Intelligent finger training wrist developer and method

Abstract

The invention belongs to the technical field of finger coordination training, and particularly discloses an intelligent finger training wrist developer and method, the wrist developer comprises a detection interaction mechanism, a training driving mechanism is arranged in the detection interaction mechanism, and the training driving mechanism is matched with a finger pressure training mechanism arranged on the detection interaction mechanism; the detection interaction mechanism comprises an interaction shell, a holding plate is arranged at the inner bottom end of the interaction shell, and a detection plate matched with the finger pressure training mechanism is arranged on the holding plate; the finger pressure training mechanism and the training driving mechanism are matched with the detection interaction mechanism, a user can achieve single finger independent training and overall grip strength training according to needs, meanwhile, active training, passive training and other modes can be achieved, the requirements of the user in different rehabilitation stages can be met, and the user experience is improved. In the finger training process, the training intensity and depth of the fingerstall keys can be adjusted according to training requirements, so that the personalized requirements of users are met, and the finger training effects of different users are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of finger coordination training, and in particular relates to an intelligent finger training gripper and method. Background Art

[0002] Hand grip strength is an important indicator reflecting hand function and is widely used in rehabilitation medicine, physical training and daily health monitoring. The common hand grippers or finger training devices on the market are mainly of the following types: 1. Grip training is achieved by using the elastic deformation of mechanical springs. This type of equipment has a simple structure and low cost, but has a single function and can only perform passive whole-hand grip training. It cannot meet the needs of independent finger training and lacks the ability to record and feedback training data. 2. Electronic grip strength measurement equipment. A force sensor is used to collect and display grip strength data. This type of equipment is usually used in professional rehabilitation scenarios or sports testing. Although it has data feedback function, the device is large in size and high in cost, and it is unable to realize the combination of active training and passive training; 3. Intelligent hand rehabilitation equipment; some hand rehabilitation devices provide passive training function through external drive devices (such as motors or pneumatic components), and cooperate with sensors to record rehabilitation data; however, this type of equipment has the following problems: the device structure is complex, the drive system is large in size, difficult to carry, and cannot meet the needs of home rehabilitation; and the power consumption is high, the endurance is insufficient, and it cannot meet the requirements of long-term use; lack of multiple interactive functions, such as functions combined with entertainment or games, the user experience is relatively single.

[0003] In general, existing finger training devices have the following defects or problems: 1. The device has a single function and cannot achieve independent training of fingers and overall coordination training; 2. The equipment generally lacks the combination of active training and passive training, and it is difficult to adapt to the needs of different rehabilitation training stages; 3. Some devices are large in size, complex in structure, and have poor portability, making them unsuitable for home use; 4. The device lacks interactivity when used, and cannot stimulate users' interest in exercise through entertainment or games, affecting the rehabilitation effect; 5. The data collection and analysis functions are imperfect, and there is a lack of accurate feedback on changes in user grip strength and rehabilitation progress. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an intelligent finger training gripper and method.

[0005] Based on the above purpose, the present invention is achieved through the following technical solutions:

[0006] An intelligent finger training gripper comprises a detection interaction mechanism, which cooperates with a finger pressure training mechanism arranged on the detection interaction mechanism; the detection interaction mechanism comprises an interaction shell, the inner bottom end of the interaction shell is provided with a gripping plate, and the gripping plate is provided with a detection plate that cooperates with the finger pressure training mechanism.

[0007] Preferably, the acupressure training mechanism includes four finger sleeve bases respectively arranged on the detection plate to cooperate with the fingers, the finger sleeve bases are provided with finger sleeve buttons that cooperate with the fingers, the center of the bottom end of the finger sleeve button is provided with a guide groove, and the guide groove is provided with a guide rail that cooperates with the guide groove; the finger sleeve base is provided with a finger sleeve groove that cooperates with the button finger sleeve, and the bottom of the finger sleeve groove is provided with a guide rail groove connected to the bottom end of the guide rail.

[0008] Preferably, a key spring is sleeved inside the finger sleeve key, and the key spring is gap-matched with an annular groove arranged inside the finger sleeve key along the center of the guide groove; and a limit block is symmetrically arranged at the bottom end of the finger sleeve key.

[0009] Preferably, the limit block cooperates with the limit grooves arranged on both sides of the finger sleeve base, and the limit grooves are provided with an upper limit ring and a lower limit ring that cooperate with the limit block and have adjustable positions; the finger sleeve base is sleeved with a base shell that cooperates with the upper limit ring and the lower limit ring.

[0010] Preferably, the limit block and the upper limit ring are provided with matching distance measuring sensors respectively; the guide groove is provided with a magnetic core, and the magnetic core cooperates with the Hall effect sensor provided at the corresponding position in the detection plate. The Hall effect sensor is used to measure the pressing force of the finger sleeve button. When the finger sleeve button moves up and down, the Hall effect sensor receives the change of the magnetic field signal through the movement of the magnetic core, converts it into a force value signal, and displays the real-time feedback of the grip force value on the display screen.

