Rehabilitation device for hand dysfunction

Abstract

The invention relates to the field of rehabilitation medical instruments, in particular to a rehabilitation device for hand dysfunction, which is used for solving the problems that intelligent rehabilitation gloves in the prior art are easy to fall off, poor in flexibility, single in rehabilitation mode and weak in interactivity. The rehabilitation device comprises a first glove, a control module, a mobile interaction end and a second glove. The first glove is worn on a healthy side hand, collects action states of five fingers in real time and is used for supporting a mirror image training mode; the control module serves as a core and is used for processing related instructions, carrying a touch screen and improving interaction friendliness; the mobile interaction terminal is used for supporting a visual training mode, performing rehabilitation training by identifying hand key points, and improving the rehabilitation interest of a patient; the second glove is worn on the hand on the affected side, the adjacent fingers are designed in a zipper mode, and each finger is provided with a detachable pneumatic driver, so that different hand types can be adapted, and the pertinence and flexibility of rehabilitation can be improved; meanwhile, the device also supports other training modes and functions.

Description

Technical Field

[0001] This case involves the field of rehabilitation medical devices, and in particular, a rehabilitation device and method for hand dysfunction. Background Art

[0002] Patients with hand dysfunction can use smart rehabilitation gloves to independently train their finger joints, muscle strength, assistance, and fine motor skills, bringing great convenience to patients. However, existing smart rehabilitation gloves have problems such as easy detachment, poor flexibility, limited rehabilitation modes, and weak interactivity. Summary of the Invention

[0003] In order to solve the above problems existing in the prior art, the present invention proposes a rehabilitation device for hand dysfunction, which can help patients with different degrees of hand dysfunction to perform hand rehabilitation training. The specific technical solution is as follows.

[0004] A rehabilitation device for hand dysfunction, comprising a control module and a second glove. The second glove is worn on the hand with the dysfunction, and each finger of the second glove has a pneumatic actuator. The control module individually controls each pneumatic actuator to assist the finger corresponding to the pneumatic actuator in completing the desired movement. Zippers are provided between adjacent fingers of the second glove, and the second glove can be adapted to different hand sizes by opening and closing the zipper.

[0005] In one embodiment of the above technical solution, the pneumatic driver is detachably fixed to the back of the second glove.

[0006] In one embodiment of the above technical solution, the second glove is provided with finger straps and / or palm straps.

[0007] In one embodiment of the above technical solution, a heating plate is provided on the back of the second glove, and the heating plate is connected to the DC male connector and adapted to the DC female connector of the control module, thereby performing heating control and adjustment.

[0008] In one embodiment of the above technical solution, the control module includes a control circuit, which is simultaneously connected to the air pump drive circuit and the heating plate temperature control circuit. The control circuit controls the PWM signal to achieve different output voltages, thereby achieving adjustment of the air pump force and temperature adjustment of the second glove.

[0009] In one embodiment of the above technical solution, the air pump driving circuit drives four air pumps to work, and the four air pumps include a first air pump, a second air pump, a third air pump, and a fourth air pump. The first air pump and the second air pump are connected in parallel to provide a power source for straightening each finger, and the third air pump and the fourth air pump are connected in parallel to provide a power source for bending each finger.

[0010] In one embodiment of the above technical solution, the device includes a first glove, which transmits the collected motion information of the five fingers to the control module via wireless communication.

[0011] In one implementation of the above technical solution, the control module includes a touch screen, and human-computer interaction is performed through the touch screen.

[0012] In one implementation of the above technical solution, the MCU of the control module communicates with the SYN6288 voice broadcast module via serial port to realize voice prompts.

[0013] In one embodiment of the above technical solution, the rehabilitation device includes a mobile interactive terminal with a camera, and a recognition model is pre-installed in the mobile interactive terminal. The recognition model recognizes hand motion information of the hand captured by the camera, and sends the recognized hand motion information to the control module via wireless communication. The control module controls the pneumatic drive to restore the hand motion information.

