Magnetic response synchronous bionic palm for finger rehabilitation training

Abstract

The invention provides a magnetic response synchronous bionic palm for finger rehabilitation training, which comprises a magnetic response bionic palm, a circuit system, a mechanical bionic palm and a magnetic field generator, and is characterized in that the magnetic response bionic palm comprises a first elastic body, a second elastic body and a silver wire, and five bionic fingers are formed on the first elastic body and the second elastic body; the plurality of silver wires respectively penetrate through the five bionic fingers in a crossed manner; after the magnetic response bionic palm is bent and magnetized, the magnetic field generator applies a driving magnetic field to enable the magnetized bionic fingers to generate corresponding bending changes, and the circuit system transmits bending or return change signals of the bionic fingers to the mechanical bionic palm. The mechanical bionic palm synchronously drives the target fingers of the patient to complete corresponding bending or straightening actions; rehabilitation training schemes can be individually set according to specific conditions of patients, rehabilitation requirements of different patients are met, the magnetic response synchronous bionic palm is easy and convenient to operate and high in training efficiency, and the rehabilitation cycle of the patients can be greatly shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation medical devices, and in particular, to a magnetoresponsive synchronous bionic palm for finger rehabilitation training. Background Art

[0002] With the continuous development of medical technology, rehabilitation medical devices play an increasingly important role in helping patients restore their physical functions; as one of the most delicate and complex moving organs of the human body, the rehabilitation training of fingers is particularly important. For example, hemiplegic patients often have partial finger paralysis and spasm due to damage to the central nervous system of the brain. In severe cases, they will lose the motor ability of their fingers. Finger rehabilitation training can help patients restore part or all of their finger motor abilities. Currently, finger rehabilitation training is generally carried out manually by rehabilitation therapists or using finger rehabilitation training devices. However, traditional finger rehabilitation training devices cannot customize personalized rehabilitation training plans for specific fingers according to the specific conditions of patients' finger injuries, cannot meet the rehabilitation needs of different patients, and have problems such as low efficiency, unstable training effects, and difficulty in operation. Therefore, developing a new type of finger rehabilitation training device to provide more efficient and stable training effects has important practical significance and broad application prospects. Summary of the Invention

[0003] The purpose of the present invention is to provide a magnetoresponsive synchronous bionic palm, which can be customized and reconstructed according to the specific conditions of patients' fingers by simulating the natural movement mode of the human hand and combining magnetoresponse and reconstruction technologies, and can achieve precise control and rehabilitation training functions for specific fingers of patients through magnetic field control.

[0004] The present invention adopts the following technical solutions: a magnetoresponsive synchronous bionic palm for finger rehabilitation training, including a magnetoresponsive bionic palm, a circuit system, a mechanical bionic palm, and a magnetic field generator. The magnetoresponsive bionic palm includes a first elastomer mixed with magnetic particles, a second elastomer mixed with magnetic particles, and silver wires. The first elastomer and the second elastomer are in the shape of a palm, and five bionic fingers are formed on the first elastomer and the second elastomer. Multiple silver wires respectively cross through through holes opened on the five bionic fingers of the first elastomer, and conductive carbon powder is evenly coated on the outside of the first elastomer. The second elastomer is adhesively covered and bonded to the first elastomer;

[0005] After at least one of the five bionic fingers is bent and deformed, the magnetoresponsive bionic palm is magnetized, and the magnetic field generator is used to apply a driving magnetic field to the magnetoresponsive bionic palm so that the magnetized bionic fingers undergo corresponding bending deformations;

[0006] The circuit system is electrically connected to the magneto-responsive bionic palm and transmits the bending or reset change signals of the bionic fingers to the mechanical bionic palm;

[0007] The mechanical bionic palm is bound to the target palm of the patient. After receiving the bending or reset change signal, the mechanical bionic palm synchronously drives the target finger of the patient to complete the corresponding bending or straightening action.

[0008] Further, the manufacturing method of the magneto-responsive bionic palm is as follows:

[0009] ① Stir and perform centrifugal degassing treatment on SE-1700, Ecoflex-00 Part B, neodymium iron boron powder, SE-1700 Catalyst, and silica powder in a mass ratio of 50-70:50-70:50-70:5-7:2-4, and then mix to obtain a uniform precursor ink;

[0010] ② Use the above precursor ink to 3D print an elastomer, and place the elastomer in a vacuum drying constant temperature oven for curing;

[0011] ③ Cut and process the cured elastomer into a first elastomer and a second elastomer, and respectively open two through holes at both ends and the middle of the five bionic fingers on the first elastomer, and evenly apply conductive carbon powder on the front and back sides of the first elastomer;

[0012] ④ Pass a silver wire through the through hole at the lower end of the bionic finger, then pass it out through the through hole at the corresponding middle position, and then pass it into the through hole at the corresponding upper position again. Finally, wind the excess silver wire between the through hole at the uppermost end and the upper boundary of the bionic finger, and thus complete the connection and installation of one silver wire and one column of through holes. Complete the connection and installation of the remaining nine silver wires and nine columns of through holes in the same way as above;

[0013] ⑤ Use the ink of the magneto-responsive soft material as an adhesive, cover and bond the second elastomer on the first elastomer, and keep it warm in a drying oven until the adhesive is completely cured.