[0011] Preferably, a training drive mechanism cooperating with the acupressure training mechanism is provided in the detection interaction mechanism, the training drive mechanism includes an electromagnetic actuator arranged at the bottom end of the finger sleeve groove and cooperating with the magnet core, the electromagnetic actuator is sleeved on the guide rail and cooperates with the guide rail gap, and the electromagnetic actuator is sleeved with an electromagnetic coil magnetically cooperating with the magnet core.

[0012] Preferably, an upper electromagnetic actuator ring and a lower electromagnetic actuator ring are sleeved at both ends of the electromagnetic actuator, and an inner ring groove matching with the key spring is provided on the upper electromagnetic actuator ring.

[0013] Preferably, a flexible shell is provided at one end of the interactive shell away from the detection board; a finger ring is provided on the top of the finger sleeve button, and a removable flexible cushion layer is provided inside the finger sleeve ring; a base bolt is provided at the bottom center of the finger sleeve base, which is threadedly connected to the detection board; the flexible shell is used to accommodate the core electronic components of the hand gripper, including the detection board, sensor module and rechargeable battery, and the interior of the flexible shell is designed with precisely matched grooves for firmly placing these key modules to prevent shaking or damage during use. At the same time, the flexible shell can provide shockproof, dustproof and splashproof protection to improve the durability and service life of the equipment. The flexible shell adopts a detachable design, which is convenient for users to perform equipment maintenance, component replacement and module upgrades.

[0014] Preferably, the detection board is provided with a Bluetooth module and an inertial measurement unit (IMU sensor) that match the gripping board; a rechargeable battery is provided in the gripping board; a microprocessor is provided in the interactive shell, and a display screen and a connection interface that match the microprocessor and the rechargeable battery are provided on the side of the interactive shell; a power switch is provided on one side of the display screen. The present invention also integrates an IMU (inertial measurement unit) sensor, which includes an accelerometer and a gyroscope, for capturing the spatial position, posture change and motion trajectory of the handgripper; the hand movement data of the user during grip training can be used to evaluate the rehabilitation effect; in the entertainment mode, the IMU sensor is combined with the Bluetooth module to support the control of the game character through spatial movement, realizing more diversified interactive functions; the flexible shell adopts a detachable design, which is convenient for users to perform equipment maintenance, component replacement and module upgrade.

[0015] Preferably, the present application can be used with electronic devices, such as computers, electronic mobile devices (mobile phones, tablet computers, etc.), through wired or wireless connections to play games and increase the fun of rehabilitation exercises or entertainment.

[0016] A training method for an intelligent finger training gripper, comprising an active training mode, a passive training mode and a game mode;

[0017] S1, active training mode;

[0018] The palm of the user holds the gripping plate inside the interactive shell through the flexible shell of the detection interaction mechanism, and each finger is inserted into the pressing finger sleeve button of the acupressure training mechanism. During active training, the finger sleeve button moves along the guide rail in the finger sleeve base through the guide groove, and the button spring expands and contracts with the movement of the finger sleeve button. The limit block moves in the limit groove, and the upper limit ring and the lower limit ring limit the movable range of the limit block. By adjusting the position of the upper limit ring and the lower limit ring, it can be limited according to the finger status of different users to prevent excessive movement of the user.

[0019] When the magnetic core approaches or moves away from the Hall effect sensor, the electromagnetic coil on the electromagnetic actuator is energized to generate electromagnetic force. Through the action of the electromagnetic force, the magnetic field generated by the electromagnetic coil interacts with the magnetic core, and the magnetic field attracts the magnetic core to move toward the electromagnetic coil. At the same time, the key spring can ensure that the key can return to its initial position. The balance between the elastic force of the key spring and the electromagnetic force determines the final position of the key, meeting the user's needs for active training.

[0020] When the finger sleeve button moves up and down, the distance sensor can indirectly calculate the user's pressing force by measuring the displacement change between the upper limit ring and the limit block.

[0021] S2, passive training mode;

[0022] In the passive training mode, the microprocessor controls the electromagnetic coil of the electromagnetic actuator to be energized according to the set program. The electromagnetic coil generates electromagnetic force, actively drives the magnetic core to move in the direction of the electromagnetic coil, and then changes the intensity and direction of the magnetic field of the electromagnetic coil by controlling the change in current strength and power-on time, so that the magnetic core drives the guide groove to move along the guide rail, and the finger sleeve button moves in the finger sleeve base, thereby controlling the movement of the finger sleeve button and achieving the purpose of passive training of the user.

[0023] S3, game mode;

[0024] By connecting electronic devices via the Bluetooth module, the training handgrip can be made more interesting through games, and each finger sleeve button controls an operation function. The inertial measurement unit is combined to realize sports game functions. At the same time, the inertial measurement unit is used to capture the spatial motion trajectory of the handgrip, and users can perform operations such as flipping, tilting, and rotating in the game. The user's hand movements are converted into complex interactive commands in the game, providing a new entertainment experience.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention is applied to finger coordination rehabilitation training, grip strength rehabilitation training and home entertainment fields; this hand gripper realizes both active and passive training modes through innovative structural design and combined with advanced sensor technology, which can improve the user's grip strength and finger coordination ability.

