A hand force data measurement training device and method

Abstract

The application discloses a hand force data measurement training device and method. The device comprises a base 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; the whole hand measurement training module and / or the knuckle measurement training module are respectively composed of one or more than one capsule type measurement training mechanism; the capsule type measurement training mechanism comprises a plurality of interconnected capsules and a pressure sensor for measuring the overall pressure of the plurality of interconnected capsules. When the hand force data measurement training device of the application grips the capsule type measurement training mechanism, 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 through the pressure sensor, the pressure signal is analyzed, and then the overall gripping force of the hand and the gripping force of each knuckle of the finger can be measured, and the hand or the finger can also be exercised.

Description

Technical Field

[0001] This invention relates to the 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 Technology

[0002] The hand has diverse functions and can perform a variety of fine movements, undertaking a wide range of daily activities. Therefore, measuring hand data is particularly important. For example, by measuring the force used to grasp objects, we can assess the grip strength of the hand. Stroke complications include hand weakness, pain, and spasms. Therefore, patients with hand dysfunction need hand rehabilitation training. Hand rehabilitation is one of the most challenging areas of rehabilitation. During the rehabilitation process, it is necessary to measure various data of the patient's hand, and the measured data can serve as indicators for evaluating treatment effectiveness. Hand data measurement devices are widely used in medical rehabilitation, movement assessment, and virtual technology.

[0003] Currently available hand force measurement devices have complex structures and can only measure the overall gripping force of the hand. The measurement training area is relatively limited, and they cannot measure the force data of each finger joint when grasping an object, let alone the torque. Summary of the Invention

[0004] The main objective of this invention is to provide a hand force data measurement and training device and method that can measure the overall grip strength of the hand and / or the grip strength of each finger joint.

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

[0006] The base is used to support the measurement training unit;

[0007] A measurement training unit, mounted on the base, includes a whole-hand measurement training module and / or a knuckle measurement training module. Each of the whole-hand measurement training module and / or the knuckle measurement training module is composed of one or more capsule-type measurement training mechanisms. Each capsule-type measurement training mechanism includes multiple interconnected capsules and a pressure sensor for measuring the overall pressure of the multiple interconnected capsules.

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

[0009] Furthermore, the base has a groove, and a slider is slidably connected in the groove, with the knuckle measurement training module mounted on the slider.

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

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

[0012] Furthermore, the bonding plate includes an inner bottom plate and an outer capsule substrate that are bonded together, and the connecting channel between the capsules is integrally formed on the capsule substrate and sealed by the bottom plate.

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

[0014] Furthermore, in the capsule-type measurement and training mechanism, the pressure sensor is connected to an integral chamber composed of multiple capsules via a main pipe.

[0015] The present invention also provides a method for measuring hand force data, implemented using the aforementioned hand force data measurement training device, comprising the following steps:

[0016] (1) Configure n bases of different sizes, and use each base in conjunction with the capsule-type measurement training mechanism to measure the gripping force of the hand or fingers m times. Take the average value of the m measurement results to obtain the detection force data of n bases of different sizes; n and m are both greater than 2.

[0017] (2) Fit the size data of n bases with the detection force data to obtain a relationship curve, and derive the calculation formula from the relationship curve;

[0018] (3) In subsequent measurements, the gripping force of the hand or fingers corresponding to different sized bases is calculated using the formula.

[0019] Furthermore, the torque of the hand or finger joints can also be measured. First, using a base with radius r1 and a capsule-type measuring training mechanism, the force F1 applied to the limb on one side of the joint is measured, with the distance between the point of application of F1 and the joint being L1. Then, using a base with radius r2 and the capsule-type measuring training mechanism, the force F2 applied to the limb on one side of the joint is measured, with the distance between the point of application of F2 and the joint being L2. The height of the joint from the base is h. Finally, the following equations are solved simultaneously to measure the joint torque M:

[0020]

[0021] Where 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.

[0022] The beneficial effects of this invention are reflected in:

[0023] 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 finger joint when the fingers grasp the knuckle measurement training module. When the capsule-type measurement training mechanism of the whole hand measurement training module and / or the knuckle measurement training module is grasped, the corresponding parts will squeeze each capsule, and the pressure value inside the capsule will change. The overall pressure signal of each capsule can be measured by the pressure sensor. The pressure signal can be analyzed, and then the overall gripping force of the hand and the gripping force of each finger joint can be measured. It can also exercise the hand or fingers, and can also solve the problem of measuring the torque of the hand joints. The magnitude of the joint torque can be calculated based on the gripping force. Attached Figure Description

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

[0026] Figure 3 This is an exploded view of the slider and groove structure in a hand force data measurement training device according to an embodiment of the present invention.

[0027] Figure 4 This is an exploded view of the bladder-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 illustrating the principle of joint torque measurement in this invention.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1. Base; 11. Slide groove; 12. Slider; 121. Rib groove; 13. Protruding rib;

[0031] 2. Whole hand measurement training module;

[0032] 3. Knuckle measurement training module;

[0033] 101. Adhesive plate; 102. Capsule body; 1011. Bottom sealing plate; 1012. Capsule base plate; 103. Branch pipe; 104. Main pipe. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), these directional indications are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the attached figures). If the specific posture changes, the directional indications will also change accordingly. Furthermore, if the embodiments of the present invention involve descriptions such as "first," "second," etc., these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" can explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where A and B are simultaneously satisfied. Furthermore, "multiple" refers to two or more.