[0014] Further, the magnetic field generator is a strong magnet; the conductive carbon powder is obtained by pounding the refill of a 2B drawing pen with a mortar; the silver wire is a high-purity silver wire with a diameter of 0.05 mm.

[0015] Further, the circuit system includes an Arduino development board 1, a breadboard, an HC-12 wireless communication sending module, an Arduino development board 2, an HC-12 wireless communication receiving module, and several wires. The wires are connected between the magnetoresponsive bionic palm, the Arduino development board 1, the breadboard, and the HC-12 wireless communication sending module. The wires are connected between the Arduino development board 2, the HC-12 wireless communication receiving module, and the mechanical bionic palm. The HC-12 wireless communication sending module is used to remotely send the bending or returning change signal of the bionic finger to the HC-12 wireless communication receiving module and transmit it to the mechanical bionic palm, so that the mechanical bionic palm performs synchronous bending or straightening actions.

[0016] A control method for a magnetoresponsive bionic palm includes:

[0017] ① Magnetization stage: According to the finger training situation, perform corresponding bending actions on the five bionic fingers of the magnetoresponsive bionic palm, and fix the five bionic fingers. Apply a magnetization magnetic field with a vertically upward direction in the magnetization and demagnetization integrated machine to complete the magnetization process of the magnetoresponsive bionic palm.

[0018] ② Magnetoresponse driving stage: Place the magnetoresponsive bionic palm that has completed magnetization horizontally, and use a magnetic field generator to apply a driving magnetic field with a vertically upward direction, so that the five bionic fingers of the magnetoresponsive bionic palm perform magnetic field response and present corresponding bending actions as in the steps of the magnetization stage.

[0019] ③ Demagnetization stage: Keep the bending actions and directions of the five bionic fingers of the magnetoresponsive bionic palm consistent as in the steps of the magnetization stage, and perform complete demagnetization treatment through the magnetization and demagnetization integrated machine.

[0020] ④ Reconstruction and multiple magnetoresponse stages: According to the second finger training situation, perform corresponding second bending actions on the five bionic fingers of the magnetoresponsive bionic palm, and fix the five bionic fingers. Repeat the steps of ① magnetization stage to complete the second magnetization process of the magnetoresponsive bionic palm in the magnetization magnetic field, and then repeat the steps of ② magnetoresponse driving stage, so that the five bionic fingers 14 of the magnetoresponsive bionic palm present corresponding second bending actions as in the steps of the magnetization stage.

[0021] By repeating the above steps ①②③, the bending actions of the bionic fingers can be reconstructed multiple times.

[0022] A synchronization scheme for a magnetoresponsive bionic palm and a mechanical bionic palm, including: when a certain bionic finger of the magnetoresponsive bionic palm undergoes magnetoresponsive bending, the contact area between the silver wire and the conductive carbon powder on the bionic finger will increase accordingly, the resistance inside the bionic finger becomes smaller, and the five bionic fingers of the magnetoresponsive bionic palm can be used as five potentiometers or sliding rheostats, and through them, potential information can be read. During the process of the bionic finger undergoing magnetoresponsive bending or returning to its original position, Arduino board 1 converts the resistance change corresponding to the bending or returning of the bionic finger into a control signal for the bending or straightening angle of the finger of the mechanical bionic palm, and continuously detects the resistance change when the magnetoresponsive bionic palm bends or returns to its original position with the standard time as a cycle, and transmits it to the HC-12 wireless communication receiving module through the HC-12 wireless communication sending module. After receiving the control signal for the bending or straightening angle, the HC-12 wireless communication receiving module drives the mechanical bionic palm to bend or straighten synchronously, realizing the synchronous movement of the mechanical bionic palm and the magnetoresponsive bionic palm.

[0023] Further, the standard time is 25 ms.

[0024] The present invention can design the bending of the specified bionic finger according to the finger training situation. After the magnetization operation is completed, the specified bionic finger is driven to bend through the driving magnetic field, and various finger bending training schemes can be demonstrated through the reconstruction of the finger bending action. Through the synchronous bending scheme of the magnetoresponsive bionic palm and the mechanical bionic palm, the millisecond-level synchronous movement of the mechanical bionic palm and the magnetoresponsive bionic palm is realized. The mechanical bionic palm synchronously drives the target palm of the patient to complete the corresponding bending action, thereby ensuring the stability and consistency of the training effect. The rehabilitation training scheme can be personalized according to the specific situation of the patient to meet the rehabilitation needs of different patients. The magnetoresponsive synchronous bionic palm of the present invention is easy to operate and has high training efficiency, which can greatly shorten the rehabilitation cycle of the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0026] Figure 1 is the simplified circuit diagram of the magnetoresponsive synchronous bionic palm of the present invention;