[0014] Beneficial technical effects of this case:

[0015] (1) The second glove worn on the hand with functional impairment can be adapted to different hand shapes through a zipper, making it difficult for the second glove to fall off. The use of finger straps and / or palm straps can further improve the firmness of the second glove, making it easier for patients with severe functional impairments to wear and secure the glove.

[0016] (2) The pneumatic driver is detachable, which can achieve targeted rehabilitation of the finger, improve the flexibility of the device, and facilitate replacement when the pneumatic driver is damaged.

[0017] (3) The heating plate of the second glove is helpful to promote blood circulation of the hand with functional impairment and improve the rehabilitation effect.

[0018] (4) Based on the information acquisition and amplification circuit with LM358 chip as the core, the finger movement information is collected more quickly and transmitted more stably. The simultaneous transmission of the movement information of 5 fingers can improve the real-time performance of mirror training.

[0019] (5) The control circuit can simultaneously adjust the air pump force and the temperature of the heating plate, thereby improving the maintainability and personalized use of the device.

[0020] (6) Supporting voice prompt function can reduce the number of patients’ incorrect operations, increase the number of users of patients with different ability levels, and provide a more personalized rehabilitation experience.

[0021] (7) The visual training mode supported by the mobile interactive terminal with a camera can capture the hand and recognize the hand movements through the camera for hand rehabilitation training of the affected hand, which can improve the patient's rehabilitation interest and rehabilitation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 、 one Schematic diagram of the overall rehabilitation device in this embodiment, in which 9 is the first glove; 10 is the touch screen; 11 is the mobile interactive terminal; 12 is the second glove; and 13 is the control module.

[0024] Figure 2 、 one Schematic diagram of the first glove in this embodiment, in which 1, 2, 3, 4, and 5 are flexible sensors, 6 is a wire, 7 is an information collection device, and 8 is the first glove body.

[0025] Figure 3 、 one Schematic diagram of a signal amplification circuit of an information acquisition device in an embodiment.

[0026] Figure 4 、 one Schematic diagram of MOS switch circuit configuration in an embodiment.

[0027] Figure 5 、 one Schematic diagram of the air pump drive circuit configuration in this embodiment.

[0028] Figure 6 、 one Schematic diagram of gas circuit connection in this embodiment, in which 34 and 39 are air pumps, 35 and 38 are air pipes, and 36 and 37 are solenoid valves.

[0029] Figure 7 、 one Schematic diagram of the palm portion of the second glove in this embodiment, in which 14 is the glove body, 15 is the heating plate, 16, 17, 18, 19, 20 are finger sleeves, and 22 is a zipper.

[0030] Figure 8 、 one Schematic diagram of the back of the second glove in this embodiment, in which 28 is a pneumatic driver; 29 is a Velcro hook; 30 is an air tube; and 31 is an air tube collection box.

[0031] Figure 9 、 one Schematic diagram of the Velcro surface in this embodiment, 26 and 27 are the Velcro surfaces.

[0032] Figure 10 、 one Schematic diagram of the straps in this embodiment, 23 is a palm strap, 24 and 25 are finger straps.

[0033] Figure 11 、 one Schematic diagram of finger straps in this embodiment, 32 and 33 are schematic diagrams of finger straps on the back of the glove.

[0034] Figure 12 、 one Schematic diagram of wearing the second glove in this embodiment, in which 35 and 36 are fixed finger straps and 34 is a flexible palm strap.

[0035] Figure 13 、 one Schematic diagram of key points of the hand in this embodiment, where numbers 0-20 indicate the positions of the key points.

[0036] Figure 14 、 one Schematic diagram of rehabilitation training process in this embodiment. DETAILED DESCRIPTION

[0037] The following, combined with the accompanying drawings, provides a clear and complete description of how the technical solution of this case is implemented. Obviously, the described implementation methods are only part of the implementation methods of this case, not all of the implementation methods. Based on the implementation methods of this case, all other implementation methods obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0038] See also Figure 1 The rehabilitation device includes a first glove (9) for collecting information, a second glove (12) for wearing on a hand with functional impairment, a control module (13), and a mobile interactive terminal (11).

