Hand force data measurement training device and method

Abstract

The invention discloses a hand force data measurement training device and method, and the device comprises a base which is used for supporting a measurement training unit; the measurement training unit is arranged on the base and comprises a whole hand measurement training module and / or a knuckle measurement training module, and the whole hand measurement training module and / or the knuckle measurement training module are / is composed of one or more capsule type measurement training mechanisms. The capsule body type measurement training mechanism comprises a plurality of capsule bodies which are communicated with one another and a pressure sensor which is used for measuring the overall pressure of the plurality of capsule bodies which are communicated with one another. According to the hand force data measurement training device, when the bag body type measurement training mechanism is grabbed, corresponding parts extrude all the bag bodies, the pressure values in the bag bodies can change, the overall pressure signals of all the bag bodies can be measured through the pressure sensors, the pressure signals are analyzed, and therefore the pressure values of all the bag bodies can be measured. Therefore, the overall gripping force of the hand and the gripping force of each knuckle of the fingers can be measured, and the hand or the fingers can be exercised.

Description

Technical Field

[0001] The present invention relates to the technical fields of human motion information, soft robots and rehabilitation therapy, and in particular to a hand force data measurement and training device and method. Background Art

[0002] Hands have various functions and can perform various fine movements. They are responsible for various daily activities. Therefore, it is particularly important to measure the data of the hands. For example, the force data of the hand grasping an object can be measured to evaluate the hand's grasping strength. Complications of stroke include hand weakness, pain, and spasms. Therefore, patients with hand dysfunction need hand rehabilitation training. Hand rehabilitation is one of the most difficult rehabilitation areas. During the rehabilitation process, the patient's hand data needs to be measured. The measurement data can be used as an evaluation indicator of the treatment effect. Hand data measurement devices are widely used in medical rehabilitation, motion assessment, virtual technology and other fields.

[0003] The hand force data measurement devices currently on the market have a relatively complex structure and can only measure the overall gripping force of the hand. The measurement training area is relatively single, and the force data of each knuckle of the fingers when grasping an object cannot be measured, let alone the torque. Summary of the invention

[0004] The main purpose of the present invention is to provide a hand force data measurement training device and method which can measure the overall gripping force of the hand and / or the gripping force of each knuckle of the finger.

[0005] To achieve the above object, the present invention provides a hand force data measurement and training device, comprising:

[0006] A base, used for supporting the measurement training unit;

[0007] The measurement training unit is arranged on the base, and includes a whole hand measurement training module and / or a knuckle measurement training module. The whole hand measurement training module and / or the knuckle measurement training module are respectively composed of more than one capsule-type measurement training mechanism, and the capsule-type measurement training mechanism includes a plurality of interconnected capsules and a pressure sensor for measuring the overall pressure of the plurality of interconnected capsules.

[0008] Furthermore, the shape of the base includes: cylindrical, spherical, and ellipsoidal.

[0009] Furthermore, a slide groove is provided on the base, a slider is slidably connected in the slide groove, and the finger joint measurement training module is arranged on the slider.

[0010] Furthermore, a concave-convex matching structure is provided between the two side walls of the sliding block and the two side walls of the sliding groove.

[0011] Furthermore, the capsule-type measurement training mechanism also includes a bonding plate made of a flexible material, and a plurality of the capsules are formed on the bonding plate.

[0012] Furthermore, the bonding plate comprises a bottom plate located at an inner layer and a capsule base plate located at an outer layer which are bonded to each other, and the capsules and the connecting pipes between the capsules are integrally formed on the capsule base plate and sealed by the bottom plate.

[0013] Furthermore, the capsule protrudes outward from the bonding plate.

[0014] Furthermore, in the bladder-type measurement and training mechanism, the pressure sensor is connected to the overall chamber formed by the plurality of bladders through a main pipeline.

[0015] The present invention also provides a hand force data measurement method, which is implemented using the above-mentioned hand force data measurement training device, and includes the following steps:

[0016] (1) n bases of different sizes are configured, and each base is used in conjunction with a capsule-type measurement training mechanism to measure the gripping force of the hand or finger m times, and the m measurement results are averaged to obtain the detection force data of the n bases of different sizes; n and m are both greater than 2;

[0017] (2) Fitting the dimension data of n bases and the detection force data into a relationship curve, and obtaining a calculation relationship through the relationship curve;

[0018] (3) In subsequent measurements, the gripping force of the hand or fingers corresponding to grasping bases of different sizes is calculated through a relationship.