[0027] 2. This smart hand gripper has four finger sleeve buttons similar to piano keys. Each finger sleeve button is connected to the training drive mechanism, and can accurately detect the pressing force of the finger in conjunction with the optical ranging sensor and the Hall effect sensor. The extension and retraction of the finger sleeve buttons adopts electromagnetic induction, which can realize the passive training mode, that is, the finger sleeve buttons automatically retract according to the preset program, and the user exercises the finger coordination by following the extension and retraction process. This smart hand gripper has a built-in IMU sensor to capture the spatial position, posture changes and motion trajectory of this smart hand gripper.

[0028] 3. In the active training mode, the user can exercise independently and perform grip strength training like a traditional hand gripper; in the passive training mode, the finger sleeve buttons can extend and retract automatically through electromagnetic induction to help users restore the coordination and strength of their fingers; this smart hand gripper is equipped with a simple display screen that displays the grip strength value in real time and has a switch control function; it is also equipped with a USB interface that supports charging and wired connection, and has a Bluetooth wireless sensing function that can be connected to electronic devices. Users can control related games or applications through the hand gripper; compared with traditional hand grippers that can only provide a single grip strength training function, this smart hand gripper has a wide range of application potential and is suitable for use in a variety of fields such as homes, rehabilitation centers and entertainment.

[0029] 4. Multi-functional training mode: This smart gripper can combine single-finger independent training with overall grip training, and supports dual modes of active training (user autonomous pressing) and passive training (movement of finger sleeve buttons driven by electromagnetics) to meet the needs of users at different stages of rehabilitation.

[0030] 5. High-precision data collection: This smart gripper can monitor the displacement of each fingertip button and the force applied by the user in real time through Hall effect sensors and optical ranging sensors, thereby achieving high-precision collection and feedback of the user's rehabilitation data.

[0031] 6. Portability and ease of use: This smart hand gripper supports USB charging and Bluetooth connection functions, allowing the device to adapt to modern life needs and improve user experience. This smart hand gripper adopts a modular design, with a compact internal structure and a small external size, making it easy to carry and suitable for home rehabilitation scenarios.

[0032] 7. Rich interactive functions: This smart hand gripper integrates the extended interactive function of the IMU sensor, supports hand motion capture and game control; this smart hand gripper is connected wirelessly via Bluetooth, and the present invention can interact with mobile devices or computers. Users can control games through rehabilitation training, stimulate interest in exercise, and improve training enthusiasm.

[0033] 8. Comfort and safety: The finger sleeve buttons of this smart hand gripper are equipped with limit and buffer structures to avoid excessive force on the fingers or discomfort during exercise, providing a safer and more comfortable training experience.

[0034] To sum up, the present invention uses the acupressure training mechanism and the training drive mechanism in conjunction with the detection interaction mechanism. The user can realize single-finger independent training and overall grip training as needed, and can also realize active training and passive training modes, which can meet the needs of users in different rehabilitation stages. During the finger training process, the training intensity and depth of the finger sleeve buttons can be adjusted according to the training needs, thereby meeting the personalized needs of users and improving the finger training effects of different users. The present invention can use the game mode for finger training, thereby stimulating the user's interest in training and improving the enthusiasm for training; the present smart hand gripper effectively overcomes the limitations of the prior art and provides a solution with more complete functions and better experience for hand rehabilitation; the present smart hand gripper can meet the various needs of finger rehabilitation, grip enhancement and home entertainment through innovative structural design and function integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the structure of the present invention in Example 1;

[0036] Figure 2 Schematic diagram of the internal structure of the acupressure training mechanism in Example 1;

[0037] Figure 3It is a structural schematic diagram of the acupressure training mechanism in Example 1;

[0038] Figure 4 is a structural schematic diagram of the training drive mechanism in Example 1;

[0039] Figure 5 It is a structural schematic diagram of the detection interaction mechanism in Example 1;

[0040] Figure 6 is a schematic diagram of the structure of the interactive shell in Example 1;

[0041] Figure 7 Schematic diagram of the position of the distance measuring sensor in Example 1.

[0042] In the figure, there are acupressure training mechanism 100, training drive mechanism 200, detection interaction mechanism 300, finger sleeve button 101, guide groove 102, button spring 103, upper limit ring 104a, lower limit ring 104b, limit block 105, guide rail 106, finger sleeve base 107, limit groove 108, magnetic core 201, electromagnetic actuator 202, electromagnetic coil 203, base bolt 204, Hall effect sensor 301, detection plate 302a, holding plate 302b, Bluetooth module 303, inertial measurement unit 304, rechargeable battery 305, display screen 306, connection interface 307, power switch 308, distance sensor 309a, distance sensor 309b, and flexible shell 310. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below through specific examples, but the scope of the present invention is not limited thereto.

[0044] Example 1

[0045] An intelligent finger training gripper, such as Figure 1-7 As shown, it includes a detection interaction mechanism 300, which cooperates with the acupressure training mechanism 100 set on the detection interaction mechanism 300; the detection interaction mechanism 300 includes an interactive shell, and a gripping plate 302b is provided at the inner bottom end of the interactive shell, and a detection plate 302a that cooperates with the acupressure training mechanism 100 is provided on the gripping plate 302b.

