Hand assistive device capable of enhancing limb perception and use method of hand assistive device

Abstract

The invention relates to a hand assistive device for enhancing limb perception, which comprises a glove, and is characterized in that the glove is provided with a pressure sensor positioned at a position corresponding to a finger pulp with sensory disorder, a sensory stimulator positioned at a limb position more sensitive to the finger pulp with sensory disorder, and a controller connected with the pressure sensor and the sensory stimulator; and the controller is used for converting a pressure signal received by the pressure sensor into a stimulation signal output by the sensation stimulator. Finger pulp pressure is converted into physical stimulation or electrical stimulation to directly act on joints or skin which are more sensitive to the finger pulp with sensory disorder on the surface of the limb, perception of the brain to the limb can be increased, and the brain has sensory feedback information when outputting a motion intention to muscles. The device is used in combination with exoskeleton equipment, sensory stimulation is transmitted to the brain center through limbs, the brain center controls the exoskeleton again, closed-loop regulation and control of a human body and the exoskeleton as a whole can be achieved, and ontology of the exoskeleton is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of biotechnology, and particularly relates to a hand assistive device for enhancing limb perception and its use method. Background Art

[0002] Damage to the central nervous system or peripheral nervous system can lead to abnormalities in the sensory and motor functions of the limbs, especially the hands. Central system injuries such as cerebral hemorrhage and cerebral infarction in stroke can cause hemiplegia of the limbs, manifested as spasm of one side of the limbs, especially the inability of the hands to complete grasping and opening movements, and the decline of finger tactile sensation. Peripheral nervous system injuries such as brachial plexus injury and single nerve injury can result in the loss of overall or partial motor and sensory functions of the hand.

[0003] With the research and development and update of rehabilitation equipment technology, exoskeletons for assisting hand movement rehabilitation have emerged, which can perform periodic rehabilitation treatment on the hands with sensorimotor disorders, or improve the hand movement ability during daily wearing to complete the behaviors required for life and work. For the regulation of hand movement, the input of sensory information is an important part. For fingers with sensory disorders, how to effectively transmit the sensory information that the fingers should have obtained to the central brain is one of the problems to be solved. Otherwise, the sensory information is only feedback to the exoskeleton, and only closed-loop regulation at the exoskeleton level can be achieved; only when the sensory information is feedback to the central brain can the closed-loop regulation of the human and the exoskeleton as a whole be achieved, and the embodiment of the exoskeleton can be realized. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a hand assistive device for enhancing limb perception and its use method, which can transmit the sensory information that the fingers should have obtained to the central brain and realize the overall closed-loop regulation of the human and the exoskeleton.

[0005] The technical solution adopted by the present invention to solve its technical problems is: to provide a hand assistive device for enhancing limb perception, including a glove, on which a pressure sensor is provided at the position corresponding to the fingertip of the sensory disorder, a sensory stimulator is provided at a position on the limb that is more sensitive than the fingertip of the sensory disorder, and a controller is connected to the pressure sensor and the sensory stimulator. The controller is used to convert the pressure signal received by the pressure sensor into a stimulation signal output by the sensory stimulator.

[0006] Preferably, the sensory stimulator is a vibration stimulator or a microelectrical stimulator.

[0007] Preferably, the pressure sensor is provided on the surface of the glove, at the fingertips of the thumb, index finger and middle finger.

[0008] Preferably, a card pocket is provided on the surface of the glove for accommodating the sensory stimulator.

[0009] Preferably, the pressure sensor is a flexible sensor or a rigid sensor.

[0010] Preferably, when the sensory stimulator is a vibration stimulator, the limb positions more sensitive than the fingertip with sensory impairment include one or more of the radiocarpal joint, the ulnocarpal joint, the dorsal side of the metacarpophalangeal joint of the thumb, and the dorsal side of the metacarpophalangeal joint of the little finger.

[0011] Preferably, when the sensory stimulator is a microelectrical stimulator, the limb positions more sensitive than the fingertip with sensory impairment include one or more of the thenar eminence innervated by the median nerve, the hypothenar eminence innervated by the ulnar nerve, the radial side of the forearm innervated by the lateral antebrachial cutaneous nerve, the ulnar side of the forearm innervated by the medial antebrachial cutaneous nerve, the dorsal side of the tiger's mouth innervated by the radial nerve, and the ulnar side of the dorsum of the hand innervated by the dorsal branch of the ulnar nerve.