[0027] Figure 2 is the processing design drawing of the first elastomer 11 and the second elastomer 12 of the present invention;

[0028] Figure 3 is the schematic diagram of the arrangement of the silver wire 13 and the bonding position of the adhesive 15 in the first elastomer 11 of the present invention;

[0029] Figure 4 Schematic diagram of the principle of resistance signal change of the magnetoresponsive bionic palm 1 of the present invention;

[0030] Figure 5 Schematic diagram of the deformation process of the magnetoresponsive bionic palm 1 under the action of the magnetized programming shape and the driving magnetic field of the present invention;

[0031] Figure 6 Circuit diagram of signal acquisition and transmission of the magnetoresponsive synchronous bionic palm of the present invention;

[0032] Figure 7 Schematic diagram of the Arduino development board 3 analog input pins reading the voltage signals of five bionic fingers 14 of the present invention;

[0033] Figure 8 Physical diagram of the magnetoresponsive synchronous bionic palm of the present invention;

[0034] Figure 9 Schematic diagram of the calibration segment and several gesture segments of reprogramming of the magnetoresponsive synchronous bionic palm of the present invention.

[0035] Explanation of reference numerals: Magnetoresponsive bionic palm 1, first elastomer 11, second elastomer 12, silver wire 13, bionic finger 14, adhesive 15, through hole 16, breadboard 2, Arduino development board 3, HC-12 wireless communication transmission module 4, Arduino development board 5, mechanical bionic palm 6, wireless communication receiving module 7, power supply 8. Detailed Description of the Invention

[0036] The following will further elaborate on the specific implementation manners of the present invention in conjunction with the attached Figures 1-9 Drawings.

[0037] Embodiment 1

[0038] As Figure 1 、 8 shown, this embodiment provides a magnetoresponsive synchronous bionic palm for finger rehabilitation training, including a magnetoresponsive bionic palm 1, a breadboard 2, an Arduino development board 3, an HC-12 wireless communication transmission module 4, an Arduino development board 5, a mechanical bionic palm 6, an HC-12 wireless communication receiving module 7, several wires and a magnetic field generator.

[0039] As Figure 2 、 3 shown, the magnetoresponsive bionic palm 1 includes a first elastomer 11 mixed with magnetic particles, a second elastomer 12 mixed with magnetic particles and a silver wire 13. The first elastomer 11 and the second elastomer 12 are in the shape of a palm, and five bionic fingers 14 are formed on the first elastomer 11 and the second elastomer 12.

[0040] Fabrication method of the magnetoresponsive bionic palm 1: Stir SE-1700, Ecoflex-00 Part B, neodymium iron boron powder, SE-1700 Catalyst, and silica powder in a mass ratio of 20:20:20:2:1 and perform centrifugal degassing treatment. After mixing, a uniform precursor ink for the magnetoresponsive bionic palm 1 is obtained. Use the above ink for 3D printing design to prepare a reconfigurable magnetoelastic body with a size of 45×45×0.25 mm. After successful 3D printing, the model needs to be placed in a vacuum drying constant temperature oven at 70 °C and kept for 36 h for complete curing. This temperature can accelerate the curing and forming of the reconfigurable magnetoelastic body without affecting the neodymium iron boron particles;

[0041] Then, according to Figure 2 the design drawing shown, use laser cutting to process the model of the magnetoresponsive bionic palm 1, where Figure 2 (a) The model serves as the first layer of the magnetoresponsive bionic palm 1, that is, the first elastomer 11, Figure 2 (b) The model serves as the second layer of the magnetoresponsive bionic palm 1, that is, the second elastomer 12. Uniformly apply graphite conductive powder material on the front and back sides of the first elastomer 11. The graphite conductive powder material is obtained by pounding the refill of a 2B drawing pen with a mortar;

[0042] Then, use a high-purity silver wire 13 with a diameter of 0.05 mm to pass through the through-hole 16 at the lower end of the bionic finger 14, then pass through the through-hole 16 at the corresponding position in the middle, and then pass through the through-hole 16 at the corresponding position at the upper end again. Finally, wind the excess silver wire 13 between the through-hole 16 at the uppermost end and the upper boundary of the bionic finger 14. In this way, the connection and installation of one silver wire 13 and one row of through-holes 16 are successfully processed. Next, process the connection and installation of the remaining nine silver wires 13 and nine rows of through-holes 16 in the same way, as Figure 3 shown; Finally, use the ink of the magnetoresponsive soft material as the adhesive 15, align the pre-cut Figure 2 (b) model (i.e., the second elastomer 12) and cover it on the position of the first elastomer 11. Then, place the entire model in a drying oven at 70 °C and keep it warm for 24 hours. After the adhesive 15 is completely cured, the preparation work of the magnetoresponsive bionic palm 1 is completed.