[0046] The finger pressure training mechanism 100 includes four finger sleeve bases 107 respectively arranged on the detection plate 302a to match the fingers, the finger sleeve base 107 is provided with a finger sleeve button 101 to match the fingers, the bottom center of the finger sleeve button 101 is provided with a guide groove 102, and the guide groove 102 is provided with a guide rail 106 to match the guide groove 102; the finger sleeve base 107 is provided with a finger sleeve groove to match the key finger sleeve, and the bottom of the finger sleeve groove is provided with a guide rail groove connected to the bottom of the guide rail 106. The finger sleeve button 101 is provided with a key spring 103, and the key spring 103 is gap-matched with the annular groove provided in the finger sleeve button 101 along the center of the guide groove 102; the bottom of the finger sleeve button 101 is symmetrically provided with a limit block 105.

[0047] The limit block 105 is matched with the limit grooves 108 arranged on both sides of the finger sleeve base 107, and the limit grooves 108 are provided with an upper limit ring 104a and a lower limit ring 104b which are matched with the limit block 105 and can be adjusted in position; the finger sleeve base 107 is sleeved with a base shell which is loosely matched with the upper limit ring 104a and the lower limit ring 104b. The limit block 105 and the upper limit ring 104a are provided with matching distance measuring sensors 309b, 309a; the guide groove 102 is provided with a magnetic core 201, and the magnetic core 201 is matched with a Hall effect sensor 301 arranged at a corresponding position in the detection plate 302a; the upper limit ring 104a and the lower limit ring 104b are provided with a telescopic buffer rod connected with the limit block 105, and a buffer spring is sleeved on the telescopic buffer rod.

[0048] A training drive mechanism 200 that cooperates with the acupressure training mechanism 100 is provided in the detection interaction mechanism 300. The training drive mechanism 200 includes an electromagnetic actuator 202 arranged at the bottom end of the finger sleeve groove and cooperating with the magnetic core 201. The electromagnetic actuator 202 is sleeved on the guide rail 106 and is gap-matched with the guide rail 106. An electromagnetic coil 203 that magnetically cooperates with the magnetic core 201 is sleeved on the electromagnetic actuator 202. An upper electromagnetic actuator ring and a lower electromagnetic actuator ring are sleeved at both ends of the electromagnetic actuator 202, and an inner ring groove matching with the key spring 103 is arranged on the upper electromagnetic actuator ring; a limit adjuster connected with the upper limit ring 104a and the lower limit ring 104b is arranged on the finger sleeve base 107, and the limit adjuster includes adjustment blocks symmetrically arranged on both sides of the finger sleeve base 107 and matching with the limit groove 108 with a clearance, and the adjustment blocks are symmetrical with respect to the horizontal center of the limit groove 108; an adjustment shaft is sleeved inside the adjustment block, and the two ends of the adjustment shaft are respectively threadedly connected with the adjustment screw barrels arranged in the upper limit ring 104a and the lower limit ring 104b, and the adjustment shaft is rotatably connected with the adjustment block through an adjustment bearing; an adjustment motor matching with the adjustment shaft is arranged on the adjustment block.

[0049] A flexible housing 310 is sleeved on one end of the interactive housing away from the detection board 302a; a finger ring is provided at the top of the finger button 101, and a detachable flexible cushion is laid inside the finger ring; a base bolt 204 is provided at the bottom center of the finger base 107, which is threadedly connected to the detection board 302a. The detection board 302a is provided with a Bluetooth module 303 and an inertial measurement unit 304 (IMU sensor) that match the holding board 302b; the holding board 302b has a rechargeable battery 305; a microprocessor is provided in the interactive housing, and a display screen 306 and a connection interface 307 that matches the microprocessor and the rechargeable battery 305 are provided on the side of the interactive housing; a power switch 308 is provided on one side of the display screen 306.

[0050] An intelligent finger training gripper, the use method of which includes an active training mode, a passive training mode and a game mode;

[0051] S1, active training mode;

[0052] Turn on the power switch 308, and the user can press the finger sleeve button 101 to achieve independent finger exercise or overall grip training, similar to the traditional hand gripper; but at the same time, when four fingers are pressed at the same time, the grip strength value of the whole hand can be calculated by the contribution weight of the fingers to the grip; the pressing force of each finger sleeve button 101 is detected by the Hall effect sensor 301 or the ranging sensor 309b, 309a and fed back to the display screen 306 in real time; the interactive shell is equipped with a connection interface 307 for device charging and wired data transmission; the interactive shell has a built-in rechargeable battery 305 to support long-term use and meet the user's portability requirements.

[0053] The palm of the user holds the gripping plate 302b in the interactive shell through the flexible shell 310 of the detection interaction mechanism 300, and each finger is inserted into the pressing finger sleeve button 101 of the acupressure training mechanism 100. During active training, the finger sleeve button 101 moves along the guide rail 106 in the finger sleeve base 107 through the guide groove 102, and the button spring 103 expands and contracts with the movement of the finger sleeve button 101. The limit block 105 moves in the limit groove 108, and the upper limit ring 104a and the lower limit ring 104b limit the range of movement of the limit block 105. By adjusting the position of the upper limit ring 104a and the lower limit ring 104b, it can be limited according to the finger state of different users to prevent excessive movement of the user; the finger sleeve base 107 is fixed to the detection plate 302a by the base bolt 204.