[0012] Preferably, a hole for the sensory stimulator to directly contact the skin is formed on the side of the card pocket close to the skin.

[0013] To solve the above technical problems, the present invention also provides a method for using a hand assistive device for enhancing limb perception, including the following steps:

[0014] S1. Cover the pressure sensor on the surface of the fingertip with sensory impairment;

[0015] S2. When the patient grasps an object, the pressure sensor converts the pressure information into an electrical signal and transmits it to the controller;

[0016] S3. The controller converts the electrical signal into a stimulation signal;

[0017] S4. The sensory stimulator receives the stimulation signal and acts on joints or skin on the limb surface that are more sensitive than the fingertip with sensory impairment.

[0018] The beneficial effects are as follows: The present invention converts the fingertip pressure into physical stimulation or electrical stimulation and directly acts on joints or skin on the limb surface that are more sensitive than the fingertip with sensory impairment, which can increase the brain's perception of the limb and enable the brain to have sensory feedback information when outputting a movement intention to the muscles; converting the fingertip pressure into stimulation, pressure sense is a superficial sensation, and vibration sense or electric shock sense is a deep sensation, realizing the conversion of superficial sensation into deep sensation, and enabling the limb with sensory impairment to obtain more sensory information; combining the present invention with an exoskeleton device, the sensory stimulation is transmitted through the limb to the brain center, and the brain center then controls the exoskeleton, which can achieve closed-loop regulation of the human and the exoskeleton as a whole and achieve the embodiment of the exoskeleton. Description of the Drawings

[0019] Figure 1 It is a front view of a hand assistive device for enhancing limb perception equipped with a vibration stimulator.

[0020] Figure 2 Rear view of a hand assistive device with a vibration stimulator for enhancing limb perception.

[0021] Figure 3 Front view of a hand assistive device with a microelectrical stimulator for enhancing limb perception.

[0022] Figure 4 Rear view of a hand assistive device with a microelectrical stimulator for enhancing limb perception.

[0023] Wherein, 101 - glove; 201, 202, 203 - pressure sensors; 301, 302, 303 - wires; 401 - controller; 501 - wire; 601 - vibration stimulator; 701 - vibration element; 801, 802, 803, 804, 1001, 1002, 1003, 1004, 1005, 1006 - card pockets; 901, 902 - holes; 1101 - microelectrical stimulator.

[0024] The same reference numerals in each figure represent the same components. Detailed implementation manners

[0025] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0026] The present invention provides a hand assistive device for enhancing limb perception, including a glove 101, wherein pressure sensors are provided on the glove 101 at the positions corresponding to the fingertips with sensory disorders, a sensory stimulator is provided at a limb position more sensitive than the fingertips with sensory disorders, and a controller 401 connecting the pressure sensors and the sensory stimulator, and the controller 401 is used to convert the pressure signals received by the pressure sensors into the stimulation signals output by the sensory stimulator.

[0027] In a specific embodiment, the pressure sensors are provided on the surface of the glove 101 at the fingertips of the thumb, index finger and middle finger. The above three fingers are the most commonly used fingers and receive the greatest pressure when performing functions such as grasping and pinching. In other embodiments, pressure sensors can also be respectively provided on the surfaces of the five fingers according to the degree of sensory disorder of the patient.

[0028] In an application, the pressure sensor is a flexible sensor or a rigid sensor. When the pressure sensor is a flexible sensor, it can deform together with the finger pulp of the patient; when the pressure sensor is a rigid sensor, the shape of the pressure sensor has an arc matching the finger pulp. Generally, one pressure sensor is correspondingly provided with one sensory stimulator, and different sensory stimulators should be respectively arranged at different limb positions.