[0043] Here, take a bionic finger 14 as an example. In the circuit connection, we use the silver wire 13 on the right as the positive electrode access point, and the silver wire 13 on the left as the negative electrode outflow point. Through this design, precise control of the bionic finger 14 can be achieved. The front and back of the magnetoresponsive bionic palm 1 are evenly coated with a graphite conductive powder material. The silver wire 13 serves as a wire. Since the resistance value of the graphite coating is relatively large, when a certain bionic finger 14 of the magnetoresponsive bionic palm 1 bends, the contact area between the silver wire 13 at this bionic finger 14 and the graphite will increase accordingly (the reason is that when a certain bionic finger 14 of the magnetoresponsive bionic palm 1 bends, the contact area between the silver wire 13 at this bionic finger 11 and the first elastomer 11 increases, and the contact area with the graphite will increase accordingly). This is equivalent to paralleling more resistors in the circuit, and the overall resistance of this finger will decrease, as shown in Figure 4 (a).

[0044] We number the five bionic fingers 14 of the magnetoresponsive bionic palm 1 from left to right in sequence, and use the resistance measurement gear of the multimeter, and adjust the range to 200KΩ. Subsequently, the resistance changes of the five bionic fingers 14 before and after bending are measured respectively. After multiple cyclic measurements, a line graph as shown in Figure 4 (b) is drawn. It can be seen from the figure that after the bionic finger 14 bends, the resistance value shows a significant decreasing trend. This result meets the requirement of generating a significant signal change or resistance change when the bionic finger 14 bends, providing reliable basic data for subsequent applications.

[0045] Through the magnetic field control of the magnetic field generator, the bionic fingers 14 on the magnetoresponsive bionic palm 1 will bend and change. Wires are connected between the magnetoresponsive bionic palm 1, Arduino development board 1 - 3, breadboard 2 and HC - 12 wireless communication sending module 4. Wires are connected between Arduino development board 2 - 5, HC - 12 wireless communication receiving module 7 and mechanical bionic palm 6. The HC - 12 wireless communication sending module 4 is used to remotely send the bending or returning change signals of the bionic fingers 14 to the HC - 12 wireless communication receiving module 7 and transmit them to the mechanical bionic palm 6, and the mechanical bionic palm 6 makes synchronous bending or straightening actions; the power supply 8 supplies power to the magnetoresponsive bionic palm 1, Arduino development board 1 - 3, breadboard 2, HC - 12 wireless communication sending module 4, Arduino development board 2 - 5, HC - 12 wireless communication receiving module 7 and mechanical bionic palm 6 through wires.

[0046] Example 2

[0047] This embodiment provides a control method for a reconfigurable magnetoresponsive bionic palm 1. The specific implementation scheme of this method is as follows:

[0048] Step 1 - Magnetization stage: Design the bending degree of the required fingers of the magnetoresponsive bionic palm 1 according to the patient's finger training situation to determine the shape of the magnetization programming. Here, the "OK" gesture is taken as an example. We number the five bionic fingers 14 of the magnetoresponsive bionic palm 1 from left to right in sequence, bend the 4th and 5th bionic fingers 14 backward and bond them to a cylindrical block with a diameter of 10 mm. Then, use transparent tape to fix the 1st, 2nd, and 3rd fingers on the carrier plate, as shown in Figure 5 (a). Subsequently, place the carrier plate horizontally directly above the magnetization coil of the magnetization-demagnetization integrated machine. The magnetization coil applies a magnetization magnetic field with a vertically upward direction and a magnetic field magnitude of 2.5 T to the magnetoresponsive bionic palm 1 on the carrier plate. Under the action of the magnetization magnetic field of the PFD-2000 type rapid magnetization-demagnetization integrated machine, the operation of magnetization programming is completed.

[0049] Step 2 - Magnetoresponse driving stage: Place the magnetoresponsive bionic palm 1 completed with magnetization horizontally on the carrier plate. The five bionic fingers 14 are in a straight state and in contact with the carrier plate. Apply a driving magnetic field with a vertically upward direction and a magnetic field magnitude of about 50 mT to the magnetoresponsive bionic palm 1 on the carrier plate through the magnetic field generator. The sample can be bent, as shown in Figure 5 (b).

[0050] Step 3 - Demagnetization stage: As shown in Figure 5 (a), fix and guide the magnetoresponsive bionic palm 1 in the way of a fixture and tape, and keep the bending action and direction of the five bionic fingers 14 of the magnetoresponsive bionic palm 1 in Step 1 consistent. Place the magnetoresponsive bionic palm 1 in the PFD-2000 type rapid magnetization-demagnetization integrated machine. Under the action of the demagnetization magnetic field of the PFD-2000 type rapid magnetization-demagnetization integrated machine (the magnetization coil applies a demagnetization magnetic field with a vertically downward direction to the magnetoresponsive bionic palm 1 on the carrier plate), the demagnetization operation is completed, so that the magnetization directions of the magnetic particles inside it are randomly arranged, preparing for the reconstruction process.