[0054] During active training, the magnetic core 201 approaches or moves away from the Hall effect sensor 301 , and the Hall effect sensor 301 converts the received changing magnetic field signal into a force value signal, and displays the real-time feedback grip force value on the display screen 306 .

[0055] When the magnetic core 201 of the training drive mechanism 200 approaches or moves away from the Hall effect sensor 301, the electromagnetic coil 203 on the electromagnetic actuator 202 is energized to generate electromagnetic force. Through the action of the electromagnetic force, the magnetic field generated by the electromagnetic coil 203 interacts with the magnetic core 201, and the magnetic field attracts the magnetic core 201 to move toward the electromagnetic coil 203; at the same time, the key spring 103 can ensure that the key can return to its initial position. The balance between the elastic force of the key spring 103 and the electromagnetic force determines the final position of the key, meeting the user's needs for active training.

[0056] The training drive mechanism 200 may generate magnetic field interference, affecting the accuracy of each Hall effect sensor 301 on the detection board 302a; by adding shielding material or increasing filtering interference signals, or switching to the distance measuring sensor 309b, 309a solution, when the finger sleeve button 101 moves up and down, the distance measuring sensors 309a, 309b can indirectly calculate the user's pressing force by measuring the displacement change between the upper limit ring 104a and the limit block 105, and record it.

[0057] The user can realize independent finger exercise or overall grip strength training by pressing the finger sleeve button 101, similar to a traditional hand gripper. But at the same time, when four fingers are pressed at the same time, the grip strength value of the whole hand can be calculated by the weight of the contribution of the fingers to the grip strength.

[0058] S2, passive training mode;

[0059] In the passive training mode, the microprocessor controls the electromagnetic coil 203 of the electromagnetic actuator 202 to be energized according to the set program, and the electromagnetic coil 203 generates an electromagnetic force, actively driving the magnetic core 201 to move in the direction of the electromagnetic coil 203, and then changes the intensity and direction of the magnetic field of the electromagnetic coil 203 by controlling the change in the strength of the current and the power-on time, so that the magnetic core 201 drives the guide groove 102 to move along the guide rail 106, and the finger sleeve button 101 moves in the finger sleeve base 107, thereby controlling the movement of the finger sleeve button 101, and achieving the purpose of passive training of the user.

[0060] The training driving mechanism 200 drives the telescopic movement of the finger sleeve button 101 according to a preset program, and the user passively follows the finger sleeve button 101 to press, which helps to restore the coordination of the fingers.

[0061] S3, game mode;

[0062] The training hand gripper is connected to an electronic device via a Bluetooth module 303, and the fun of the training hand gripper is increased through games. Each finger sleeve button 101 controls an operation function, such as a parkour game, where the index finger is used to run and the middle finger is used to jump, etc.; combined with the inertial measurement unit 304, sports game functions can be realized, and the training hand gripper can be waved to jump at different angles; at the same time, the spatial motion trajectory of the hand gripper is captured by the inertial measurement unit 304, and the user can perform operations such as flipping, tilting, and rotating in the game; combined with the Bluetooth module 303, the user's hand movements are converted into complex interactive instructions in the game, providing a new entertainment experience.

[0063] S4. Calculation of training intensity;

[0064] According to the principle of elastic mechanics, there is the following relationship between the force F generated when the fingertip button 101 is pressed by the user and its displacement Δx:

[0065] F = kΔx;

[0066] Among them, F is the user's pressing force (unit: Newton, N); k is the equivalent stiffness coefficient of the elastic system corresponding to the finger cover button 101 (unit: N / m); Δx is the compression displacement of the finger cover button 101 (unit: m).

[0067] The distance measuring sensors 309a and 309b cooperate to measure the displacement change of the fingertip key 101 before and after pressing by laser distance measurement; Assume: d a is the initial distance from the distance measuring sensor 309a to the reference point of the fingertip button 101 (when not pressed); d b is the initial distance from the distance measuring sensor 309b to the reference point of the fingertip button 101 (when not pressed); d′ a is the distance from the distance measuring sensor 309a to the reference point of the fingertip button 101 (after pressing); d′ b It is the distance from the distance measuring sensor 309b to the reference point of the fingertip button 101 (after pressing).

[0068] Then, the displacement Δx of the fingertip button 101 can be calculated by the average value of the displacement difference between the two points:

[0069]

[0070] This not only calculates the displacement, but also indirectly obtains the user's pressing force, which can be used for real-time feedback and training data recording.

[0071] During active training, the user can press the finger button 101 to exercise the fingers independently or the whole hand grip, similar to a traditional hand gripper. However, when four fingers are pressed at the same time, the hand grip value of the whole hand can be calculated by the weight of the finger contribution to the hand grip; the pressing force of each finger button 101 is detected by the Hall effect sensor 301 or the distance measuring sensor 309a, 309b and fed back to the display screen 306 in real time.

