Flexible rehabilitation glove control method and device, medium and flexible rehabilitation glove

Abstract

The invention discloses a flexible rehabilitation glove control method and device, a medium and a flexible rehabilitation glove, and relates to the field of rehabilitation training.When a rehabilitation training mode is a virtual mode, a first preset mechanical curve of each finger corresponding to a first target object is called according to the first target object simulated by rehabilitation training; as the first preset mechanical curve comprises the corresponding relation between the pressure values and the training states, the first target pressure value of each finger corresponding to the first current training state can be determined according to the first preset mechanical curve, and the first target pressure values are used for regulating and controlling the air pressure of the pneumatic artificial muscle corresponding to each finger. And the user can feel resistance similar to actual operation in the virtual environment. When the first current training state is changed, the first target pressure value of each finger is changed accordingly, the air pressure of the pneumatic artificial muscle corresponding to each finger is also changed accordingly, the dynamic resistance during real object operation can be simulated, and rehabilitation training cannot be out of practice.

Description

Technical Field

[0001] This application relates to the field of rehabilitation training, and in particular to a control method, device, medium, and flexible rehabilitation glove for a flexible rehabilitation glove. Background Technology

[0002] Activities of Daily Living (ADL) training is a specialized training program for patients with motor dysfunction, muscle weakness, and cognitive impairment.

[0003] Hands are the most frequently used part of the human body in daily life, and they are also easily injured. Hand injuries and strokes are the main causes of hand motor function loss. Current Active Daily Learning (ADL) training for hand function involves patients wearing flexible rehabilitation gloves. Pneumatic artificial muscles on these gloves are inflated and deflated to assist the fingers in flexion and extension movements. However, current control methods for these flexible rehabilitation gloves cannot simulate the dynamic resistance of manipulating objects (such as the weight of a cup or the torque of a doorknob) to enable active finger training, thus making the rehabilitation training unrealistic.

[0004] How to simulate the dynamic resistance when manipulating an object is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a control method, device, medium, and flexible rehabilitation glove for flexible rehabilitation gloves, in order to solve the problem that current control methods for flexible rehabilitation gloves cannot simulate the dynamic resistance when manipulating objects.

[0006] To address the aforementioned technical problems, this application provides a control method for a flexible rehabilitation glove, comprising:

[0007] If the rehabilitation training is in virtual mode, determine the first target item simulated in the rehabilitation training;

[0008] The first preset mechanical curve of each finger corresponding to the first target item is invoked; wherein, the first preset mechanical curve contains the correspondence between pressure value and training state, and the training state is wrist tilt angle or item deformation.

[0009] Obtain the first current training state, and determine the first target pressure value of each finger corresponding to the first current training state based on the first preset mechanical curve;

[0010] The air pressure of the pneumatic artificial muscle corresponding to each finger is adjusted according to the first target pressure value.

[0011] In one feasible embodiment, after adjusting the air pressure of the pneumatic artificial muscle corresponding to each finger according to the first target pressure value, the method further includes:

[0012] Obtain the actual air pressure of the pneumatic artificial muscle corresponding to each finger;

[0013] The actual pressure value is calculated based on the actual air pressure corresponding to each finger and the effective working area of ​​the pneumatic artificial muscle.

[0014] If the absolute value of the deviation between the actual pressure value and the first target pressure value corresponding to the actual pressure value is outside the preset range, the air pressure of the pneumatic artificial muscle corresponding to the actual pressure value will continue to be adjusted until the absolute value of the deviation is within the preset range.

[0015] In one feasible embodiment, it further includes:

[0016] If the rehabilitation training is in physical mode, obtain the second current training state and the current pressure value of each finger when exerting force, detected by the pressure sensor;

[0017] The second preset biomechanical curve of each finger corresponding to the second target object used in rehabilitation training is invoked; wherein, the second preset biomechanical curve contains the correspondence between pressure value and training state, the training state being wrist tilt angle or object deformation;

[0018] The second target pressure value for each finger corresponding to the second current training state is determined based on the second preset mechanical curve.