[0019] Furthermore, the moment of the hand or finger joint can be measured by first using a radius r 1 The base is combined with the capsule-type measurement training mechanism to measure the force F on one side of the joint 1 , F 1 The distance between the force application point and the joint is L 1 ; Then use the radius r 2 The base is combined with the capsule-type measurement training mechanism to measure the force F on one side of the joint 2 , F 2 The distance between the force application point and the joint is L 2 ; The height of the joint from the base is h, and finally the following equations are combined to measure the joint torque M:

[0020]

[0021] Among them, R 1 For r 1 Plus the capsule type measurement training body thickness, R 2 For r2 Plus the capsule type measures the thickness of the training body.

[0022] The beneficial effects of the present invention are embodied in:

[0023] The hand force data measurement and training device of the present invention can measure the overall grasping force of the hand when the hand grasps the whole hand measurement training module, and can measure the grasping force of each finger joint when the fingers grasp the knuckle measurement training module; when grasping the capsule-type measurement training mechanism of the whole hand measurement training module and / or the knuckle measurement training module, the corresponding parts will squeeze each capsule, and the pressure value in the capsule will change. The overall pressure signal of each capsule can be measured by the pressure sensor, and the pressure signal is analyzed, and then the overall grasping force of the hand and the grasping force of each finger joint can be measured, which can also exercise the hand or fingers, and can also solve the problem of measuring the hand joint torque, and the size of the joint torque can be calculated based on the grasping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of a hand force data measurement and training device according to an embodiment of the present invention.

[0025] Figure 2 It is a structural explosion diagram of a hand force data measurement and training device according to an embodiment of the present invention.

[0026] Figure 3 It is a structural explosion diagram of a slider and a slide groove in a hand force data measurement and training device according to an embodiment of the present invention.

[0027] Figure 4 It is a structural explosion diagram of a capsule-type measurement and training mechanism in a hand force data measurement and training device according to an embodiment of the present invention.

[0028] Figure 5 This is a schematic diagram of the joint torque measurement principle of the present invention.

[0029] Description of reference numerals:

[0030] 1. base; 11. slide groove; 12. slider; 121. rib groove; 13. convex rib;

[0031] 2. Whole hand measurement training module;

[0032] 3. Knuckle measurement training module;

[0033] 101, bonding plate; 102, capsule body; 1011, bottom plate; 1012, capsule body base plate; 103, branch pipe; 104, main pipe. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly. In addition, if there are descriptions of "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or schemes that A and B meet at the same time. In addition, "multiple" refers to more than two.

[0036] See also Figures 1 to 4 .

[0037] The hand force data measurement and training device of the present invention comprises:

[0038] Base 1, used for supporting the measurement training unit;

[0039] The measurement training unit is arranged on the base 1, and includes a whole hand measurement training module 2 and / or a finger joint measurement training module 3. The whole hand measurement training module 2 and / or the finger joint measurement training module 3 are respectively composed of more than one capsule-type measurement training mechanism, and the capsule-type measurement training mechanism includes a plurality of interconnected capsules 102 and a pressure sensor for measuring the overall pressure of the plurality of interconnected capsules 102.

[0040] The hand force data measurement and training device of the present invention can measure the overall gripping force of the hand when the hand grasps the whole hand measurement training module, and can measure the gripping force of each knuckle of the finger when the finger grasps the knuckle measurement training module;

[0041] Specifically, when grasping the capsule-type measurement training mechanism of the whole hand measurement training module and / or the knuckle measurement training module, the corresponding parts will squeeze each capsule, and the pressure value in the capsule will change. The overall pressure signal of each capsule can be measured by the pressure sensor, and the pressure signal is analyzed. Then, the overall grasping force of the hand and / or the grasping force of each knuckle of the finger can be measured, and the hand or fingers can also be trained, and the joint torque can be calculated based on the grasping force.

[0042] In a specific implementation, the pressure signal can be transmitted to a data acquisition device, the conditioning unit in the data acquisition device converts the pressure signal into a conditioning signal, the conversion unit converts the conditioning signal into a digital signal, and the communication unit sends the digital signal to relevant personnel for analysis.

[0043] In one embodiment, the whole hand measurement training module 2 is composed of one capsule-type measurement training mechanism, and the knuckle measurement training module 3 is composed of a plurality of capsule-type measurement training mechanisms arranged in a row, three of which are illustrated in the figure, corresponding exactly to the three knuckles of the fingers.

[0044] In one embodiment, the base 1 is cylindrical, spherical or ellipsoidal, which are more suitable for the holding method of hands or fingers.

[0045] Preferably, the whole hand measurement training module 2 and the finger joint measurement training module 3 are respectively arranged on both sides of the length direction of the base 1, and the multiple capsule-type measurement training mechanisms of the finger joint measurement training module 3 are arranged along the circumference of the base 1.