[0072] Assume that the pressure of the four fingers is F 1 , F 2 , F 3 , F 4 , their respective weight coefficients are w 1 ,w 2 ,w 3 ,w 4 , the total grip force is F total , the calculation formula is:

[0073] F total =w 1 F 1 +w 2 F 2 +w 3 F 3 +w 4 F 4 ;

[0074] Among them, F i represents the real-time grip force of the ith finger, in Newton (N); w i represents the weight coefficient of the i-th finger, which is used to adjust its contribution to the overall grip force.

[0075] The initial default setting is that the weight coefficients of all fingers are equal, that is: w 1 +w 2 +w 3 +w 4 =0.25, after detecting the strength of each finger of the user, different weights are set according to the strength of the user's fingers.

[0076] Example 2

[0077] A method for training an intelligent finger gripper, comprising an active training mode, a passive training mode and a game mode;

[0078] S1, active training mode;

[0079] Turn on the power switch 308, and the user can press the finger sleeve button 101 to achieve independent finger exercise or overall grip training, similar to the traditional hand gripper; but at the same time, when four fingers are pressed at the same time, the grip strength value of the whole hand can be calculated by the contribution weight of the fingers to the grip; the pressing force of each finger sleeve button 101 is detected by the Hall effect sensor 301 or the ranging sensor 309b, 309a and fed back to the display screen 306 in real time; the interactive shell is equipped with a connection interface 307 for device charging and wired data transmission; the interactive shell has a built-in rechargeable battery 305 to support long-term use and meet the user's portability requirements.

[0080] The palm of the user holds the gripping plate 302b in the interactive shell through the flexible shell 310 of the detection interaction mechanism 300, and each finger is inserted into the pressing finger sleeve button 101 of the acupressure training mechanism 100. During active training, the finger sleeve button 101 moves along the guide rail 106 in the finger sleeve base 107 through the guide groove 102, and the button spring 103 expands and contracts with the movement of the finger sleeve button 101. The limit block 105 moves in the limit groove 108, and the upper limit ring 104a and the lower limit ring 104b limit the range of movement of the limit block 105. By adjusting the position of the upper limit ring 104a and the lower limit ring 104b, it can be limited according to the finger state of different users to prevent excessive movement of the user; the finger sleeve base 107 is fixed to the detection plate 302a by the base bolt 204.

[0081] During active training, the magnetic core 201 approaches or moves away from the Hall effect sensor 301 , and the Hall effect sensor 301 converts the received changing magnetic field signal into a force value signal, and displays the real-time feedback grip force value on the display screen 306 .

[0082] When the magnetic core 201 of the training drive mechanism 200 approaches or moves away from the Hall effect sensor 301, the electromagnetic coil 203 on the electromagnetic actuator 202 is energized to generate electromagnetic force. Through the action of the electromagnetic force, the magnetic field generated by the electromagnetic coil 203 interacts with the magnetic core 201, and the magnetic field attracts the magnetic core 201 to move toward the electromagnetic coil 203; at the same time, the key spring 103 can ensure that the key can return to its initial position. The balance between the elastic force of the key spring 103 and the electromagnetic force determines the final position of the key, meeting the user's needs for active training.

[0083] The training drive mechanism 200 may generate magnetic field interference, affecting the accuracy of each Hall effect sensor 301 on the detection board 302a; by adding shielding material or increasing filtering interference signals, or switching to the distance measuring sensor 309b, 309a solution, when the finger sleeve button 101 moves up and down, the distance measuring sensors 309a, 309b can indirectly calculate the user's pressing force by measuring the displacement change between the upper limit ring 104a and the limit block 105, and record it.

[0084] The user can realize independent finger exercise or overall grip strength training by pressing the finger sleeve button 101, similar to a traditional hand gripper. But at the same time, when four fingers are pressed at the same time, the grip strength value of the whole hand can be calculated by the weight of the contribution of the fingers to the grip strength.

[0085] S2, passive training mode;

[0086] In the passive training mode, the microprocessor controls the electromagnetic coil 203 of the electromagnetic actuator 202 to be energized according to the set program, and the electromagnetic coil 203 generates an electromagnetic force, actively driving the magnetic core 201 to move in the direction of the electromagnetic coil 203, and then changes the intensity and direction of the magnetic field of the electromagnetic coil 203 by controlling the change in the strength of the current and the power-on time, so that the magnetic core 201 drives the guide groove 102 to move along the guide rail 106, and the finger sleeve button 101 moves in the finger sleeve base 107, thereby controlling the movement of the finger sleeve button 101, and achieving the purpose of passive training of the user.

[0087] The training driving mechanism 200 drives the telescopic movement of the finger sleeve button 101 according to a preset program, and the user passively follows the finger sleeve button 101 to press, which helps to restore the coordination of the fingers.

[0088] S3, game mode;

[0089] The training hand gripper is connected to an electronic device via a Bluetooth module 303, and the fun of the training hand gripper is increased through games. Each finger sleeve button 101 controls an operation function, such as a parkour game, where the index finger is used to run and the middle finger is used to jump, etc.; combined with the inertial measurement unit 304, sports game functions can be realized, and the training hand gripper can be waved to jump at different angles; at the same time, the spatial motion trajectory of the hand gripper is captured by the inertial measurement unit 304, and the user can perform operations such as flipping, tilting, and rotating in the game; combined with the Bluetooth module 303, the user's hand movements are converted into complex interactive instructions in the game, providing a new entertainment experience.

