicine massage glove according to claim 1, characterized in that: The flexible sensor includes a first sensor, a second sensor, a third sensor, a fourth sensor, a fifth sensor, a sixth sensor, and a seventh sensor, wherein the first sensor, the second sensor, the third sensor, the fourth sensor, and the fifth sensor are respectively arranged at the fingertips of the thumb, the index finger, the middle finger, and the ring finger on the palm surface of the glove body and fixed at the palm and the hypothenar area; The seventh sensor is arranged at the cuff of the glove body, and the seventh sensor is used to detect pressure data of the arm.

3. A Chinese medicine massage glove according to claim 2, characterized in that: The control module includes a pressure visualization unit and a data storage unit; the pressure visualization unit is used to perform visualization operations on the pressure data and operation data collected by the flexible sensor; The data storage unit is used to store operation data, and the operation data also includes pressure data, pressing position, inertia data and time.

4. A Chinese medicine massage glove according to claim 3, characterized in that: The pressure visualization unit generates a heat map for the pressure data of the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, and the sixth sensor using a diagonal matrix as a covariance matrix, and generates a heat map for the pressure data of the seventh sensor using a covariance matrix with variance; the heat map is used to display the pressed points and the pressure data corresponding to the points.

5. A Chinese medicine massage glove according to claim 4, characterized in that: The heat map is generated by the following formula: Where n represents the dimension of the generated heat map, K represents the covariance matrix, μ represents the center of the heatmap and x represents a point on the image.

6. A Chinese medicine massage glove according to claim 5, characterized in that: The IMU inertial measurement includes an MPU6050 acquisition chip, which is used to monitor the acceleration and angular velocity in the three directions of X, Y, and Z in real time, calculate the motion trajectory and rotational motion, inertial data, and obtain posture changes.

7. A Chinese medicine massage glove according to claim 4, characterized in that: The seventh sensor adopts a square thin film pressure sensor with a measuring range of 10~20kg; the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, and the sixth sensor all adopt circular thin film pressure sensors with a measuring range of 6~20kg, and the area of ​​the seventh sensor is larger than the areas of the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, and the sixth sensor.

8. A traditional Chinese medicine massage system, characterized in that: include: A traditional Chinese medicine massage glove as claimed in any one of claims 1 to 7; A control device connected to the traditional Chinese medicine massage gloves; The control device determines whether the pressure data meets the preset requirements according to the TCM massage technique database; Prompt when preset requirements are not met.

9. A traditional Chinese medicine massage device, characterized in that: include: A traditional Chinese medicine massage system as claimed in claim 8.

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