Intelligent rehabilitation training glove and method based on artificial muscle fibers

Abstract

The invention discloses an intelligent rehabilitation training glove and method based on artificial muscle fibers.The glove comprises a glove body, fingers, artificial muscle fibers and a plurality of hinge blocks, the fingers are movably arranged on the glove body according to the hand characteristics of the human body, and the artificial muscle fibers correspond to the fingers in number; the hinge blocks are arranged at the joints of the fingers, each artificial muscle fiber is correspondingly attached to the face, facing the palm center, of the corresponding finger, and each artificial muscle fiber connects the hinge blocks on the corresponding finger and is used for moving to drive the fingers to do dynamic rehabilitation training. The artificial muscle fibers are adopted as driving units of the rehabilitation gloves, bending and straightening of the rehabilitation gloves can be achieved when the artificial muscle fibers are powered on and powered off, programmed control is conducted on the artificial muscles through the controller, single-finger movement can be achieved, and meanwhile multi-finger simultaneous movement can be achieved; rehabilitation treatment means are customized according to the actual situation of the patient.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation training gloves, and in particular relates to an intelligent rehabilitation training glove and method based on artificial muscle fibers. Background Art

[0002] The human hand is a key system for interacting with the outside world, giving the ability to manipulate objects and sensory feedback. However, due to the impact of diseases, millions of people around the world face hand dysfunction, which limits normal movement and reduces the quality of life. In view of this, experts have been working on developing various methods to restore the normal function of damaged parts of the body.

[0003] The main way to improve hand function is physical rehabilitation therapy, but the traditional method relies on the physician's experience and skills to help patients gradually restore hand function through a series of hand exercises and activities, but this method has obvious limitations.

[0004] First, because it completely relies on the manual operation of the physician, this treatment method is relatively inefficient and difficult to achieve truly individualized treatment. Each patient's physical condition, degree of injury, and rehabilitation needs are unique, and traditional treatment methods are difficult to fully meet the personalized needs of each patient.

[0005] In order to solve these problems, in recent years, robot-assisted rehabilitation technology has gradually attracted the attention of the medical community. Compared with traditional physical rehabilitation therapy, robot-assisted rehabilitation technology has obvious advantages. First, it can reduce the workload of therapists and make the treatment process more efficient. Through the precise control of the robot, patients can perform high-intensity, repetitive and task-oriented exercises, which can not only speed up the rehabilitation process, but also improve the rehabilitation effect. Clinical studies have also shown that rehabilitation therapy using robot-assisted devices under the supervision of a doctor can effectively improve the patient's motor function.

[0006] However, despite the huge potential of robot-assisted rehabilitation technology in theory, it still faces many challenges in practical application. Most robot-assisted rehabilitation devices currently on the market are large, which not only makes them expensive but also limits their mobility. This means that these devices are mainly confined to hospitals and specialized rehabilitation centers and are not suitable for home use. Considering that 70%-80% of stroke patients require long-term hand rehabilitation, there is an urgent need to study portable and wearable hand rehabilitation devices so that patients can perform autonomous treatment at home.

[0007] The Chinese patent with application number 202110070770.3 provides a method and device for assisted hand training for patients. The patent includes the following steps: S1. Adjust the air pressure of the pneumatic gloves so that the pneumatic gloves are in a natural bending state, and detect the air pressure value of the pneumatic gloves at this time to obtain the initial air pressure; S2. Wear the pneumatic gloves on the patient's hands, detect the current air pressure of the pneumatic gloves, and the control unit determines the expected movement trend of the patient's hands according to the current air pressure size or change rate; S3. The control unit adjusts the air pressure device according to the expected movement trend to control the air pressure in the pneumatic gloves, so that the pneumatic gloves move according to the expected movement trend to drive the patient's hands to move. This patent assists patients in assisted training by detecting the patient's hand movements, improves the patient's active participation, and thus improves the effect of the patient's rehabilitation training.

[0008] The above patent drives the rehabilitation gloves pneumatically, which limits the patient's comfort and freedom, and the gloves are not breathable and comfortable enough. In addition, existing rehabilitation gloves usually require external force to achieve movement and lack autonomous drive, which limits the scope of application. At the same time, the gloves lack real-time perception and feedback mechanisms, making it difficult to accurately monitor the patient's movement status and rehabilitation progress. Summary of the invention

[0009] The purpose of the present invention is to provide an intelligent rehabilitation training glove and method based on artificial muscle fibers. The technical problem solved is that the glove equipment used for rehabilitation training in the prior art is bulky and inconvenient to carry, and most of them are pneumatically driven and have a complex structure.