[0051] Step 4 - Reconstruction and multiple magnetoresponse stage: Design the bending degree of the required fingers of the magnetoresponsive bionic palm 1 according to the second finger training situation to determine the shape of the magnetization programming. In the same way as in Step 1, under the action of the magnetization magnetic field of the PFD-2000 type rapid magnetization-demagnetization integrated machine, complete the magnetization programming operation of the magnetoresponsive bionic palm 1, so that the magnetization directions of the magnetic particles inside it are all uniformly arranged. Then perform the magnetoresponse driving stage in Step 2, and the five bionic fingers 14 of the magnetoresponsive bionic palm 1 can show the corresponding second bending action in Step 1. Here, the "scissors" gesture and the "fist" gesture are reconstructed, as shown in Figure 9 .

[0052] By repeating the above steps 1, 2, and 3, the bending motion of the bionic finger 14 can be reconstructed multiple times, enabling a personalized magnetic response process. This allows for the bending rehabilitation training of specific fingers of the patient, meeting the rehabilitation needs of different patients. However, it should be noted that: the demagnetization process in step 3 must be completely demagnetized before magnetizing the second bionic finger 14 for bending. The demagnetization process in step 3 must be consistent with the magnetization shape in step 1. The reconstruction design can achieve multiple reconstructions as long as the magnetoresponsive bionic palm 1 can be completely demagnetized each time.

[0053] Embodiment 3

[0054] This embodiment provides a synchronization scheme for the magnetoresponsive bionic palm 1 and the mechanical bionic palm 6, that is, a synchronization bending scheme for the bionic fingers 14 of the magnetoresponsive bionic palm 1 and the bionic fingers of the mechanical bionic palm 6. The specific implementation of this method is as follows:

[0055] The five bionic fingers 14 of the magnetoresponsive bionic palm 1 can be designed to be used as potentiometers, through which potential information can be read. We regard the five bionic fingers 14 as 5 sliding rheostats to read potential information. According to Figure 4 (b) shows the resistance change of the bionic finger 14. Five bionic fingers 14 of the prepared magnetoresponsive bionic palm 1 are respectively connected in series with a 100KΩ voltage-dividing resistor, as Figure 6 shown. A wire 5 is led between the bionic finger 14 and the voltage-dividing resistor to connect to the analog input pins A1, A2, A3, A4, and A5 of the Arduino development board 3. The upper end is powered by a 5V DC voltage, and the lower end is grounded.

[0056] The analog input pin can convert the 0 to 5V voltage at this point into a digital signal from 0 to 1023.

[0057] According to the voltage division principle, it is easy to obtain

[0058]

[0059] where U0 is the power supply voltage, with a magnitude of 5V. R1, R2, R3, R4, and R5 respectively represent the resistance values of the bionic finger 14, and these resistance values decrease when the bionic finger 14 bends. R6, R7, R8, R9, and R 10 are the voltage-dividing resistors of the five bionic fingers 14, with a magnitude of 100KΩ. Figure 1On the left side, there is an HC-12 wireless communication sending module 4 for remotely sending signals of finger bending or returning. The mechanical bionic palm 6 that receives the signals was purchased from Hangzhou Songjia Technology Co., Ltd. (This mechanical bionic palm 6 is a mature product and not within the protection scope of this patent). It is an advanced bionic palm controlled by an Arduino single-chip microcomputer. (The mechanical bionic palm 6 is controlled by five small servo motors to drive five mechanical fingers. When in use, only use Velcro to fix the five fingers of the patient to the five mechanical fingers of the mechanical bionic palm 6 one by one. The bending and straightening processes of the mechanical fingers will drive the patient's fingers to perform bending and straightening training). According to Figure 6 The physical diagram of the magneto-responsive bionic palm 1 connected according to the circuit diagram. After the processing of the hardware facilities is completed, program development can be carried out to realize the function of driving the mechanical bionic palm 6 with the magneto-responsive bionic palm 1. Finally, by binding the five mechanical fingers of the mechanical bionic palm 6 to the five fingers of the human palm, the goal of finger rehabilitation training can be achieved.

[0060] Press Figure 6 After connecting the wires as shown, bend the five bionic fingers 14 respectively, and read the voltages of the analog input pins A1, A2, A3, A4, and A5. The voltage data of all the bionic fingers 14 are as Figure 7 shown. When bending all the bionic fingers 14 in sequence, the analog input pins of the Arduino can obtain the voltage changes, and there is an obvious increase in voltage when the bionic finger 14 bends.

[0061] The essence of the function startup of the mechanical bionic palm 6 is to receive instructions and then parse the instructions. Call the corresponding functions through the established instructions. It is equipped with an HC-12 wireless communication receiving module 7 inside, which mainly serves as a signal receiving module, that is, to receive specific instructions to complete corresponding actions. The instructions used in this article are mainly the bending action instructions of the mechanical fingers. The instruction parsing is as follows:

[0062] 1. #IndexPpwmTtime! instruction. Where # is the start flag bit; Index is a 3-digit number representing the action servo number, ranging from 001 - 005, that is, the finger number; pwm is a 4-digit number, ranging from 0500 - 2500; that is, the bending degree; time is a 4-digit number, ranging from 0000 - 9999, in milliseconds, that is, the time required to execute the pwm bending degree;! is the end flag bit. There are a total of 15 bits of data, and the insufficient bits are filled with 0.