[0019] The target finger with insufficient force is determined based on the current pressure value and the second target pressure value corresponding to the current pressure value, and the air pressure of the pneumatic artificial muscle corresponding to the target finger is adjusted to assist the target finger.

[0020] In one feasible embodiment, before adjusting the air pressure of the pneumatic artificial muscle corresponding to the target finger to assist the target finger, the method further includes:

[0021] Inflate and deflate the pneumatic artificial muscle corresponding to the target finger to make the target finger vibrate, and / or generate a voice prompt indicating that the target finger is not exerting enough force;

[0022] If the pressure detected by the pressure sensor corresponding to the target finger does not reach the second target pressure value corresponding to the target finger within a preset time period, the step of adjusting the air pressure of the pneumatic artificial muscle corresponding to the target finger to assist the target finger is entered.

[0023] In one feasible embodiment, before invoking the first preset mechanical curve or the second preset mechanical curve, the method further includes:

[0024] After putting on a flexible rehabilitation glove on the healthy hand, record the identification information of the items used for rehabilitation training on the healthy hand.

[0025] The training status of the healthy hand during rehabilitation training and the pressure value detected by the pressure sensor of each finger are obtained, and a preset biomechanical curve for each finger is constructed based on the training status and pressure value.

[0026] The identification information corresponding to each item and the preset mechanical curve of each finger are stored in the database.

[0027] In one feasible embodiment, invoking the second preset biomechanical curve of each finger corresponding to the second target item used in rehabilitation training includes:

[0028] The electronic tag on the second target item is scanned using an RFID reader, and the second preset mechanical curve of each finger corresponding to the second target item is read from the electronic tag.

[0029] This application also provides a flexible rehabilitation glove, comprising: a glove body, a pressure sensor, a pneumatic artificial muscle, an air pump, a solenoid valve, and a controller;

[0030] Each finger of the glove body is equipped with the pressure sensor and the pneumatic artificial muscle. The air pump is connected to the pneumatic artificial muscle. Each pneumatic artificial muscle is connected to the air pump via a pipeline equipped with the solenoid valve. The controller is connected to the pressure sensor, the air pump, and the solenoid valve respectively. The controller is used to execute the steps of the control method for the flexible rehabilitation glove.

[0031] This application also provides a control device for a flexible rehabilitation glove, comprising:

[0032] The first determination module is used to determine the first target item simulated by the rehabilitation training if the rehabilitation training is in a virtual mode.

[0033] The first calling module is used to call the first preset mechanical curve of each finger corresponding to the first target item; wherein, the first preset mechanical curve contains the correspondence between pressure value and training state, and the training state is wrist tilt angle or item deformation.

[0034] The first acquisition module is used to acquire the first current training state and determine the first target pressure value of each finger corresponding to the first current training state according to the first preset mechanical curve.

[0035] The first control module is used to adjust the air pressure of the pneumatic artificial muscle corresponding to each finger according to the first target pressure value.

[0036] This application also provides a control device for a flexible rehabilitation glove, including a memory for storing computer programs;

[0037] A processor is used to implement the steps of the control method for the flexible rehabilitation glove when executing the computer program.

[0038] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method for the flexible rehabilitation glove.

[0039] The flexible rehabilitation glove control method provided in this application, when the rehabilitation training mode is virtual, calls the first preset mechanical curve of each finger corresponding to the first target object simulated in the rehabilitation training. Since the first preset mechanical curve contains the correspondence between pressure value and training state, the first target pressure value of each finger corresponding to the first current training state can be determined based on the first preset mechanical curve. These first target pressure values ​​are used to adjust the air pressure of the pneumatic artificial muscle corresponding to each finger, so that the user feels resistance similar to actual operation in the virtual environment. When the first current training state changes, the first target pressure value of each finger changes accordingly, and the air pressure of the pneumatic artificial muscle corresponding to each finger also changes accordingly, thereby simulating the dynamic resistance when operating a real object, so that the rehabilitation training does not deviate from reality. In addition, by simulating the dynamic resistance when operating a real object, effective active training of the hand can be achieved.