[0039] The first glove is used to collect the motion information of the healthy hand. Figure 2 The first glove includes a glove body (8), and the first glove is worn on the healthy hand through the glove body (8). Each fingertip has a flexible sensor (1, 2, 3, 4, 5), and each sensor collects movement information of a finger. Each sensor is connected to an information collection device (7) via a wire (6). The information collection device adopts a serial communication method to transmit the collected finger movement information to a control module (13) via Bluetooth wireless transmission.

[0040] Each flexible sensor is fixed to each finger using a seam. Each flexible sensor can deform synchronously with the finger's movement to detect the finger's bending state. Each flexible sensor is connected to the relevant pins on the PCB of the information acquisition device via a wire. Each flexible sensor requires two wires to connect to the PCB of the information acquisition device, for a total of 10 wires. However, one of the two wires of each flexible sensor is a VCC wire. Therefore, the VCC wires of the 10 wires can be connected in series to a single wire, simplifying the 10 wires to 6 wires. Therefore, the other wire of the five flexible sensors, excluding the VCC wire, is connected to the IN2, IN4, IN6, IN8, and IN10 pins on the PCB of the information acquisition device. At the same time, the PCB of the information acquisition device is equipped with an HC-08 Bluetooth module to achieve wireless transmission of hand movement information. The flexible sensor is preferably a low-cost bending sensor.

[0041] The information collection device includes a PCB designed around an STM32G0 chip. This device collects and processes ADC data from five flexible sensors, collected by an information collection and amplification circuit based on the LM358 chip, and transmits this information to the control module via a Bluetooth module. In one embodiment, the information collection device simultaneously transmits the current status information of all five fingers. The information data format includes a header and footer to prevent misinterpretation of the information data. The current movement status of the five fingers is sent to the control module every 100ms to reduce latency and improve real-time performance, allowing the second glove to respond promptly. The LM358 chip can be replaced with an LM2904, OPA2348A, NJM8080G-TE2, TL082CN, UTC358D, or other chips.

[0042] See also Figure 3 The signal acquisition and amplification circuit is based on a voltage follower design and uses the low-cost and stable performance chip LM358. Each LM358 chip can collect two channels of ADC information. Three information acquisition and amplification circuits with the LM358 chip as the core are designed on the first glove. Specifically, Figure 3 This is an information acquisition and amplification circuit with the LM358 chip as the core. It adopts a single 5V power supply. At the same time, decoupling capacitors C11 and C3 are placed near the power pin. The design principle is to place the large capacitor C11 on the outside and the small capacitor C3 on the inside. Figure 3 On the left side, the IN2 pin is used to connect to the non-VCC pin of the flexible sensor on the thumb, and the ADC0 pin is connected to the analog input IN0 channel of the STM32G0 chip. Figure 3 On the right side, the IN4 pin is used to connect to the non-VCC pin of the flexible sensor on the index finger, and the ADC1 pin is connected to the analog input IN1 channel of the STM32G0 chip.

[0043] The information collection device can be powered by a wired power supply, preferably a battery. When battery power is selected, the PCB (Printed Circuit Board) and the battery are encapsulated in a housing having an inner cavity, and the housing is fixed to the first glove by gluing or sewing.