[0010] To achieve the above object, the present invention provides the following technical solutions: In a first aspect, the present invention provides an intelligent rehabilitation training glove based on artificial muscle fibers, comprising a glove body, fingers, artificial muscle fibers and a plurality of hinge blocks, wherein the fingers are arranged on the glove body according to the characteristic activities of a human hand, the artificial muscle fibers are arranged corresponding to the number of fingers, the hinge blocks are arranged at the joints of the fingers, each artificial muscle fiber is correspondingly arranged on the surface of the finger facing the palm, and each artificial muscle fiber connects the hinge blocks on each finger, so as to drive the fingers to perform dynamic rehabilitation training through movement.

[0011] By using artificial muscle fibers as the driving unit of rehabilitation gloves, the artificial muscle fibers can bend and straighten the rehabilitation gloves when the power is on or off, and the artificial muscles can be programmed through the controller to achieve single-finger movement and simultaneous movement of multiple fingers, customizing rehabilitation treatment methods according to the patient's actual situation.

[0012] Optionally, the artificial muscle fibers are made by evenly winding conductive fibers around a stainless steel shaft by twisting. By using conductive fibers with efficient electrical conductivity, the contraction and relaxation of artificial muscles can be precisely controlled by electric fields or currents, thereby achieving fast and accurate motion response.

[0013] Optionally, the fingers include a thumb and other fingers, the thumb includes a phalangeal joint, and the other fingers include two phalangeal joints, the hinge blocks are correspondingly arranged at the phalangeal joints of each of the fingers, and each of the artificial muscle fibers is connected through the hinge block on its corresponding finger, and the multiple curvatures of each finger can be adjusted by extending the artificial muscle fibers to connect through the hinge block on its corresponding finger.

[0014] Optionally, each of the artificial muscle fibers is individually electrically connected to a current-carrying wire, and each of the current-carrying wires passes through the glove body and is connected to an external controller. By electrically connecting each artificial fiber to a current-carrying wire, the fingers can be individually controlled by the controller, and multiple fingers can be controlled simultaneously, so that a rehabilitation training plan can be customized according to the patient's actual situation.

[0015] In a second aspect, the present invention provides a method for making the artificial fiber according to any one of the first aspects, comprising: S1: Select the wire fiber with a diameter of 0.2 mm and the stainless steel with a diameter of 1.0 mm; S2: Twist the conductive fiber with a diameter of 0.2 mm to a certain twist and evenly wrap it around a 1.0 mm stainless steel shaft; S3: Fixing the two ends of the conductive fiber on stainless steel and placing them in an oven, wherein the oven temperature is set to 150 degrees and the oven time is set to 1 hour; S4: removing the conductive fiber filaments cooled to room temperature from the stainless steel shaft to obtain artificial muscle fibers; S5: Testing and optimizing the obtained artificial muscle fibers to obtain the most suitable artificial muscle fibers.

[0016] Artificial muscle fibers are made from selected conductive fibers, and their efficient electrical conduction ability enables precise contraction and relaxation of artificial muscles. The obtained artificial muscles are tested and optimized to obtain the most suitable artificial muscle fibers.

[0017] Optionally, the testing and optimization of the obtained artificial muscle fibers specifically includes: The tests include resistance measurement, conductivity test, tensile strength test and elasticity test under different conditions; The optimization includes winding tightness optimization, twisting degree optimization, fixing method optimization, material and processing method optimization and multiple iteration optimization.

[0018] Through resistance measurement and conductivity testing, we can understand the conductivity of artificial muscle fibers and ensure normal operation under appropriate voltage and current. Through tensile strength testing, we can determine the maximum bearing capacity of the fiber. Through elasticity testing, we can evaluate the elastic recovery ability of the fiber. By optimizing the winding tightness, we can reduce the contact resistance. By optimizing the twisting degree, we can change the strength and stiffness of the fiber. By optimizing the fixing method, we can improve the stability and reliability of the fiber. By optimizing the materials and processing methods, we can fundamentally improve the performance of artificial muscle fibers. Through multiple iterative optimizations, the performance of artificial muscle fibers can gradually approach the expected requirements.