[0036] See Figures 1 to 4 .

[0037] The present invention provides a hand force data measurement and training device, comprising:

[0038] Base 1, used to support the measurement training unit;

[0039] The measurement training unit is mounted on the base 1 and includes a whole hand measurement training module 2 and / or a knuckle measurement training module 3. The whole hand measurement training module 2 and / or the knuckle measurement training module 3 are each composed of one or more capsule-type measurement training mechanisms. The capsule-type measurement training mechanism includes multiple interconnected capsules 102 and a pressure sensor for measuring the overall pressure of the multiple interconnected capsules 102.

[0040] The hand force data measurement 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 finger joint when the fingers grasp the knuckle measurement training module.

[0041] Specifically, when the capsule-type measurement training mechanism of the whole hand measurement training module and / or the knuckle measurement training module is gripped, the corresponding parts will squeeze each capsule, and the pressure value inside the capsule will change. The pressure sensor can measure the overall pressure signal of each capsule, analyze the pressure signal, and then measure the overall gripping force of the hand and / or the gripping force of each finger joint. It can also exercise the hand or fingers, and the joint torque can be calculated based on the gripping force.

[0042] In practice, the pressure signal can be transmitted to the 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 consists of one capsule-type measurement training mechanism, and the knuckle measurement training module 3 consists of multiple capsule-type measurement training mechanisms arranged in a row, as illustrated in the figure, which correspond exactly to the three knuckles of the fingers.

[0044] In one embodiment, the base 1 is cylindrical, spherical, or ellipsoidal. These shapes are more suitable for the way the hand or fingers hold the object.

[0045] Preferably, the whole hand measurement training module 2 and the knuckle measurement training module 3 are respectively disposed on both sides of the base 1 along its length, and the plurality of capsule-shaped measurement training mechanisms of the knuckle measurement training module 3 are arranged along the circumference of the base 1.

[0046] In one embodiment, the base 1 has a groove 11, and a slider 12 is slidably connected within the groove 11. The knuckle measurement training module 3 is disposed on the slider 12. Since the length of each knuckle varies and the finger size differs from person to person, to address this issue and improve the applicability of the device, a capsule-type measurement training mechanism is disposed on the slider. This mechanism can be adjusted in position as the slider slides within the groove, ensuring that each capsule-type measurement training mechanism corresponds to a specific knuckle, thus guaranteeing measurement accuracy. The number of sliders corresponds to the number of capsule-type measurement training mechanisms in the knuckle measurement training module.

[0047] In one embodiment, a concave-convex fitting structure is provided between the two side walls of the slider 12 and the two side groove walls of the slide groove 11. For example, as illustrated in the figure, the two side walls of the slider 12 are provided with ridge grooves 121, and the two side groove walls of the slide groove 11 are respectively provided with protruding ridges 13 that convex-concave fit with the slider 12, or the positions of the protruding ridges and ridge grooves are interchanged. With this design, the slider is less likely to fall out of the slide groove, and the structural stability is better.

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

[0049] In one embodiment, the multiple capsules 102 of the capsule-type measurement and training mechanism are arranged in a matrix, and each capsule 102 is interconnected with its adjacent capsules 102 through branch pipes 103. This design can maintain the relative consistency of deformation of each capsule at different locations after being subjected to force.

[0050] In one embodiment, in the capsule-type measurement and training mechanism, the pressure sensor (not shown in the figure for simplicity; any existing device capable of measuring pipeline fluid pressure can be used) is connected to an integral chamber formed by multiple capsules 102 via a main pipe 104. Specifically, the main pipe 104 can be connected to one of the capsules 102 or to one of the branch pipes 103, both of which enable the pressure sensor to connect to the integral chamber formed by the multiple capsules 102.

[0051] In one embodiment, the bonding plate 101 includes an inner sealing plate 1011 and an outer capsule substrate 1012 that are bonded together. The capsule 102, the branch pipe 103, and the main pipe 104 are integrally formed on the capsule substrate 1012 and sealed by the sealing plate 1011. This design eliminates the need for separate molding of the capsule and pipe; the chambers of the capsule and pipe can be formed directly on the capsule substrate, and then the sealing plate closes the chambers of the capsule and pipe, facilitating molding and manufacturing.

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

[0053] In one embodiment, the main pipe 104 is provided with a fluid pump interface. This design allows an external fluid pump to be connected via the fluid pump interface for filling and drawing fluid into the capsule-type measurement training mechanism. This changes the internal pressure, and under different usage conditions, the fluid pump can maintain the internal pressure of the capsule-type measurement training mechanism at a predetermined state. This prevents the capsule from undergoing slight or excessive deformation due to insufficient or excessive hand grip force, which could prevent 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 grasping device on their healthy hand to send the measured overall hand grasping force data and finger joint grasping force data to a computer. The computer can then control the rehabilitation glove to drive the affected hand to achieve the same force state, completing active rehabilitation training. Patients can also use the grasping device on their affected hand at different stages of rehabilitation to measure the force, which can be used to assess treatment effectiveness. Therapists can adjust rehabilitation strategies based on the measurement data to help patients restore hand function.