[0063] Second, the #001P1500T1000! #002P0900T1000! instructions indicate that the palm needs to execute multiple finger bending instructions. Just put multiple individual servo instructions together in order and enclose them with curly braces. For example, the above instructions can make the bending degree of the No. 1 mechanical finger be 1500 and take 1000 ms, and make the bending degree of the No. 2 mechanical finger be 900 and take 1000 ms.

[0064] According to the data of the action instructions received by the mechanical bionic palm 6, the program flow design of the bionic finger 14 module we designed is as follows:

[0065] First, initialize the MaxValue array and the MinValue array;

[0066] Second, read the voltage values of the five bionic fingers 14 respectively, compare them with the elements of the MaxValue array, store the larger ones into the MaxValue array, compare them with the elements of the MinValue array, and store the smaller ones into the MinValue array.

[0067] Third, map the corresponding MaxValue array, MinValue array and the voltage values read from the five bionic fingers 14 to the range value of pwm between 0500 and 2500;

[0068] Fourth, combine the above data into the #001P (mapping value of the bending degree of the No. 1 finger) T1000!... Omit the intermediate instructions... #005P (mapping value of the bending degree of the No. 5 finger) T0500! instruction and send it to the mechanical bionic palm 6 through the HC-12 wireless communication sending module 4 and the HC-12 wireless communication receiving module 7.

[0069] Fifth, continuously execute the second, third, and fourth steps with a period of 25 ms to achieve millisecond-level synchronous actions.

[0070] After the program design is completed, by continuously executing the calibration and reprogramming process of the bending of the bionic finger 14, it can be ensured that the bionic finger 14 bends and deforms under the action of the magnetic field and sends the bending signal to the mechanical bionic palm 6, thus realizing the function of finger rehabilitation training. A fragment of the specific driving process is as Figure 9 shown. Because the deformation will be more accurate after calibrating the mechanical palm in the program flow design, it is necessary to perform the bending calibration operation on each bionic finger 14 in turn. That is, use a slender rod to pick up each bionic finger 14 to make it bend, and this synchronous signal will be transmitted to the mechanical bionic palm 6, making the mechanical bionic palm 6 also present a bent shape.

[0071] After calibration, place a magnet directly below the magneto-responsive bionic palm 1 and gradually move it closer to the bionic finger 14. The programmed bionic finger 14 will assume a bent shape and continuously convert signal changes or resistance changes into bending change signals, which are transmitted to the mechanical bionic palm 6, causing the mechanical fingers on the mechanical bionic palm 6 to bend synchronously with the programmed bionic finger 14, thus bending the patient's target finger synchronously. When the magnet is directly below the magneto-responsive bionic palm 1 and gradually moves away from the bionic finger 14, the bionic finger 14 of the magneto-responsive bionic palm 1 will be subjected to the restoring force of the first elastic body 11 and the second elastic body 12, and thus return to the state of being straight and in contact with the carrier plate. At the same time, the signal changes or resistance changes during the gradual straightening and return of the bionic finger 14 are converted into bending change signals and transmitted to the mechanical bionic palm 6, causing the mechanical fingers on the mechanical bionic palm 6 to straighten synchronously with the bionic finger 14, thus straightening the patient's target finger synchronously. This drives the patient's finger to complete the bending and straightening operations, achieving a complete and effective finger rehabilitation training. Repeating the above operations can complete multiple complete and effective finger rehabilitation trainings to achieve the finger rehabilitation training plan.

[0072] At the same time, in order to realize the automatic approach or separation of the magnet from the bionic finger 14 and achieve automated finger rehabilitation training: An electric push rod or a hydraulic cylinder or other equivalent devices are vertically arranged directly below the magneto-responsive bionic palm 1, and the magnet is fixed at the top of the telescopic rod of the electric push rod or a hydraulic cylinder or other equivalent devices. The electric push rod or a hydraulic cylinder or other equivalent devices are connected to a time controller. For example, when the telescopic rod of the electric push rod or a hydraulic cylinder or other equivalent devices extends in place, the magnet vertically approaches the bionic finger 14 from directly below. After driving the programmed bionic finger 14 to assume a bent shape, the time controller controls the electric push rod or a hydraulic cylinder or other equivalent devices to stop for a target time (such as 5 s), and then controls the electric push rod or a hydraulic cylinder or other equivalent devices to start. After the telescopic rod of the electric push rod or a hydraulic cylinder or other equivalent devices retracts in place, the magnet vertically moves away from the bionic finger 14. The programmed bionic finger 14 will be subjected to the restoring force of the first elastic body 11 and the second elastic body 12, and thus return to the state of being straight and in contact with the carrier plate. The time controller controls the electric push rod or a hydraulic cylinder or other equivalent devices to stop for a target time (such as 5 s). By repeating the above process, the automatic approach or separation of the magnet from the bionic finger 14 can be realized automatically, and the bending and straightening of the patient's target finger can be achieved, and multiple effective finger rehabilitation trainings can be repeated and completed.