[0040] The beneficial effects and methods of the flexible rehabilitation glove, the control device for the flexible rehabilitation glove, and the medium provided in this application are as described above. Attached Figure Description

[0041] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A flowchart illustrating a control method for a flexible rehabilitation glove provided in this application embodiment;

[0043] Figure 2 A structural diagram of the first type of flexible rehabilitation glove provided in the embodiments of this application;

[0044] Figure 3 This is a structural diagram of the second type of flexible rehabilitation glove provided in the embodiments of this application;

[0045] Figure 4A flowchart illustrating another control method for a flexible rehabilitation glove provided in this application embodiment;

[0046] Figure 5 A structural diagram of a control device for a flexible rehabilitation glove provided in an embodiment of this application;

[0047] Figure 6 This is a structural diagram of a control device for another flexible rehabilitation glove provided in an embodiment of this application. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0049] The core of this application is to provide a control method, device, medium, and flexible rehabilitation glove for simulating dynamic resistance when manipulating objects.

[0050] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] Figure 1 A flowchart illustrating a control method for a flexible rehabilitation glove provided in this application embodiment is shown below. Figure 1 As shown, the control methods for flexible rehabilitation gloves include:

[0052] S10: If the rehabilitation training is in virtual mode, determine the first target item to be simulated in the rehabilitation training.

[0053] S11: Call the first preset mechanical curve of each finger corresponding to the first target item; wherein, the first preset mechanical curve contains the correspondence between pressure value and training state, and the training state is wrist tilt angle or item deformation.

[0054] S12: Obtain the first current training state and determine the first target pressure value of each finger corresponding to the first current training state according to the first preset mechanical curve.

[0055] S13: Adjust the air pressure of the pneumatic artificial muscle corresponding to each finger according to the first target pressure value.

[0056] To facilitate understanding, the specific structure of the flexible rehabilitation glove is described below. Figure 2 This is a structural diagram of the first type of flexible rehabilitation glove provided in the embodiments of this application. Figure 3This is a structural diagram of the second type of flexible rehabilitation glove provided in the embodiments of this application, as shown below. Figure 2 and Figure 3 As shown, the flexible rehabilitation glove includes a glove body 1, a pressure sensor 2, a pneumatic artificial muscle, an air pump, a solenoid valve, and a controller. Each finger of the glove body 1 is equipped with a pressure sensor 2 and a pneumatic artificial muscle. The air pump is connected to the pneumatic artificial muscle. Each pneumatic artificial muscle is connected to the air pump via a pipeline equipped with a solenoid valve. The controller is connected to the pressure sensor 2, the air pump, and the solenoid valve respectively. The controller is used to execute the steps of the control method of the flexible rehabilitation glove described above.

[0057] Pressure sensors 2 on each finger of the glove body 1 extend from the fingertip to the palm, and are fixed to the glove body 1 by fixing components 3. An air pump is used to inflate and deflate the pneumatic artificial muscle to change the air pressure inside the pneumatic artificial muscle. The pneumatic artificial muscle is an existing device, and its specific structure will not be described in detail in this application. A controller is used to acquire the pressure value detected by the pressure sensors 2 for each finger, control the speed and on / off state of the air pump, and the opening degree of the solenoid valve. Figure 3 As shown, the glove body 1 has Velcro 4 at the wrist for easy wearing and adjustment of tightness; the back of the glove body 1 also has multiple ventilation holes 5 to improve user comfort.

[0058] In step S10, if the user selects the virtual mode, the first target item to be simulated in the rehabilitation training is determined; the first target item may be a water cup, door handle, or towel, etc.