[0055] The method for measuring hand force data using the hand force data measurement training device of the present invention includes the following steps:

[0056] (1) Configure n base dimensions (base dimensions refer to the diameter of a cylindrical base, the diameter of a spherical base, or the minor axis dimension of an ellipsoidal base), and use each base in conjunction with a capsule-type measurement and training mechanism to perform m measurements on the gripping force of the hand or fingers, and take the average of the m measurement results to obtain the detection force data of the n bases, specifically:

[0057] The grip strength of the hand or fingers is measured m times using a base of size D1 and a capsule-type measurement and training mechanism. The average value of the m measurements is then used to obtain F1.

[0058] The grip strength of the hand or fingers is measured m times using a base of size D2 and a capsule-type measurement and training mechanism. The average value of the m measurements is then used to obtain F2. ...;

[0060] The grip strength of the hand or fingers is measured m times using a base of size Dn and a capsule-type measurement and training mechanism. The average value of the m measurements is then used to obtain Fn.

[0061] (2) Fit the size data D1, ..., Dn of the n bases with the detection force data F1, ..., Fn to obtain the relationship curve (which can be obtained by using MATLAB software, with the size data of the bases as the x-axis and the detection force data as the y-axis), and derive the calculation formula from the relationship curve;

[0062] (3) In subsequent measurements, the gripping force of the hand or fingers corresponding to different sized bases is calculated using the formula.

[0063] This invention can also measure joint torque; see the principle described above. Figure 5First, using a base with radius r1 and a capsule-type measuring and training mechanism, measure the force F1 acting on one side of the joint, where the distance between the point of application of force F1 and the joint is L1. Then, using a base with radius r2 and the capsule-type measuring and training mechanism, measure the force F2 acting on one side of the joint, where the distance between the point of application of force F2 and the joint is L2. The height of the joint from the base is h. Finally, solve the following equations to measure the joint torque M:

[0064]

[0065] Where 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.

[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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method of measuring hand force data, characterized by, The hand force data measuring training device is implemented by using a hand force data measuring training device, which comprises: a base for supporting a measurement training unit; a measurement training unit arranged on the base, comprising 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 being respectively composed of one or more than one capsule type measurement training mechanism, the capsule type measurement training mechanism comprising a plurality of interconnected capsules and a pressure sensor for measuring the overall pressure of the plurality of interconnected capsules; the base is in the shape of a cylinder, a sphere or an ellipsoid; the capsule type measurement training mechanism is wrapped around the outer surface of the base; the hand force data measuring method comprises the following steps: (1) configuring n bases of different sizes, respectively using each base to cooperate with the capsule type measurement training mechanism to measure the gripping force of the hand or fingers for m times, and taking the average of the m measurement results to obtain the detection force data of the n bases of different sizes; n and m are both greater than 2; (2) fitting the size data and the detection force data of the n bases to obtain a relationship curve, and deriving a calculation relationship from the relationship curve; (3) in subsequent measurement, the gripping force of the hand or fingers corresponding to different sizes of the base is calculated through the relationship.

2. The hand force data measuring method of claim 1, wherein, A sliding groove is opened on the base, and a sliding block is slidably connected in the sliding groove, and the knuckle measurement training module is arranged on the sliding block.

3. The hand force data measuring method of claim 2, wherein, A concave-convex matching structure is arranged between the two side walls of the sliding block and the two side groove walls of the sliding groove.

4. The hand force data measuring method according to claim 1 or 2 or 3, wherein The capsule type measurement training mechanism further comprises a fitting plate made of flexible material, and a plurality of capsules are formed on the fitting plate.

5. The hand force data measuring method of claim 4, wherein, The fitting plate comprises an inner layer sealing bottom plate and an outer layer capsule base plate which are adhered to each other, and the capsules and the communication channels between the capsules are integrally formed on the capsule base plate and sealed by the sealing bottom plate.

6. The hand force data measuring method of claim 4, wherein, The capsules protrude outward from the fitting plate.

7. The hand force data measuring method according to claim 1 or 2 or 3, wherein In the capsule type measurement training mechanism, the pressure sensor is in communication with the overall chamber formed by the plurality of capsules through a main channel.

8. The hand force data measuring method according to claim 1 or 2 or 3, wherein, The torque of the hand or finger joint can also be measured. First, a base with a radius of r1 is used to cooperate with the capsule type measurement training mechanism to measure the force F1 of the limb on one side of the joint, and the distance between the force point of F1 and the joint is L1; then a base with a radius of r2 is used to cooperate with the capsule type measurement training mechanism to measure the force F2 of the limb on one side of the joint, and the distance between the force point of F2 and the joint is L2; the height of the joint from the base is h, and finally the joint torque M is measured by simultaneously solving the following equations: wherein 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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