[0090] S4. Calculation of training intensity;

[0091] According to the principle of elastic mechanics, there is the following relationship between the force F generated when the fingertip button 101 is pressed by the user and its displacement Δx:

[0092] F = kΔx;

[0093] Among them, F is the user's pressing force (unit: Newton, N); k is the equivalent stiffness coefficient of the elastic system corresponding to the finger cover button 101 (unit: N / m); Δx is the compression displacement of the finger cover button 101 (unit: m).

[0094] The distance measuring sensors 309a and 309b cooperate to measure the displacement change of the fingertip key 101 before and after pressing by laser distance measurement; Assume: d a is the initial distance from the distance measuring sensor 309a to the reference point of the fingertip button 101 (when not pressed); d b is the initial distance from the distance measuring sensor 309b to the reference point of the fingertip button 101 (when not pressed); d′ a is the distance from the distance measuring sensor 309a to the reference point of the fingertip button 101 (after pressing); d′ b It is the distance from the distance measuring sensor 309b to the reference point of the fingertip button 101 (after pressing).

[0095] Then, the displacement Δx of the fingertip button 101 can be calculated by the average value of the displacement difference between the two points:

[0096]

[0097] This not only calculates the displacement, but also indirectly obtains the user's pressing force, which can be used for real-time feedback and training data recording.

[0098] During active training, the user can achieve independent finger exercise or overall grip strength training by pressing the finger sleeve button 101, similar to a traditional hand gripper; but at the same time, when four fingers are pressed at the same time, the grip strength value of the entire hand can be calculated by the contribution weights of the fingers to the grip strength; the pressing force of each finger sleeve button 101 is detected by the Hall effect sensor 301 or the ranging sensor 309a, 309b and fed back to the display screen 306 in real time.

[0099] Assume that the pressure of the four fingers is F 1 , F 2 , F 3 , F 4 , their respective weight coefficients are w 1 ,w 2 ,w 3 ,w 4 , the total grip force is F total , the calculation formula is:

[0100] F total =w 1 F 1 +w 2 F 2 +w 3 F 3 +w 4 F 4 ;

[0101] Among them, F i represents the real-time grip force of the ith finger, in Newton (N); w irepresents the weight coefficient of the i-th finger, which is used to adjust its contribution to the overall grip force.

[0102] The initial default setting is that the weight coefficients of all fingers are equal, that is: w 1 +w 2 +w 3 +w 4 =0.25, after detecting the strength of each finger of the user, different weights are set according to the strength of the user's fingers.

[0103] Example 3

[0104] An intelligent finger training gripper is different from the first embodiment in that an upper limit ring 104a and a lower limit ring 104b are respectively threadedly connected to a finger sleeve base 107.

[0105] Example 4

[0106] An intelligent finger training gripper, which is different from Example 1 in that: a limit adjuster connected to an upper limit ring 104a and a lower limit ring 104b is provided on a finger sleeve base 107, and the limit adjuster includes adjustment blocks symmetrically arranged on both sides of the finger sleeve base 107 and gap-matched with a limit groove 108, and the adjustment blocks are symmetrical relative to the horizontal center of the limit groove 108; an adjustment shaft is sleeved inside the adjustment block, and the two ends of the adjustment shaft are respectively threadedly connected to the adjustment screw barrels arranged in the upper limit ring 104a and the lower limit ring 104b, and the adjustment shaft is rotatably connected to the adjustment block through an adjustment bearing; an adjustment motor matched with the adjustment shaft is provided on the adjustment block; a telescopic buffer rod connected to the limit block 105 is provided on the side of the upper limit ring 104a and the lower limit ring 104b close to the adjustment block, and a buffer spring is sleeved on the telescopic buffer rod.

[0107] Example 5

[0108] An intelligent finger training gripper is different from the embodiment 1 in that: the training drive mechanism 200 is not provided in the detection interaction mechanism 300.

[0109] Example 6

[0110] An intelligent finger training gripper is different from the first embodiment in that a finger pressure training mechanism 100 cooperating with the thumb is provided on the gripping plate 302b.

[0111] The above embodiments are specific implementation methods of the present invention, but the implementation methods of the present invention are not limited to the above embodiments. Any other combination, change, modification, substitution and simplification that does not exceed the design concept of the present invention shall fall within the protection scope of the present invention.

Claims

1. An intelligent finger training gripper, characterized in that: It comprises a detection interaction mechanism, which cooperates with a finger pressure training mechanism arranged on the detection interaction mechanism; the detection interaction mechanism comprises an interaction shell, the inner bottom end of the interaction shell is provided with a gripping plate, and the gripping plate is provided with a detection plate that cooperates with the finger pressure training mechanism.