[0059] In step S11, if the first target item is a water cup, the training state is wrist tilt angle; if the first target item is a door handle, the training state is wrist tilt angle; if the first target item is a towel, the training state is towel deformation. Here, wrist tilt angle is the relative angle between the wrist joint and the arm during movement. If the first target item is a water cup, the first preset mechanical curve can be: Where a is 0.001, b is -0.15, c is 2.0, and θ is the wrist tilt angle. If the first target item is a door handle, the first preset mechanical curve can be: F = np.interp([0, 45, 90], [0.2 / lever arm length, 1.5 / lever arm length, 0.8 / lever arm length]); [0, 45, 90] is the wrist tilt angle, [0.2 / lever arm length, 1.5 / lever arm length, 0.8 / lever arm length] is the pressure value; that is, the wrist tilt angle is 0°, and the pressure value is 0.2 Nm / lever arm length; np.interp is a function used for interpolation in the NumPy library (an open-source Python scientific computing library). If the first target item is a towel, the first preset mechanical curve can be: F = (1 + deformation * 0.2).

[0060] In step S12, if the first current training state is wrist tilt angle, an inertial measurement unit (IMU) can be set at the wrist to obtain the current wrist tilt angle detected by the IMU. If the first current training state is current object shape, an object image can be acquired through a camera, and the object shape can be obtained using existing computer vision analysis.

[0061] In step S13, the air pressure of the pneumatic artificial muscle corresponding to each finger is adjusted according to the first target pressure value to simulate the resistance that the user needs to overcome when operating the first target object; for example, simulating the resistance that the user needs to overcome when picking up a water cup, turning a doorknob, or wringing a towel. When the current training state changes, the first target pressure value changes accordingly, and the air pressure of the corresponding pneumatic artificial muscle also needs to change accordingly, thereby dynamically simulating the resistance when the user operates the object. The air pressure of the pneumatic artificial muscle can be adjusted using a proportional-integral-derivative control algorithm to regulate the air pump or solenoid valve corresponding to the pneumatic artificial muscle.

[0062] The flexible rehabilitation glove control method provided in this application, when the rehabilitation training mode is virtual, calls the first preset mechanical curve of each finger corresponding to the first target object simulated in the rehabilitation training. Since the first preset mechanical curve contains the correspondence between pressure value and training state, the first target pressure value of each finger corresponding to the first current training state can be determined according to the first preset mechanical curve. These first target pressure values ​​are used to adjust the air pressure of the pneumatic artificial muscle corresponding to each finger, so that the user feels resistance similar to actual operation in the virtual environment. When the first current training state changes, the first target pressure value of each finger changes accordingly, and the air pressure of the pneumatic artificial muscle corresponding to each finger also changes accordingly, thereby simulating the dynamic resistance when operating a real object, so that the rehabilitation training does not deviate from reality. In addition, by simulating the dynamic resistance when operating a real object, effective active training of the hand can be achieved.

[0063] Based on the above embodiments, after adjusting the air pressure of the pneumatic artificial muscle corresponding to each finger according to the first target pressure value, this application embodiment further includes: obtaining the actual air pressure of the pneumatic artificial muscle corresponding to each finger; calculating the actual pressure value based on the actual air pressure corresponding to each finger and the effective working area of ​​the pneumatic artificial muscle; if the absolute value of the deviation between the actual pressure value and the first target pressure value corresponding to the actual pressure value is outside the preset range, continuing to adjust the air pressure of the pneumatic artificial muscle corresponding to the actual pressure value until the absolute value of the deviation is within the preset range.

[0064] Where the actual pressure value = P × A; P is the actual air pressure, and A is the effective working area of ​​the pneumatic artificial muscle. ; This represents the initial effective area of ​​the pneumatic artificial muscle in its uncontracted state. is a proportionality constant, representing the shrinkage rate; This represents the change in length from the initial length to the current length. Feedback on the actual pressure value indicates whether the air pressure of the pneumatic artificial muscle has been properly adjusted.

[0065] Based on the above embodiments, Figure 4 A flowchart of another control method for a flexible rehabilitation glove provided in an embodiment of this application is shown below. Figure 4 As shown, the control methods for flexible rehabilitation gloves include:

[0066] S20: If the rehabilitation training is in physical mode, obtain the second current training state and the current pressure value of each finger when exerting force detected by the pressure sensor.

[0067] S21: Invoke the second preset biomechanical curve of each finger corresponding to the second target object used in rehabilitation training; wherein, the second preset biomechanical curve contains the correspondence between pressure value and training state, and the training state is wrist tilt angle or object deformation.