[0029] In a specific embodiment, as Figure 1 、 2 shown, the sensory stimulator is a vibration stimulator 601. When the sensory stimulator is the vibration stimulator 601, the limb positions more sensitive than the finger pulp with sensory disorder include one or more of the radiocarpal joint, the ulnocarpal joint, the dorsal side of the metacarpophalangeal joint of the thumb, and the dorsal side of the metacarpophalangeal joint of the little finger. The vibration stimulator 601 is in the shape of a circular thin sheet and includes a housing and a vibration element 701. The pressure signal received by the pressure sensor is converted into an electrical signal in the controller 401, and then the electrical signal causes the vibration element 701 to generate vibration stimuli with different amplitudes and vibrate the sensitive joints.

[0030] In an application, the vibration stimulator 601 can be directly attached to the surface of the glove 101; or, a card pocket is provided on the surface of the glove 101 for accommodating the vibration stimulator 601. The positions of the card pockets 801, 802, 803, 804 match the positions where the vibration stimulator 601 is expected to be installed. The vibration stimulator 601 is placed in different card pockets according to actual needs. The shape of the card pocket matches the shape of the sensory stimulator, usually circular. A hole for the vibration element 701 to directly contact the skin can be opened on the side of the card pocket close to the skin.

[0031] When in use, the present invention with the vibration stimulator 601 includes the following steps:

[0032] a) Select a rigid or flexible pressure sensor as needed and cover the surfaces of the 3 finger pulps on one hand. When grasping an object to form pressure, the pressure sensor converts the pressure information into an electrical signal, which is transmitted to the controller 401 through the wires 301, 302, 303.

[0033] b) The controller 401 converts the electrical signal into a stimulation signal and transmits the signal to the vibration stimulator 601 through the wire 501.

[0034] c) The vibration stimulator 601 receives the stimulation signal and acts on the joint that is more sensitive than the finger pulp with sensory impairment on the surface of the limb through vibration stimulation. It can be inserted into the corresponding card pocket of the long-sleeved glove 101 according to the skin perception ability of each part of the patient. Generally, it is one of the four card pockets at the dorsal side of the radiocarpal joint, ulnocarpal joint, metacarpophalangeal joint of the thumb, and metacarpophalangeal joint of the little finger. Therefore, it can be transmitted to the brain center through the peripheral nerve.

[0035] The above steps can realize the conversion of the pressure signal of the finger pulp in terms of position and mode, that is, changing the stimulation position and the mode of the stimulation signal, and transmitting it to the brain center, increasing the brain's perception of the limb, and enabling the brain to have sensory feedback information when outputting the movement intention to the muscles. It can realize the closed-loop control of the human and the exoskeleton as a whole, achieving the embodiment of the exoskeleton perception.

[0036] In another specific embodiment, as Figure 3 、 4 shown, the sensory stimulator is a microelectrical stimulator 1101. The microelectrical stimulator 1101 includes two stimulation electrodes. The pressure signal received by the pressure sensor is converted into an electrical signal in the controller 401, and then the electrical signal makes the electrodes generate different degrees of microelectrical stimulation and stimulate the sensitive skin. When the sensory stimulator is the microelectrical stimulator 1101, the limb positions that are more sensitive than the finger pulp with sensory impairment include one or more of the thenar eminence innervated by the median nerve, the hypothenar eminence innervated by the ulnar nerve, the radial side of the forearm innervated by the lateral antebrachial cutaneous nerve, the ulnar side of the forearm innervated by the medial antebrachial cutaneous nerve, the dorsal side of the thumb web innervated by the radial nerve, and the dorsal ulnar side of the hand innervated by the dorsal branch of the ulnar nerve.

[0037] In application, the surface of the glove 101 is provided with card pockets for accommodating the microelectrical stimulator 1101. The positions of the card pockets 1001, 1002, 1003, 1004, 1005, 1006 match the positions where the microelectrical stimulator 1101 is expected to be installed. The microelectrical stimulator 1101 is placed in the corresponding card pocket according to the skin perception ability of each part of the patient. The shape of the card pocket matches the shape of the microelectrical stimulator 1101, usually rectangular or square. The side of the card pocket close to the skin is provided with holes 901, 902 for the electrodes of the microelectrical stimulator 1101 to directly contact the skin.