[0044] The motion information of the first glove finger obtained by the control module (13) can be used to support the functional impairment hand to perform mirror training, and the finger motion information received from the mobile interactive terminal can be used to perform visual training. The control module includes a housing, a touch screen, a main control PCB, a SYN6288 voice broadcast module, an air pump, a solenoid valve, an air pump, a power switch, a plurality of wires, an air pipe, a joint, and a speaker. The housing is used to install all the above components and is divided into an upper, middle, and lower layer structure. The upper layer is used to install the touch screen, and the touch screen and the main control PCB are connected by wire for patients to select rehabilitation training modes. The middle layer is used to install the main control PCB and the SYN6288 voice broadcast module. The main control PCB is installed with a Bluetooth module and has wireless communication capabilities. It can receive both the finger motion information collected by the first glove and the finger angle information collected by the mobile interactive terminal through the camera. After receiving the corresponding finger movement information or finger angle information, the main control PCB can control the opening or closing of the solenoid valve to control the air pump to inflate or deflate the pneumatic actuator on the second glove finger, thereby assisting the hand with functional impairment to straighten or bend, so as to achieve the purpose of rehabilitation training; one end of the SYN6288 voice broadcast module is connected to the main control PCB, and the other end is connected to the speaker. The main control PCB communicates with the SYN6288 voice broadcast module, so that the speaker installed on the side wall of the casing plays the voice, realizing the voice prompt function; the lower layer is used to install Solenoid valves and air pumps, five two-position three-way solenoid valves are installed side by side on the valve seat, five solenoid valves are installed in the front, and four air pumps are installed side by side at the back. The air pumps and solenoid valves are connected by air pipes, and the two air pumps are connected by Y-type three-way connectors. The solenoid valves and air pumps are all connected to the main control PCB by wires; the power switch is installed on the side wall of the casing; the connectors include 2 Y-type three-way connectors and 2 De female connectors. The Y-type connector is installed on the lower layer of the casing, and the DC female connector is installed on the side wall of the casing. One is used to connect the power supply and the other is used to support the heating mode of the second glove.

[0045] In order to realize the control of the solenoid valve, a PMOS switch circuit is designed, see Figure 4A PMOS switching circuit, designed around the APM4953 dual P-channel field-effect transistor, can control the opening and closing of two solenoid valves. To control five solenoid valves, three PMOS switching circuits are required. The IN pin connects to the positive terminal of a 12V power supply. The SS8050 transistor amplifies current and enhances load-driving capability. The A0 and A1 pins connect to the microcontroller unit (MCU) on the main control PCB, enabling MCU control of the solenoid valves. The diode SS14 increases the valve's freewheeling capability and provides reverse voltage protection. This control circuit offers stable performance and fast turn-on. Connected via the 2P terminals, it also controls the operation of four air pumps. In one embodiment, the solenoid valves utilize a two-position, three-way solenoid valve, enabling individual extension and bending of each finger.

[0046] In one embodiment, the housing is designed as a three-layer structure with upper, middle and lower layers: the lower layer is used to install the air pump and the solenoid valve, the middle layer is used to install the PCB, and the upper layer is used to install the touch screen.

[0047] The air pump provides the power source for the rehabilitation glove, and the second glove is driven by pneumatic force to help the hand with functional impairment to perform rehabilitation training. Figure 6 In one embodiment, four air pumps are used as the power source. 34 and 39 in the figure are the outermost air pumps. Two air pumps are connected in parallel as the power source for finger straightening, and two air pumps are connected in parallel as the power source for finger bending. The four air pumps shown in the figure are, from left to right, the first air pump, the second air pump, the third air pump, and the fourth air pump. The two air pumps on the left are connected in parallel to provide the power source for each finger straightening, and the two air pumps on the right are connected in parallel to provide the power source for each finger bending. The parallel air pumps are connected to the air pipes via a three-way connector. The parallel air pipes are connected to the upper passage (left side of the figure) and the lower passage (right side of the figure) of the solenoid valve seat, respectively, so that the finger can be straightened or bent by opening and closing the solenoid valve. Five two-position three-way solenoid valves are fixed to the valve seat, and the air pipes are also fixed to the valve seat via connectors. Each solenoid valve corresponds to an air pipe, and each air pipe corresponds to a finger. By opening or closing the solenoid valve, the straightening or bending of individual fingers can be achieved.

[0048] In one embodiment, the trachea has an outer diameter of 6 mm and an inner diameter of 3 mm.