[0046] In one embodiment, a slide groove 11 is provided on the base 1, a slider 12 is slidably connected in the slide groove 11, and the finger joint measurement training module 3 is arranged on the slider 12. Since the lengths of the finger joints of each finger are different and the finger sizes of each person are different, in order to improve the application range of the device, by arranging the capsule-type measurement training mechanism on the slider, the position can be adjusted as the slider slides in the slide groove, so that each capsule-type measurement training mechanism corresponds to each finger joint, ensuring measurement correspondence. The number of sliders corresponds to the number of capsule-type measurement training mechanisms of the finger joint measurement training module.

[0047] In one embodiment, a concave-convex matching structure is provided between the two side walls of the slider 12 and the two side walls of the slide groove 11. For example, the two side walls of the slider 12 shown in the figure are provided with rib grooves 121, and the two side walls of the slide groove 11 are respectively provided with convex ribs 13 that match the slider 12, or the positions of the ribs and rib grooves are swapped. With this design, the slider is not easy to fall out of the slide groove, and the structural stability is better.

[0048] In one embodiment, the capsule type measurement training mechanism further comprises a bonding plate 101 made of a flexible material (including but not limited to a silicone material), and a plurality of capsules 102 are formed on the bonding plate 101. This design facilitates the capsule type measurement training mechanism to be wrapped and arranged on the outer surface of the base.

[0049] In one embodiment, the multiple capsules 102 of the capsule type measurement training mechanism are distributed in a dot matrix, and each capsule 102 is connected to the adjacent capsules 102 through branch pipes 103. This design can maintain the relative consistency of the deformation amount of each capsule after being subjected to force.

[0050] In one embodiment, in the capsule-type measurement training mechanism, the pressure sensor (for the sake of simplicity, not shown in the figure, the pressure sensor can use an existing device that can measure the pressure of pipeline fluid) is connected to the overall chamber formed by the multiple capsules 102 through the main pipeline 104. In a specific implementation, the main pipeline 104 can be connected to one of the capsules 102 or to one of the branch pipelines 103, and both can realize the connection between the pressure sensor and the overall chamber formed by the multiple capsules 102.

[0051] In one embodiment, the bonding plate 101 includes a bottom plate 1011 located at the inner layer and a capsule substrate 1012 located at the outer layer, which are bonded to each other. The capsule 102, the branch pipe 103 and the main pipe 104 are integrally formed on the capsule substrate 1012 and sealed by the bottom plate 1011. With this design, there is no need to separately form the capsule and the pipe, and the chambers of the capsule and the pipe can be directly formed on the capsule substrate, and then the chambers of the capsule and the pipe are sealed by the bottom plate, which is convenient for molding and manufacturing.

[0052] In one embodiment, the capsule 102 protrudes outward from the bonding plate 101 to facilitate sensing of the gripping force. The shape of the capsule 102 is not unique and may be cylindrical, hemispherical, square, and the like.

[0053] In one embodiment, a fluid pump interface is provided on the main pipeline 104. With this design, an external fluid pump is connected through the fluid pump interface to perform fluid filling and suction operations on the capsule-type measurement training mechanism, thereby changing the internal pressure thereof. Under different usage conditions, the internal pressure of the capsule-type measurement training mechanism can be made to reach a predetermined state through the fluid pump, thereby preventing the capsule from being slightly deformed or excessively deformed due to too little or too much gripping force of the hand, thereby making it impossible to perform data measurement.

[0054] Furthermore, the hand force data measurement and training device of the present invention can be used for mirror training. Patients with hand dysfunction use the hand on the healthy side to grasp the device, and send the measured hand overall grasping force data and finger knuckle grasping force data to the computer. The computer can control the rehabilitation glove to drive the hand on the other side of the disease to reach the same force state, completing active rehabilitation training. Patients can also use the hand grasping device on the diseased side to measure at different stages of rehabilitation, which can be used to evaluate the treatment effect. The therapist can adjust the rehabilitation strategy according to the measurement data to help the patient restore hand function.