[0019] In a third aspect, the present invention further provides a training method for the intelligent rehabilitation training gloves of artificial muscle fibers as described in any one of the first aspect and the second aspect, comprising: Get finger activity signal; The signal is transmitted to the voltage switch at both ends of the corresponding artificial muscle fiber; The controller controls the on and off of the voltage to realize the artificial muscle fibers driving the fingers to do dynamic rehabilitation training.

[0020] By utilizing the self-sensing function of artificial muscle fibers, the controller can turn the voltage on and off to drive the bending of the fingers.

[0021] Optionally, when the controller issues a command to turn on the voltage, the artificial muscle fibers are energized and contracted, causing the fingers to bend; when the controller issues a command to turn off the voltage, the artificial muscle fibers are de-energized and return to their original length, causing the fingers to straighten.

[0022] Optionally, the calculation and control of the deformation amount of artificial muscle fiber is realized by the following functional relationship:

[0023] Where: Indicates the current resistance, represents the initial resistance, Indicates voltage, represents the coefficient related to voltage, represents the deformation of the artificial muscle fiber (3), Represents a function of the shape variable.

[0024] Optionally, the calculation and control of the deformation amount of artificial muscle fibers are realized through the above functional relationship, specifically including: changing the voltage across the two ends of the artificial muscle fibers to realize the control of the morphological changes of the artificial muscle fibers, thereby realizing the control of the fingers to perform dynamic rehabilitation training, and obtaining the functional relationship between the voltage, resistance and deformation amount of the artificial muscle fibers through experimental data, thereby realizing the control of the finger curvature by controlling the voltage applied across its two ends.

[0025] Compared with the prior art, the present invention has the following beneficial effects: 1. The intelligent rehabilitation training gloves based on artificial muscle fibers of the present invention adopt artificial muscle fibers as the driving unit of the rehabilitation gloves. The artificial muscle fibers can realize the bending and straightening of the rehabilitation gloves when the power is on or off, and the artificial muscles are programmed by the controller to realize single-finger movement and simultaneous movement of multiple fingers, thereby customizing the rehabilitation treatment means according to the actual situation of the patient.

[0026] 2. The method for making artificial fibers of the present invention makes artificial muscle fibers from selected conductive fiber filaments, and realizes precise contraction and relaxation of artificial muscles through their efficient electrical conductivity. The obtained artificial muscles are tested and optimized to obtain the most suitable artificial muscle fibers.

[0027] 3. The training method of the artificial muscle fiber intelligent rehabilitation training gloves of the present invention obtains the functional relationship between the voltage, resistance and deformation of the artificial muscle fiber through experimental data, thereby realizing the control of the finger curvature by controlling the voltage applied at both ends. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the glove of the present invention from the palm side perspective; Figure 2 A schematic diagram of the relationship between voltage resistance and contraction change of the artificial muscle fiber of the present invention; Figure 3 This is a schematic diagram of the test results of Example 4 of the present invention.

[0029] In the figure: 1-glove body, 2-fingers, 3-artificial muscle fibers, 4-hinged blocks. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention. Embodiment 1

[0031] like Figure 1 As shown, an intelligent rehabilitation training glove based on artificial muscle fibers is provided, comprising a glove body 1, a plurality of fingers 2 and artificial muscle fibers 3. In this embodiment, the number of fingers 2 is preferably 5, and they are arranged on the glove body 1 according to the characteristic activities of the human hand, wherein the artificial muscle fibers 3 are arranged corresponding to the number of fingers 2, and each artificial muscle fiber 3 is correspondingly and closely arranged on the finger 2, so as to be used for exercising to drive the finger 2 to perform dynamic rehabilitation training.

[0032] In this embodiment, the artificial muscle fibers 3 preferably adopt conductive fiber filaments in the prior art, wherein the conductive fiber filaments are preferably made by twisting and evenly winding them on a stainless steel shaft, and the artificial muscle fibers 3 in this embodiment preferably adopt any one of the prior art silver-plated nylon wires, shape memory alloy wires, carbon nanotube fibers, graphene fibers, conductive elastomer fibers, and carbon fibers, or a combination of two or more thereof.