[0049] In one embodiment, the air pump strength can be adjusted through the human-computer interaction interface on the touch screen. For example, if 10 air pump strengths are set, the functions of different air pump strengths can be achieved by adjusting the PWM signal. In order to achieve the control of the air pump strength, an air pump drive circuit is designed. The air pump drive circuit is based on the TB6612FNG chip. This drive circuit is a dual-channel drive circuit that can support the operation of two air pumps at the same time, that is, it supports two air pumps working in parallel as a power source. The two actions of bending or straightening the fingers are controlled by an air pump drive circuit respectively. Figure 5 Among them, capacitors C10, C11, C1, and C13 are decoupling capacitors used to remove high-frequency noise on the power line, stabilize the power supply voltage, and improve circuit stability. CN6 and CN7 are used to connect the air pump, which is the power source of the second glove; the AIN1, BIN1, AIN2, and BIN2 pins are used to control the direction of the air pump. They are connected to 3V3 and GND respectively to ensure that the two air pumps rotate in the same direction. The PWMA pin and PWMB pin are connected to the TIM16 and TIM17 pins of the MCU on the main control PCB respectively. By modifying the relevant parameters of the TIM16 and TIM17 pin timers, the PWM signal can be adjusted to achieve the force adjustment of the air pump.

[0050] See also Figure 7 The second glove includes a glove body (14), and a zipper (22) is provided between the fingers of the glove body. Each zipper is about 5 cm long and is sewn between the fingers. By zipping the zipper, the wearer can adjust the glove to fit the hand shape. During rehabilitation training, the wearer puts the finger sleeve (16, 17, 18, 19, 20) on each finger to fix the hand and the rehabilitation glove, which can improve the fit between the hand and the rehabilitation glove. The heating plate (15) installed on the back of the rehabilitation glove allows the wearer to adjust the temperature according to their actual situation, which is conducive to promoting blood circulation in the hand.

[0051] In one embodiment, the outer end of the heater is connected to a DC male connector, and the control module accordingly has a DC female connector. The heater temperature is adjusted by varying the PWM signal to control the output voltage. For example, three heating modes are preset, each with a preset temperature. After determining a heating mode, the control module determines the PWM signal corresponding to the temperature in that heating mode, setting the heater temperature accordingly.

[0052] In one embodiment, a control circuit is provided in the control module. The control circuit is connected to the power control circuit of the pneumatic driver and the temperature control circuit of the heating plate. The control circuit controls the PWM signal to achieve different output voltages, thereby adjusting the force of the air pump and the temperature of the second glove.

[0053] See also Figure 8 A detachable pneumatic driver (28) is provided on the back of the second glove body. The pneumatic driver is divided into several sections with joints between each section. The wearer can selectively install the pneumatic driver on the back of the corresponding finger according to the current degree of impairment of his or her finger, and adopt a detachable connection in the form of Velcro to achieve targeted rehabilitation training. In one embodiment, see Figure 9 The Velcro fur surface (26, 27) is provided on the back of the second glove. Correspondingly, the Velcro hook surface (29) is located on the pneumatic driver. The pneumatic driver is connected to the trachea (30), and the five trachea are fixed by a trachea collection box (31). The trachea collection box (31) is fixed to the back of the second glove in a detachable manner. The pneumatic driver (28) on the second glove is connected to the solenoid valve in the control module (13) through the trachea (30). The connection between the trachea and the solenoid valve adopts a plug-in connection. When in use, it can be plugged in.

[0054] See also Figure 10 In order to prevent the gloves from falling off during rehabilitation training, the wearer can further choose to use finger straps and palm straps (24, 25) and palm straps (23) and determine the number of straps to be used. In one embodiment, the finger straps are wrapped horizontally around the fingers, and the palm straps are wrapped diagonally around the palm, with one end between the base of the thumb and index finger and the other end at the base of the palm corresponding to the little finger. Figure 11 The finger straps (32, 33) are shown on the back of the second glove, and are located at the joints of the pneumatic actuator, without affecting the use of the pneumatic actuator. The flexible use of the straps can improve the convenience of the wearer with severe hand dysfunction. In another embodiment, see Figure 12 , 35, 36 are fixed finger straps, 34 is a flexible palm strap. The finger part of the second glove has no finger sleeves, only finger straps. The finger straps are fixed on the fingers, and the palm straps are flexible and can be adjusted according to their own needs, which greatly meets the actual wearing needs of different patients.