2. The intelligent finger training gripper according to claim 1, characterized in that: The acupressure training mechanism comprises a finger sleeve base arranged on a detection plate and matched with a finger, a finger sleeve button matched with a finger is sleeved inside the finger sleeve base, a guide groove is arranged at the center of the bottom end of the finger sleeve button, and a guide rail matched with the guide groove is sleeved inside the guide groove; a finger sleeve groove matched with the button finger sleeve is sleeved inside the finger sleeve base, and a guide rail groove connected with the bottom end of the guide rail is arranged at the bottom end of the finger sleeve groove.

3. The intelligent finger training gripper according to claim 2, characterized in that: A key spring is sleeved inside the finger sleeve key, and the key spring is gap-matched with an annular groove arranged inside the finger sleeve key along the center of the guide groove; a limit block is symmetrically arranged at the bottom end of the finger sleeve key.

4. The intelligent finger training gripper according to claim 3, characterized in that: The limit block cooperates with the limit grooves arranged on both sides of the finger sleeve base, and the limit grooves are provided with an upper limit ring and a lower limit ring that cooperate with the limit block and have adjustable positions; the finger sleeve base is sleeved with a base shell that cooperates with the upper limit ring and the lower limit ring in a clearance.

5. The intelligent finger training gripper according to claim 4, characterized in that: The limit block and the upper limit ring are respectively provided with matching distance measuring sensors; the guide groove is provided with a magnetic core, and the magnetic core matches with a Hall effect sensor arranged at a corresponding position in the detection plate.

6. The intelligent finger training gripper according to claim 5, characterized in that: The detection interaction mechanism is provided with a training drive mechanism that cooperates with the acupressure training mechanism. The training drive mechanism includes an electromagnetic actuator arranged at the bottom end of the finger sleeve groove and cooperates with the magnetic core. The electromagnetic actuator is sleeved on the guide rail and cooperates with the guide rail gap. The electromagnetic actuator is sleeved with an electromagnetic coil that magnetically cooperates with the magnetic core.

7. The intelligent finger training gripper according to claim 6, characterized in that: An upper electromagnetic actuator ring and a lower electromagnetic actuator ring are sleeved at both ends of the electromagnetic actuator, and an inner ring groove matched with the key spring is arranged on the upper electromagnetic actuator ring.

8. The intelligent finger training gripper according to claim 7, characterized in that: A flexible shell is sleeved on one end of the interactive shell away from the detection board; a finger ring is provided on the top of the finger sleeve button, and a detachable flexible cushion layer is laid inside the finger sleeve ring; a base bolt is provided at the center of the bottom end of the finger sleeve base and is threadedly connected to the detection board.

9. The intelligent finger training gripper according to claim 8, characterized in that: The detection board is provided with a Bluetooth module and an inertial measurement unit that cooperate with the holding board; the holding board contains a rechargeable battery; the interactive shell is provided with a microprocessor, and the side of the interactive shell is provided with a display screen and a connection interface that cooperates with the microprocessor and the rechargeable battery; a power switch is provided on one side of the display screen.

10. The method for training the intelligent finger gripper according to any one of claims 1 to 9, characterized in that: Including active training mode, passive training mode and game mode; S1, active training mode; The palm of the user holds the gripping plate in the interactive shell through the flexible shell of the detection interaction mechanism, and each finger is inserted into the pressing finger sleeve button of the finger pressure training mechanism. During active training, the finger sleeve button moves along the guide rail in the finger sleeve base through the guide groove, and the button spring expands and contracts with the movement of the finger sleeve button. The limit block moves in the limit groove, and the upper limit ring and the lower limit ring limit the range of movement of the limit block. By adjusting the position of the upper limit ring and the lower limit ring, the limit can be performed according to the finger state of different users to prevent excessive movement of the user; When the magnetic core approaches or moves away from the Hall effect sensor, the electromagnetic coil on the electromagnetic actuator is energized to generate electromagnetic force. Through the action of electromagnetic force, the magnetic field generated by the electromagnetic coil interacts with the magnetic core, and the magnetic field attracts the magnetic core to move toward the electromagnetic coil. At the same time, the key spring can ensure that the key can return to its initial position. The balance between the elastic force of the key spring and the electromagnetic force determines the final position of the key, meeting the user's active training needs. When the finger button moves up and down, the distance sensor can indirectly calculate the user's pressing force by measuring the displacement change between the upper limit ring and the limit block; S2, passive training mode; In the passive training mode, the microprocessor controls the electromagnetic coil of the electromagnetic actuator to be energized according to the set program, and the electromagnetic coil generates electromagnetic force, actively drives the magnetic core to move in the direction of the electromagnetic coil, and then changes the intensity and direction of the magnetic field of the electromagnetic coil by controlling the change of the current and the power-on time, so that the magnetic core drives the guide groove to move along the guide rail, and the finger sleeve button moves in the finger sleeve base, thereby controlling the movement of the finger sleeve button, and achieving the purpose of passive training for users; S3, game mode; By connecting electronic devices via the Bluetooth module, the training handgrip can be made more interesting through games, and each finger sleeve button controls an operation function. The inertial measurement unit is combined to realize sports game functions. At the same time, the inertial measurement unit is used to capture the spatial motion trajectory of the handgrip, and users can perform operations such as flipping, tilting, and rotating in the game. The user's hand movements are converted into complex interactive commands in the game, providing a new entertainment experience.

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