[0033] In this embodiment, the material of the finger 2 is preferably any one of cotton, acrylic, wool, silk, polyester, nylon, etc., or a combination of two or more to form a flexible finger joint-like structure, so as to facilitate the flexion and bending training of the finger 2 driven by the artificial muscle fibers 3.

[0034] refer to Figure 1 As shown, in order to increase the control of the flexion of the finger 2, the finger 2 in this embodiment includes the thumb and other fingers, wherein the thumb is flexed through one phalangeal joint, and the other fingers are flexed through two phalangeal joints. In this embodiment, the phalangeal joints of the finger 2 are preferably provided with an additional Figure 1 Meanwhile, in this embodiment, the connection between the finger 2 and the glove body 1 is also connected with a hinge block 4 to realize hinge connection, and the hinge block 4 in this embodiment is preferably movably fixed on the palm surface of the glove.

[0035] More specifically, in the present embodiment, a torsion spring (not shown) is fixed inside the hinge block 4, wherein the two ends of the torsion spring are respectively fixed to the two connecting ends of the hinge block 4, wherein, when the hinge block 4 is installed as the phalangeal joint of the finger 2, the hinge block 4 hinges the two sides of the installation end, and when the hinge block 4 connects the finger 2 to the glove body 1, the two connecting structures are also hinged. It should be noted that, in the present embodiment, the torsion spring in the hinge block 4 only generates resistance to the finger 2 when the patient's finger is bent to the maximum extent, that is, when the artificial muscle fiber 3 contracts and drives the finger 2 to the bending limit, the hinge block 4 generates a force in the opposite direction to protect the patient's finger 2 and avoid excessive bending and injury.

[0036] The artificial muscle fibers 3 in this embodiment are arranged on the palm side of the glove, wherein the number of the artificial muscle fibers 3 corresponds to the number of the fingers 2, and each artificial muscle fiber 3 is correspondingly attached to the finger 2 facing the palm, and each artificial muscle fiber 3 is connected through the hinge block 4 on its corresponding finger 2. More specifically, in this embodiment, the end of the artificial muscle fiber 3 away from the end of each finger 2 penetrates into the inside of the glove body 1, and in this embodiment, each artificial muscle fiber 3 is electrically connected to a power-carrying wire separately, and each power-carrying wire penetrates the glove body 1 and is externally connected to a controller. In addition, in this embodiment, the artificial muscle fiber 3 is also connected to a power supply device and a control switch in the prior art.

[0037] During use, the patient puts on gloves, and the operator uses the controller to turn on and off the voltage at both ends of the artificial muscle fibers 3 corresponding to the finger 2 to be trained according to the patient's finger. When the controller issues a command to turn on the voltage, the artificial muscle fibers 3 are energized and contracted, driving the finger 2 to bend; when the controller issues a command to turn off the voltage, the artificial muscle fibers 3 are de-energized and restored to their original length, thereby driving the finger 2 to straighten. During this process, when the artificial muscle fibers 3 contract and drive the finger 2 to the bending limit, the hinge block 4 generates a force in the opposite direction, so as to protect the patient's finger 2 and avoid excessive bending injury. Embodiment 2

[0038] This embodiment introduces a method for making artificial muscle fibers described in embodiment 1, including: preparing suitable conductive fiber materials, winding equipment and twisting tools; twisting and winding the conductive fiber yarns; fixing and shaping the wound conductive fiber yarns to obtain suitable artificial muscle fibers 3.

[0039] More specifically, in this embodiment, a conductive fiber filament with a diameter of 0.2 mm is preferably selected, wherein the conductive fiber filament is preferably a silver-plated nylon wire, wherein the winding equipment is preferably a small motor-driven winder in the prior art, wherein the twisting tool is preferably a manual twisting rod or an electric twisting device in the prior art, and at the same time, in this embodiment, stainless steel with a diameter of 1.0 mm, fixing glue and tape in the prior art are also required.

[0040] In this embodiment, if the silver-plated nylon wire is manually wound, the stainless steel shaft can be fixed on the bracket in the prior art, and then one end of the silver-plated nylon wire is held and evenly wound around the stainless steel shaft, while ensuring that each circle is tightly fitted without gaps or overlaps.

[0041] For winding using winding equipment, the stainless steel shaft is installed on the winding equipment, and the appropriate winding speed and tension are set to allow the silver-plated nylon wire to be automatically and evenly wound around the shaft.