[0068] S22: Determine the second target pressure value for each finger corresponding to the second current training state based on the second preset mechanical curve.

[0069] S23: Based on the current pressure value and the corresponding second target pressure value, determine the target finger that is not exerting enough force, and adjust the air pressure of the pneumatic artificial muscle corresponding to the target finger to assist the target finger.

[0070] In step S20, the second current training state can be wrist tilt angle or object deformation.

[0071] In step S21, if the second target item is a water cup, the training state is wrist tilt angle; if the second target item is a door handle, the training state is wrist tilt angle; if the second target item is a towel, the training state is towel deformation. The second preset mechanical curve refers to the first preset mechanical curve mentioned above.

[0072] In step S23, if the current pressure value is less than its corresponding second target pressure value, and the absolute value of the difference between the current pressure value and the second target pressure value is greater than the set value, it indicates that the finger corresponding to the current pressure value is not exerting enough force, and it is necessary to use pneumatic artificial muscles to compensate for the movement and assist the target finger. That is, the air pressure of the pneumatic artificial muscle corresponding to the target finger is adjusted to assist the target finger in bending so that the absolute value of the difference between the current pressure value detected by the pressure sensor corresponding to the target finger and the second target pressure value is within a certain range.

[0073] Based on the above embodiments, before adjusting the air pressure of the pneumatic artificial muscle corresponding to the target finger to assist the target finger, this application embodiment further includes: inflating and deflating the pneumatic artificial muscle corresponding to the target finger to cause the target finger to vibrate, and / or generating a voice prompt indicating insufficient force exerted by the target finger; if the pressure detected by the pressure sensor corresponding to the target finger does not reach the second target pressure value corresponding to the target finger within a preset time period, the step of adjusting the air pressure of the pneumatic artificial muscle corresponding to the target finger to assist the target finger is entered.

[0074] In this embodiment, before adjusting the air pressure of the pneumatic artificial muscle corresponding to the target finger to assist in the movement of the target finger, a reminder is given to allow the patient to adjust the movement of the target finger independently. The reminder can be given via voice or by vibrating the finger through the pneumatic artificial muscle. If the patient's target finger movement is not adjusted within a preset time, i.e., the pressure detected by the pressure sensor corresponding to the target finger does not reach the second target pressure value, it indicates that the target finger still has a functional impairment. In this case, the air pressure of the pneumatic artificial muscle corresponding to the target finger is adjusted to assist the target finger.

[0075] Based on the above embodiments, before calling the first preset mechanical curve or the second preset mechanical curve in this application embodiment, the method further includes: after wearing a flexible rehabilitation glove on the healthy hand side, recording the identity information of the items used for rehabilitation training on the healthy hand side; obtaining the training status and pressure value detected by the pressure sensor of each finger during rehabilitation training on the healthy hand side, constructing a preset mechanical curve for each finger based on the training status and pressure value; and storing the identity information corresponding to each item and the preset mechanical curve for each finger into a database.

[0076] The preset biomechanical curves implemented in this application include a first preset biomechanical curve and a second preset biomechanical curve. This application provides a method for constructing preset biomechanical curves. After wearing a flexible rehabilitation glove on the healthy hand, the identification information of the items used for rehabilitation training on the healthy hand is recorded. For example, the identification information of a towel can be the towel name or a set of numbers. Taking holding a water cup as an example, after wearing the flexible rehabilitation glove on the healthy hand, the wrist tilt angle detected at the same time and the pressure value of each finger detected by the pressure sensor are recorded. The wrist tilt angle and pressure value over a period of time are processed and analyzed to obtain the preset biomechanical curve for each finger corresponding to holding the water cup. The construction of preset biomechanical curves for other operations such as turning a doorknob and wringing a towel is similar to the construction of the preset biomechanical curve for holding a water cup. Finally, the identification information corresponding to each item and the preset biomechanical curve of each finger are stored in a database so that the corresponding preset biomechanical curve can be retrieved later based on the item used for training. If the retrieved preset biomechanical curve is obtained through left-hand training and the rehabilitation training is for the right hand, then the preset biomechanical curve of the left index finger can be used as a training guide for the right index finger.