[0055] The rehabilitation device also includes a mobile interactive terminal for supporting the visual training mode. The mobile interactive terminal can be a device with a camera, such as a mobile phone, tablet, or monitor. The mobile interactive terminal can be configured to recognize hand movement information and transmit this information to the control module via Bluetooth wireless communication. The control module analyzes the received data to determine whether the finger is bent or extended. If the finger is bent, it further determines the bending angle of the finger and then opens or closes the solenoid valve to achieve straightening or bending of the finger.

[0056] In one embodiment, a preset recognition model is deployed on the mobile interaction terminal. The model recognizes hand motion information. The recognized hand can be the patient's own healthy hand or the hand of another person. The model recognizes the hand motion information of the hand captured by the camera. The mobile interaction terminal sends the recognized motion information to the control module. Specifically, the recognition model recognizes 21 key points of the hand (see Figure 13 ), except for the thumb, which has three key points from base to tip, each of the other four fingers has four key points from base to tip. The thumb has two key points from base to palm. The finger bending angles are calculated using the identified key points on each finger. This real-time angle information for each of the five fingers is wirelessly transmitted to the control module, which controls the pneumatic actuator to recover the hand motion information. The hand motion information can represent either straightening or bending the fingers.

[0057] In a method for calculating the finger bending angle, three joint points are selected for the thumb, three joint points are selected for the index finger, three joint points are selected for the middle finger, three joint points are selected for the ring finger, and three joint points are selected for the little finger. These three points are used to calculate the finger bending angle, which can improve the angle recognition accuracy.

[0058] The human-machine interaction of the control module is realized through the touch screen. On the touch screen, the user selects the training mode.

[0059] In one embodiment, the training modes include a five-finger training mode, a single-finger training mode, a finger-to-finger training mode, an assisted training mode, a mirror training mode, a visual training mode, a strength adjustment mode, a temperature adjustment mode, and a voice prompt mode. Among them: the five-finger training mode is to perform collective straightening and bending training of five fingers; the single-finger training mode is to straighten or bend a single finger, and the five fingers are trained one by one; the finger-pair training is divided into two-finger training and three-finger training. The two-finger training is the finger-pairing of thumb and index finger, the finger-pairing of thumb and middle finger, the finger-pairing of thumb and ring finger, and the finger-pairing of thumb and little finger; the three-finger training is the finger-pairing of thumb, index finger and middle finger, the finger-pairing of thumb, index finger and ring finger, and the finger-pairing of thumb, index finger and little finger; the assisted training mode is to support five-finger training, single-finger training, finger-pairing training, and the above three training modes of circular training; the mirror training mode is that the healthy hand wears an information collection glove and the affected hand wears a rehabilitation glove. The bending sensor collects the movement information of the healthy hand and sends it to the control module through Bluetooth wireless communication. The control module parses the received information and controls the corresponding air pump and solenoid valve to restore the movement state of the affected hand to the healthy hand. In visual training mode, the terminal camera identifies 21 key points on the unaffected hand, calculates the angles between three specific key points on each finger, and transmits each finger's angle to the control module via Bluetooth wireless communication. The control module interprets the received information and controls the corresponding air pump and solenoid valve to restore the affected hand to the state of the unaffected hand as viewed through the phone camera. During visual training, the images of gesture or finger movement recognition directly stimulate the brain's neural tissue, forming neural reflexes in the hand, and, in conjunction with the rehabilitation glove, performs hand rehabilitation activities. In force adjustment mode, the device supports adjustable air pump force. This is achieved through different PWM signals, allowing users to select the appropriate force according to their needs to avoid secondary injuries. In temperature adjustment mode, the rehabilitation glove can be heated, with a selectable heating mode, allowing users to select the appropriate heating level according to their needs. In voice prompt mode, when voice prompt mode is selected, the device provides corresponding prompts, reducing operational complexity and providing convenience for elderly users.