[0042] In this embodiment, when the silver-plated nylon wire is wound to the required thickness, the twisting operation begins. The practical twisting tool starts from one end of the stainless steel shaft and gradually advances to the other end, applying a certain torque to the silver-plated nylon wire wound on the stainless steel shaft to cause it to twist.

[0043] In this embodiment, after the twisting is completed, the two ends of the silver-plated nylon wire are fixed to the stainless steel shaft using a fixing material such as glue or tape to prevent it from loosening or spreading, and the entire winding and twisting structure is checked to ensure that there are no loose parts.

[0044] In this embodiment, the silver-plated nylon wire fixed on the stainless steel shaft is placed in an oven with a preset temperature of 150 degrees, and the heating time of the oven is preset to 1 hour. After the heating is completed, it is allowed to cool naturally to room temperature, and then the conductive fiber filament is removed from the stainless steel shaft to obtain artificial muscle fiber 3. The obtained artificial muscle fiber 3 is tested and optimized to obtain the most suitable artificial muscle fiber 3.

[0045] More specifically, in this embodiment, the obtained artificial muscle fiber 3 is tested and optimized, specifically including: Electrical performance test: Resistance measurement: Use a precision resistance measuring instrument, preferably a digital multimeter or a professional resistance tester in the prior art, to connect the test electrodes to the two ends of the artificial muscle fiber 3 respectively, while ensuring good contact, and record the resistance value of the artificial muscle fiber 3 when it is not stretched, stretched to a certain degree, and compressed. Take the average value through multiple measurements to provide the accuracy of the measurement results.

[0046] Conductivity test: The conductivity is evaluated by applying a certain voltage and measuring the current size of the artificial muscle fiber 3. A constant voltage power supply or power supply is used to provide a stable voltage, and an ammeter is used to measure the current. The conductivity is calculated to measure the current conductivity of the artificial muscle fiber 3.

[0047] Mechanical properties test: Tensile strength test: Use a material tensile testing machine to fix the two ends of the artificial muscle fiber on the fixture of the testing machine to ensure that it is firmly fixed. Gradually stretch the fiber at a certain speed, record the force and displacement data during the stretching process, and you can get the tensile strength curve, from which you can determine the maximum tensile strength of the fiber and the elongation at break parameters.

[0048] Elasticity test: Repeatedly stretch and release the artificial muscle fibers, measure the length change after each stretch and release, calculate the elastic recovery rate, and observe whether the elasticity of the fibers is stable after multiple cycles and whether there is fatigue.

[0049] Winding tightness optimization: If the resistance is large, increase the winding tightness to make the contact between the silver-plated nylon wires closer and reduce the contact resistance. This can be achieved by adjusting the tension of the winding equipment or the strength of manual winding. Re-test the electrical performance and observe the changes in resistance and conductivity. Optimize the twisting degree: Change the torque of the twisting tool or the number of twisting turns to adjust the twisting degree, and perform mechanical and electrical performance tests again until the appropriate twisting degree is found.

[0050] Fixation method optimization: Try using different glues or tapes, or adopt a more secure fixation method, such as welding or mechanical clamping in existing technologies, to ensure that the fixed fiber does not loosen during the test.

[0051] Optimization of materials and processing methods: Change the brand or specification of silver-plated nylon wire, select materials with better quality, better conductivity and flexibility, and adopt existing pre-treatment technologies for the materials, such as cleaning and annealing, to improve their performance.

[0052] Multiple iterative optimizations: Based on the test results and optimization measures, iterative optimizations are continuously performed until the performance of the artificial muscle fiber 3 meets the expected requirements. Embodiment 3

[0053] This embodiment provides a training method for the intelligent rehabilitation training gloves based on artificial muscle fibers involved in Embodiment 1, including: obtaining finger activity signals, transmitting the signals to voltage switches at both ends of the corresponding artificial muscle fibers, and a controller controlling the on and off of the voltage to enable the artificial muscle fibers 3 to drive the fingers 2 to perform dynamic rehabilitation training.

[0054] In this embodiment, when the controller issues a command to turn on the voltage, the artificial muscle fibers 3 are energized and contracted, driving the finger 2 to bend; when the controller issues a command to turn off the voltage, the artificial muscle fibers 3 are de-energized and restored to their original length, driving the finger 2 to straighten.