[0055] The hand force data measurement and training device of the present invention is used to perform a hand force data measurement method, comprising the following steps:

[0056] (1) n base sizes are configured (the base size refers to the diameter of a cylindrical base, the diameter of a spherical base, or the minor axis size of an ellipsoidal base), and each base is used in conjunction with a capsule-type measurement training mechanism to measure the gripping force of the hand or finger m times, and the average of the m measurement results is taken to obtain the detection force data of the n bases, specifically, that is:

[0057] The gripping force of the hand or finger is measured m times by using a base with a size of D1 and a capsule-type measuring and training mechanism, and the average value of the m measurement results is obtained to obtain F1;

[0058] The gripping force of the hand or finger is measured m times by using a base with a size of D2 and a capsule-type measuring and training mechanism, and the average value of the m measurement results is obtained to obtain F2; ...;

[0060] The gripping force of the hand or finger is measured m times by using a base with a size of Dn and a capsule-type measuring and training mechanism, and the average value of the m measurement results is obtained to obtain Fn;

[0061] (2) Fitting the dimension data D1, ..., Dn of the n bases with the detection force data F1, ..., Fn to obtain a relationship curve (this can be done by using Matlab software, with the dimension data of the base as the x-axis and the detection force data as the y-axis), and obtaining a calculation relationship through the relationship curve;

[0062] (3) In subsequent measurements, the gripping force of the hand or fingers corresponding to grasping bases of different sizes is calculated through a relationship.

[0063] The present invention can also measure joint torque, the principle is shown in Figure 5 , first use the radius r 1 The base is combined with the capsule-type measurement training mechanism to measure the force F on one side of the joint 1 , F 1 The distance between the force application point and the joint is L 1 ; Then use the radius r2 The base is combined with the capsule-type measurement training mechanism to measure the force F on one side of the joint 2 , F 2 The distance between the force application point and the joint is L 2 ; The height of the joint from the base is h, and finally the following equations are combined to measure the joint torque M:

[0064]

[0065] Among them, R 1 For r 1 Plus the capsule type measurement training body thickness, R 2 For r 2 Plus the capsule type measures the thickness of the training body.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hand force data measurement and training device, characterized in that: include: A base, used for supporting the measurement training unit; The measurement training unit is arranged on the base, and includes a whole hand measurement training module and / or a knuckle measurement training module. The whole hand measurement training module and / or the knuckle measurement training module are respectively composed of more than one capsule-type measurement training mechanism, and the capsule-type measurement training mechanism includes a plurality of interconnected capsules and a pressure sensor for measuring the overall pressure of the plurality of interconnected capsules.

2. The hand force data measurement and training device according to claim 1, characterized in that: The shapes of the base include: cylindrical, spherical, and ellipsoidal.

3. The hand force data measurement and training device according to claim 1 or 2, characterized in that: The base is provided with a slide groove, a slider is slidably connected in the slide groove, and the finger joint measurement training module is arranged on the slider.

4. The hand force data measurement and training device according to claim 3, characterized in that: A concave-convex matching structure is provided between the two side walls of the sliding block and the two side groove walls of the sliding groove.

5. The hand force data measurement and training device according to claim 1, 2 or 3, characterized in that: The capsule-type measurement training mechanism also includes a bonding plate made of a flexible material, and a plurality of capsules are formed on the bonding plate.

6. The hand force data measurement and training device according to claim 5, characterized in that: The bonding plate comprises a bottom cover plate located at an inner layer and a capsule base plate located at an outer layer which are bonded to each other. The capsules and the communicating pipes between the capsules are integrally formed on the capsule base plate and sealed by the bottom cover plate.

7. The hand force data measurement and training device according to claim 5, characterized in that: The capsule body protrudes outward from the bonding plate.

8. The hand force data measurement and training device according to claim 1, 2 or 3, characterized in that: In the bladder-type measurement training mechanism, the pressure sensor is connected to the overall chamber formed by a plurality of bladders through a main pipeline.

9. A method for measuring hand force data, characterized in that: The method is implemented using the hand force data measurement training device according to any one of claims 1 to 8, comprising the following steps: (1) n bases of different sizes are configured, and each base is used in conjunction with a capsule-type measurement training mechanism to measure the gripping force of the hand or finger m times, and the m measurement results are averaged to obtain the detection force data of the n bases of different sizes; n and m are both greater than 2; (2) Fitting the dimension data of n bases and the detection force data into a relationship curve, and obtaining a calculation relationship through the relationship curve; (3) In subsequent measurements, the gripping force of the hand or fingers corresponding to grasping bases of different sizes is calculated through a relationship.

10. The hand force data measurement method according to claim 9, characterized in that: The torque of the hand or finger joint can also be measured. First, use a base with a radius of r1 and a capsule-type measurement training mechanism to measure the force F1 on one side of the joint. The distance between the force point of F1 and the joint is L1. Then use a base with a radius of r2 and a capsule-type measurement training mechanism to measure the force F2 on one side of the joint. The distance between the force point of F2 and the joint is L2. The height of the joint from the base is h. Finally, the following equations are combined to measure the joint torque M: Among them, R1 is r1 plus the thickness of the capsule-type measurement training mechanism, and R2 is r2 plus the thickness of the capsule-type measurement training mechanism.

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