[0073] This solution can perform finger rehabilitation training specifically for the fingers that need to be bent according to the user's customization requirements. By using a magnetization and demagnetization machine, different gestures can be reprogrammed. Here, taking the "peace sign", "OK sign", and "fist" gestures as examples, when the magnetic response bionic palm 1 bends and returns to its original position as described above, the voltage change or resistance change signal is converted into a bending change signal and transmitted to the mechanical bionic palm 6 to control the corresponding mechanical fingers to bend. Through reconstruction, the specified fingers can be bent for training. At the same time, the driving method of the remote magnetic field can provide a new and effective rehabilitation training tool for finger rehabilitation patients.

[0074] The technical solution of the present application has been described in detail above with reference to the accompanying drawings. The present invention discloses a magnetic response synchronous bionic palm for finger rehabilitation training, which solves the problems that traditional finger rehabilitation training methods often rely on physical therapy and artificial assistance, resulting in low efficiency and unstable training effects.

[0075] It should be noted that in the patent title "A Magnetic Response Synchronous Bionic Palm for Finger Rehabilitation Training", the magnetic response means that after the magnetic field generator applies a driving magnetic field to the magnetized magnetic response bionic palm 1, the magnetized bionic finger 14 undergoes a bending change corresponding to the magnetization stage, that is, the bending response after being subjected to the driving magnetic field.

[0076] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A magnetoresponsive synchronous bionic palm for finger rehabilitation training, characterized in that: It includes a magnetoresponsive bionic palm (1), a circuit system, a mechanical bionic palm (6) and a magnetic field generator. The magnetoresponsive bionic palm (1) includes a first elastomer (11) mixed with magnetic particles, a second elastomer (12) mixed with magnetic particles and silver wires (13). The first elastomer (11) and the second elastomer (12) are in the shape of a palm, and five bionic fingers (14) are formed on the first elastomer (11) and the second elastomer (12). A plurality of the silver wires (13) respectively cross through through holes (16) opened on the five bionic fingers (14) of the first elastomer (11), and conductive carbon powder is evenly applied on the outside of the first elastomer (11). The second elastomer (12) is adhesively covered and bonded to the first elastomer (11) through an adhesive (15); After at least one of the five bionic fingers (14) is bent and deformed, the magnetoresponsive bionic palm (1) is magnetized. The magnetic field generator is used to apply a driving magnetic field to the magnetoresponsive bionic palm (1) so that the magnetized bionic finger (14) undergoes a corresponding bending change; The circuit system is electrically connected to the magnetoresponsive bionic palm (1), and transmits the bending or reset change signal of the bionic finger (14) to the mechanical bionic palm (6); The mechanical bionic palm (6) is bound to the patient's target palm. After receiving the bending or reset change signal, the mechanical bionic palm (6) synchronously drives the patient's target finger to complete the corresponding bending or straightening action.

2. The magnetoresponsive synchronous bionic palm for finger rehabilitation training according to claim 1, wherein: The circuit system includes an Arduino development board one (3), a breadboard (2), an HC-12 wireless communication sending module (4), an Arduino development board two (5), an HC-12 wireless communication receiving module (7) and several wires. The wires are connected between the magnetoresponsive bionic palm (1), the Arduino development board one (3), the breadboard (2) and the HC-12 wireless communication sending module (4). The wires are connected between the Arduino development board two (5), the HC-12 wireless communication receiving module (7) and the mechanical bionic palm (6). The HC-12 wireless communication sending module (4) is used to remotely send the bending or reset change signal of the bionic finger (14) to the HC-12 wireless communication receiving module (7) and transmit it to the mechanical bionic palm (6), so that the mechanical bionic palm (6) performs a synchronous bending or straightening action.

3. The magnetoresponsive synchronous bionic palm for finger rehabilitation training according to claim 1, characterized in that: Two through holes (16) are respectively opened at both ends and the middle of the five bionic fingers (14) on the first elastomer (11). The silver wire (13) penetrates into the through hole (16) at the lower end of the bionic finger (14), then penetrates out of the through hole (16) at the corresponding middle position, and then penetrates into the through hole (16) at the corresponding upper position again. Finally, the redundant silver wire (13) is wound between the through hole (16) at the uppermost end and the upper boundary of the bionic finger (14).

4. The magnetoresponsive synchronous bionic palm for finger rehabilitation training according to claim 1, characterized in that: The magnetic field generator is a strong magnet; the conductive carbon powder is obtained by pounding the refill of a 2B card-drawing pen with a mortar; the silver wire (13) is a high-purity silver wire with a diameter of 0.05 mm.