[0055] More specifically, when a single finger movement is required, the controller will execute bending and straightening commands for a single finger. For example, if you want to achieve sequential movement of the thumb, index finger, middle finger, ring finger, and little finger, you can program the controller as follows: the voltage of the artificial muscle fiber 3 corresponding to the finger 2 of the thumb is turned on for 2 seconds and the voltage is turned off for 3 seconds; the voltage of the artificial muscle fiber 3 corresponding to the finger 2 of the index finger is turned on for 2 seconds and the voltage is turned off for 3 seconds; the voltage of the artificial muscle fiber 3 corresponding to the finger 2 of the middle finger is turned on for 2 seconds and the voltage is turned off for 3 seconds; the voltage of the artificial muscle fiber 3 corresponding to the finger 2 of the ring finger is turned on for 2 seconds and the voltage is turned off for 3 seconds; the voltage of the artificial muscle fiber 3 corresponding to the finger 2 of the little finger is turned on for 2 seconds and the voltage is turned off for 3 seconds.

[0056] In this embodiment, the simultaneous movement of multiple fingers can also be achieved by programming the controller. If you want to achieve simultaneous movement of five fingers, you can program the controller as follows: the artificial muscle fibers 3 corresponding to the fingers 2 of the thumb, index finger, middle finger, ring finger, and little finger are simultaneously connected to the voltage for 2 seconds, and then the voltage is simultaneously turned off for 3 seconds.

[0057] In this embodiment, the voltage across the two ends of the artificial muscle fiber 3 is changed to control the morphological change of the artificial muscle fiber 3, thereby controlling the finger 2 to perform dynamic rehabilitation training.

[0058] refer to Figure 2 As shown, in this embodiment, a square wave voltage of 0.1 Hz, 1.0 V / cm (duty cycle is 10%) is applied to the artificial muscle fiber 3. When the voltage is 1.0 V / cm, the artificial muscle fiber 3 contracts rapidly, and its resistance decreases rapidly. When the voltage is turned off, i.e., 0 V, the artificial muscle fiber 3 stretches to its original length, and its resistance also returns to its original value. The change rules of the two are consistent. The deformation state of the artificial muscle fiber can be further fed back by detecting the change in resistance of the artificial muscle fiber.

[0059] In this embodiment, it is assumed that the resistor and shape variable (the change in the ratio of the contracted state to the original length) and voltage The relationship between can be expressed as:

[0060] refer to Figure 2 As shown in the figure, when the voltage is 1.0 V / cm, the artificial muscle fiber contracts rapidly and the resistance decreases; when the voltage is 0 V, the artificial muscle fiber stretches to its original length and the resistance returns to its original value, which indicates that the resistance has a certain correlation with the voltage.

[0061] That is, first consider the effect of voltage: we can assume that when the voltage is V, the effect on resistance is a coefficient related to voltage. , that is, the resistance becomes ,in is the initial resistance (the resistance when the voltage is ).

[0062] Consider the influence of deformation: Deformation The relationship with resistance can be assumed to be inversely proportional, that is, ,in is a function of the shape variable. =0 (original length), , the resistance is .

[0063] In summary:

[0064] For the given conditions, when =1.0 V / cm, it corresponds to a value less than 1, indicating that the resistance decreases; =0 V, .

[0065] The functional relationship between the voltage, resistance and deformation of the artificial muscle fiber 3 is obtained through experimental data, so that the bending degree of the finger 2 can be controlled by controlling the voltage applied at both ends. Embodiment 4

[0066] This embodiment provides the collection of voltages corresponding to five fingers of an intelligent rehabilitation training glove based on artificial muscle fibers when performing different gestures.

[0067] refer to Figure 3 As shown, in this embodiment, when the five fingers move individually, each finger can detect a separate voltage signal. When the five fingers move in coordination, such as making gestures of "rock", "scissors", "paper", etc., when the "rock" gesture is made, the five fingers are bent and it is detected that all five fingers have voltage. When the "scissors" gesture is made, the thumb, ring finger and little finger are bent and it is detected that there are voltage changes in the thumb, ring finger and little finger. When the "paper" gesture is made, the five fingers are in a naturally straight state and it is detected that there is no voltage in the five fingers.