[0038] When in use, the present invention with the microelectrical stimulator 1101 includes the following steps:

[0039] a) Select a rigid or flexible pressure sensor as needed and cover the surfaces of the 3 finger pulps on one hand. When grasping an object to form pressure, the pressure sensor converts the pressure information into an electrical signal and transmits it to the controller 401 through the wires 301, 302, 303.

[0040] b) The controller 401 converts the electrical signal into a stimulation signal and transmits the signal to the microelectrical stimulator 1101 via the wire 501.

[0041] c) The microelectrical stimulator 1101 receives the stimulation signal and applies microelectrical stimulation to the skin on the limb surface that is more sensitive than the fingertip of the sensory disorder. It can be inserted into the corresponding card pocket of the glove 101 according to the skin perception ability of each part of the patient, generally one of the six card pockets of the thenar, hypothenar, radial side of the forearm, ulnar side of the forearm, dorsal side of the thumb web, and ulnar side of the dorsum of the hand. Therefore, it can be transmitted to the brain center through the peripheral nerve.

[0042] The above steps can achieve the transposition and transformation of the pressure signal of the fingertip, that is, changing the stimulation position and the mode of the stimulation signal, and transmitting it to the brain center, increasing the brain's perception of the limb, and enabling the brain to have sensory feedback information when outputting the motor intention to the muscles. It can achieve the closed-loop control of the human and the exoskeleton as a whole, and achieve the embodiment of the exoskeleton perception.

Claims

1. A hand assistive device for enhancing limb perception, comprising a glove, characterized in that: The glove is provided with a pressure sensor located at the position of the fingertips corresponding to the sensory impairment, a sensory stimulator located at a limb position more sensitive than the fingertips of the sensory impairment, and a controller connected to the pressure sensor and the sensory stimulator, and the controller is used to convert the pressure signal received by the pressure sensor into a stimulation signal output by the sensory stimulator.

2. The hand assistive device for enhancing limb perception according to claim 1, characterized in that: The sensory stimulator is a vibration stimulator or a micro-electric stimulator.

3. The hand assistive device for enhancing limb perception according to claim 1, characterized in that: The pressure sensors are arranged on the surface of the gloves, the thumb, the index finger and the middle finger.

4. The hand assistive device for enhancing limb perception according to claim 1, characterized in that: A card pocket is provided on the surface of the glove for accommodating the sensory stimulator.

5. The hand assistive device for enhancing limb perception according to claim 1, characterized in that: The pressure sensor is a flexible sensor or a rigid sensor.

6. The hand assistive device for enhancing limb perception according to claim 2, characterized in that: When the sensory stimulator is a vibration stimulator, the limb positions that are more sensitive than the sensory-impaired fingertips include one or more of the radiocarpal joint, ulnocarpal joint, dorsal side of the thumb metacarpophalangeal joint, and dorsal side of the little finger metacarpophalangeal joint.

7. The hand assistive device for enhancing limb perception according to claim 2, characterized in that: When the sensory stimulator is a micro-electric stimulator, the limb positions that are more sensitive than the fingertips with sensory impairment include one or more of the thenar eminence innervated by the median nerve, the hypothenar eminence innervated by the ulnar nerve, the radial side of the forearm innervated by the lateral forearm cutaneous nerve, the ulnar side of the forearm innervated by the medial forearm cutaneous nerve, the dorsal side of the thumb innervated by the radial nerve, and the ulnar side of the back of the hand innervated by the dorsal branch of the ulnar nerve.

8. The hand assistive device for enhancing limb perception according to claim 4, characterized in that: A hole is provided on the side of the card bag close to the skin so that the sensory stimulator can directly contact the skin.

9. A method for using a hand assistive device for enhancing limb perception, characterized in that: A hand assistive device for enhancing limb perception as claimed in any one of claims 1 to 8 is used, comprising the following steps: S1. Cover the pressure sensor on the surface of the fingertip with sensory impairment; S2. When the patient grasps an object, the pressure sensor converts the pressure information into an electrical signal and transmits it to the controller; S3, the controller converts the electrical signal into a stimulation signal; S4. The sensory stimulator receives stimulation signals and acts on joints or skin on the surface of the limbs that are more sensitive than the fingertips with sensory impairment.

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