5. The magnetoresponsive synchronous bionic palm for finger rehabilitation training according to any one of claims 1-4, characterized in that: The manufacturing method of the magnetoresponsive bionic palm (1) is as follows: ① Stir SE-1700, Ecoflex-00 Part B, neodymium iron boron powder, SE-1700 Catalyst, and silica powder in a mass ratio of 50-70:50-70:50-70:5-7:2-4, and then perform centrifugal degassing treatment. After mixing, a uniform precursor ink is obtained. ② Use the above precursor ink to 3D print an elastomer, and place the elastomer in a vacuum drying and constant temperature oven for curing. ③ Cut the cured elastomer to obtain a first elastomer (11) and a second elastomer (12). Two through holes (16) are respectively opened at both ends and the middle of five bionic fingers (14) on the first elastomer (11), and conductive carbon powder is evenly applied to the front and back sides of the first elastomer (11). ④ Pass a silver wire (13) through the through hole (16) at the lower end of the bionic finger (14), then pass it out through the through hole (16) at the corresponding middle position, and then pass it into the through hole (16) at the corresponding upper position. Finally, wind the excess silver wire (13) between the through hole (16) at the uppermost end and the upper boundary of the bionic finger (14), and the connection and installation of one silver wire (13) and one column of through holes (16) are completed. Complete the connection and installation of the remaining nine silver wires (13) and nine columns of through holes (16) in the same way as above. ⑤ Use an ink of a magnetoresponsive soft material as an adhesive (15), cover and bond the second elastomer (12) on the first elastomer (11), and keep it in an oven until the adhesive (15) is completely cured.

6. The magnetoresponsive synchronous bionic palm for finger rehabilitation training according to any one of claims 1-4, characterized in that: The control method of the magnetoresponsive bionic palm (1) includes: ① Magnetization stage: According to the finger training situation, perform corresponding bending actions on the five bionic fingers (14) of the magnetoresponsive bionic palm (1), and fix the five bionic fingers (14). Apply a magnetization magnetic field with a vertically upward direction in the magnetization and demagnetization integrated machine to complete the magnetization process of the magnetoresponsive bionic palm (1). ② Magnetoresponsive driving stage: Place the magnetoresponsive bionic palm (1) that has completed magnetization horizontally, and use a magnetic field generator to apply a driving magnetic field with a vertically upward direction, so that the five bionic fingers (14) of the magnetoresponsive bionic palm (1) perform magnetic field responses and present corresponding bending actions as in the magnetization stage steps. ③ Demagnetization stage: Keep the bending actions and directions of the five bionic fingers (14) of the magnetoresponsive bionic palm (1) consistent in the magnetization stage steps, and perform complete demagnetization treatment through the magnetization and demagnetization integrated machine. ④ Reconstruction and multiple magnetoresponsive stages: According to the second finger training situation, perform corresponding second bending actions on the five bionic fingers (14) of the magnetoresponsive bionic palm (1), and fix the five bionic fingers (14). Repeat the steps of ① magnetization stage, complete the second magnetization process of the magnetoresponsive bionic palm (1) in the magnetization magnetic field, and then repeat the steps of ② magnetoresponsive driving stage, so that the five bionic fingers (14) of the magnetoresponsive bionic palm (1) can present corresponding second bending actions as in the magnetization stage steps. By repeating the above steps ①②③, the bending actions of the bionic fingers (14) can be reconstructed multiple times.

7. The magnetoresponsive synchronous bionic palm for finger rehabilitation training according to claim 2, wherein: The synchronization scheme of the magnetoresponsive bionic palm (1) and the mechanical bionic palm (6) includes: when a certain bionic finger (14) of the magnetoresponsive bionic palm (1) undergoes magnetoresponsive bending, the contact area between the silver wire (13) on the bionic finger (14) and the conductive carbon powder will increase accordingly, and the resistance inside the bionic finger (14) will become smaller. The five bionic fingers (14) of the magnetoresponsive bionic palm (1) can be used as five potentiometers or sliding rheostats, and the potential information can be read through them. During the process of the bionic finger (14) undergoing magnetoresponsive bending or returning to its original position, Arduino board 1 (3) converts the resistance change corresponding to the bending or returning of the bionic finger (14) into a control signal of the finger bending or straightening angle recognizable by the mechanical bionic palm (6), continuously detects the resistance change during the bending or returning of the magnetoresponsive bionic palm (1) with a standard time as a cycle, and transmits it to the HC-12 wireless communication receiving module (7) through the HC-12 wireless communication sending module (4). After receiving the control signal of the bending or straightening angle, the HC-12 wireless communication receiving module (7) drives the mechanical bionic palm (6) to bend or straighten synchronously, realizing the synchronous movement of the mechanical bionic palm (6) and the magnetoresponsive bionic palm (1).

8. The magnetoresponsive synchronous bionic palm for finger rehabilitation training according to claim 7, characterized in that: The standard time is 25 ms.

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