[0068] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. An intelligent rehabilitation training glove based on artificial muscle fiber, characterized in that: The glove comprises a glove body (1), fingers (2), artificial muscle fibers (3) and a plurality of hinge blocks (4); the fingers (2) are arranged on the glove body (1) according to the characteristics of a human hand; the artificial muscle fibers (3) are arranged in a number corresponding to the number of fingers (2); the hinge blocks (4) are arranged at the joints of the fingers (2); each artificial muscle fiber (3) is arranged correspondingly and closely on the surface of the finger (2) facing the palm, and each artificial muscle fiber (3) is connected to the hinge block (4) on each finger (2), so as to be used for moving and driving the fingers (2) to perform dynamic rehabilitation training.

2. The intelligent rehabilitation training glove based on artificial muscle fiber according to claim 1, characterized in that: The artificial muscle fibers (3) are made by evenly winding conductive fiber filaments around a stainless steel shaft by twisting.

3. The intelligent rehabilitation training glove based on artificial muscle fiber according to claim 2, characterized in that: The fingers (2) include a thumb and other fingers, the thumb includes a phalangeal joint, and the other fingers include two phalangeal joints, the hinge block (4) is correspondingly arranged at the phalangeal joint of each finger (2), and each artificial muscle fiber (3) is connected through the hinge block (4) on the corresponding finger (2).

4. The intelligent rehabilitation training glove based on artificial muscle fiber according to claim 3, characterized in that: Each of the artificial muscle fibers (3) is individually electrically connected to a current-carrying wire, and each of the current-carrying wires passes through the glove body (1) and is connected to an external controller.

5. The intelligent rehabilitation training glove based on artificial muscle fiber according to claim 2, characterized in that: The artificial muscle fiber (3) is made by evenly winding conductive fiber yarns around a stainless steel shaft by twisting, and specifically comprises: S1: Select the wire fiber with a diameter of 0.2 mm and the stainless steel with a diameter of 1.0 mm; S2: Twist the conductive fiber with a diameter of 0.2 mm to a certain twist and evenly wrap it around a 1.0 mm stainless steel shaft; S3: Fixing the two ends of the conductive fiber on stainless steel and placing them in an oven, wherein the oven temperature is set to 150 degrees and the oven time is set to 1 hour; S4: removing the conductive fiber filaments cooled to room temperature from the stainless steel shaft to obtain artificial muscle fibers (3); S5: Testing and optimizing the obtained artificial muscle fiber (3) to obtain the most suitable artificial muscle fiber (3).

6. The intelligent rehabilitation training glove based on artificial muscle fiber according to claim 5, characterized in that: The testing and optimization of the obtained artificial muscle fiber (3) specifically includes: The tests include resistance measurement, conductivity test, tensile strength test and elasticity test under different conditions; The optimization includes winding tightness optimization, twisting degree optimization, fixing method optimization, material and processing method optimization, and multiple iteration optimization.

7. A training method for the intelligent rehabilitation training gloves based on artificial muscle fibers according to any one of claims 1 to 6, characterized in that: include: Get finger activity signal; The signal is transmitted to the voltage switch at both ends of the corresponding artificial muscle fiber; The controller controls the on and off of the voltage so that the artificial muscle fibers (3) drive the fingers (2) to perform dynamic rehabilitation training.

8. The training method of the artificial muscle fiber-based intelligent rehabilitation training gloves according to claim 7, characterized in that: When the controller issues a command to turn on the voltage, the artificial muscle fibers (3) are energized and contracted, driving the finger (2) to bend; when the controller issues a command to turn off the voltage, the artificial muscle fibers (3) are de-energized and restored to their original length, driving the finger (2) to straighten.

9. The training method of the artificial muscle fiber-based intelligent rehabilitation training gloves according to claim 8, characterized in that: The calculation and control of the deformation of artificial muscle fiber (3) is realized through the following functional relationship: ， Where: Indicates the current resistance, represents the initial resistance, Indicates voltage, represents the coefficient related to voltage, represents the deformation of the artificial muscle fiber (3), Represents a function of the shape variable.

10. The training method of the artificial muscle fiber-based intelligent rehabilitation training gloves according to claim 9, characterized in that: The calculation and control of the deformation of the artificial muscle fiber (3) are realized through the above functional relationship, specifically including: changing the voltage passed through the two ends of the artificial muscle fiber (3) to realize the control of the morphological change of the artificial muscle fiber (3), thereby realizing the control of the finger (2) to perform dynamic rehabilitation training.

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