[0060] When in use, plug the device into a dedicated charger, turn on the switch, and the 5-inch touch screen will enter the power-on interface. After 2 seconds, it will automatically jump to the main menu interface. At this time, the wearer will wear the device on the affected hand. At the same time, you can choose whether to use finger straps and palm straps according to your actual situation. According to your own disability, you can perform rehabilitation training in the corresponding mode according to the rehabilitation training method. The rehabilitation process for the hand is first overall, then local. Taking severe hand function impairment as an example, for such patients, their five fingers can usually only curl up. When using the above-mentioned rehabilitation device for rehabilitation training, refer to Figure 14The steps include: the patient first assesses and grades the degree of hand dysfunction, which is categorized as severe, moderate, and mild. For severe impairment, the patient's five fingers are curled up and the hand is clenched into a fist. Five-finger training is prioritized, and training is gradually scheduled until all five fingers can be straightened and flexed. At this point, the patient's hand function is assessed as transitioning from severe impairment to moderate impairment. In moderate impairment, the patient can typically flex and straighten all five fingers, but not one finger. Therefore, for patients with moderate impairment, single-finger training is performed. Once a single finger can be straightened or flexed independently, a small amount of finger-pairing exercises can be performed until the finger can be fully flexed or straightened, transitioning to mild impairment. In mild impairment, the patient's hand function is normal, but the fingers are not flexible. In this case, assisted training can be used until the patient can complete simple grasping tasks. At this point, the affected hand is essentially rehabilitated. Simple grasping tasks are primarily accomplished through mirror training and visual training.

[0061] Although the embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments and application fields. The above-mentioned specific embodiments are merely illustrative and instructive, and are not restrictive. A person skilled in the art, guided by this specification and without departing from the scope of protection of the claims of the present invention, may also devise various forms, all of which fall within the scope of protection of the present invention.

Claims

1. A rehabilitation device for hand dysfunction, characterized in that: The rehabilitation device includes a control module and a second glove; wherein: The second glove is worn on the hand with functional impairment. Each finger of the second glove has a pneumatic actuator. The control module controls each pneumatic actuator individually to assist the finger corresponding to the pneumatic actuator to complete the desired action. There is a zipper between adjacent fingers of the second glove, and the second glove can be adapted to different hand shapes and sizes by closing or closing the zipper.

2. The rehabilitation device according to claim 1, characterized in that The pneumatic actuator is detachably fixed to the back of the second glove.

3. The rehabilitation device according to claim 1, characterized in that The second glove is provided with finger straps and / or palm straps.

4. The rehabilitation device according to claim 1, characterized in that There is a heating plate on the back of the second glove, which is connected to the DC male connector and adapted to the DC female connector of the control module, thereby performing heating control and adjustment.

5. The rehabilitation device according to claim 4, characterized in that The control module includes a control circuit, which is connected to the air pump drive circuit and the heating plate temperature control circuit at the same time. The control circuit controls the PWM signal to achieve different output voltages, thereby adjusting the air pump force and the temperature of the second glove.

6. The rehabilitation device according to claim 5, characterized in that: The air pump driving circuit drives four air pumps to work, and the four air pumps include a first air pump, a second air pump, a third air pump, and a fourth air pump. The first air pump and the second air pump are connected in parallel to provide a power source for straightening each finger, and the third air pump and the fourth air pump are connected in parallel to provide a power source for bending each finger.

7. The rehabilitation device according to claim 1, characterized in that The device includes a first glove, which simultaneously transmits the collected motion information of five fingers to a control module via wireless communication.

8. The rehabilitation device according to claim 1, characterized in that The control module includes a touch screen, and human-computer interaction is performed through the touch screen.

9. The rehabilitation device according to claim 1, characterized in that The MCU of the control module communicates with the SYN6288 voice broadcast module via serial ports to realize voice prompts.

10. The rehabilitation device according to claim 1, characterized in that The rehabilitation device includes a mobile interactive terminal with a camera, in which a recognition model is pre-installed. The recognition model recognizes hand motion information of the hand captured by the camera and sends the recognized hand motion information to a control module via wireless communication. The control module controls the pneumatic drive to restore the hand motion information.

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