[0077] Based on the above embodiments, this application embodiment calls the second preset biomechanical curve of each finger corresponding to the second target item used in rehabilitation training, including: scanning the electronic tag on the second target item with a radio frequency reader, and reading the second preset biomechanical curve of each finger corresponding to the second target item from the electronic tag. Calling the first preset biomechanical curve of each finger corresponding to the first target item can be done through the identity information of the virtual item.

[0078] In summary, the control method for a flexible rehabilitation glove provided in this application includes a virtual mode control method. Based on a first preset mechanical curve, a first target pressure value for each finger corresponding to the first current training state can be determined. These first target pressure values ​​are used to adjust the air pressure of the pneumatic artificial muscle corresponding to each finger, allowing the user to experience resistance similar to actual operation in the virtual environment. When the first current training state changes, the first target pressure value of each finger changes accordingly, and the air pressure of the pneumatic artificial muscle corresponding to each finger also changes accordingly, thereby simulating the dynamic resistance when operating a real object, improving the ecological validity of the training, and ensuring that the virtual scene does not deviate from real life. Furthermore, after adjusting the air pressure of the pneumatic artificial muscle corresponding to each finger, the actual pressure value is calculated based on the actual air pressure corresponding to each finger and the effective working area of ​​the pneumatic artificial muscle. The actual pressure value is compared with the first target pressure value corresponding to the actual pressure value to reflect whether the air pressure of the pneumatic artificial muscle has been adjusted appropriately. Another approach is control for physical models. It compares the current pressure value detected by a pressure sensor with the second target pressure value for each finger corresponding to the second current training state, determined according to a second preset mechanical curve. This quantifies finger coordination. For target fingers with insufficient force, the air pressure of the corresponding pneumatic artificial muscle is adjusted to assist the target finger and compensate for movement. Furthermore, adjusting the air pressure of the pneumatic artificial muscle based on the difference between the second target pressure value and the current pressure value ensures that the fingers remain within a safe range of motion.

[0079] In the above embodiments, the control method for the flexible rehabilitation glove has been described in detail. This application also provides embodiments corresponding to the control device for the flexible rehabilitation glove. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional modules, and the other is based on the hardware.

[0080] Figure 5 A structural diagram of a control device for a flexible rehabilitation glove provided in an embodiment of this application is shown below. Figure 5 As shown, the control device for the flexible rehabilitation glove includes:

[0081] The first determining module 10 is used to determine the first target item simulated by the rehabilitation training if the rehabilitation training is in virtual mode.

[0082] The first calling module 11 is used to call the first preset mechanical curve of each finger corresponding to the first target object; wherein, the first preset mechanical curve contains the correspondence between pressure value and training state, and the training state is wrist tilt angle or object deformation.

[0083] The first acquisition module 12 is used to acquire the first current training state and determine the first target pressure value of each finger corresponding to the first current training state according to the first preset mechanical curve.

[0084] The first control module 13 is used to control the air pressure of the pneumatic artificial muscle corresponding to each finger according to the first target pressure value.

[0085] Based on the above embodiments, in one feasible embodiment, it further includes:

[0086] The second acquisition module is used to acquire the actual air pressure of the pneumatic artificial muscle corresponding to each finger;

[0087] The calculation module is used to calculate the actual pressure value based on the actual air pressure corresponding to each finger and the effective working area of ​​the pneumatic artificial muscle;

[0088] The second control module is used to continue to control the air pressure of the pneumatic artificial muscle corresponding to the actual pressure value until the absolute value of the deviation is within the preset range if the absolute value of the deviation between the actual pressure value and the first target pressure value corresponding to the actual pressure value is outside the preset range.

[0089] Based on the above embodiments, in one feasible embodiment, it further includes:

[0090] The third acquisition module is used to acquire the second current training state and the current pressure value of each finger when exerting force, if the rehabilitation training is in physical mode;

[0091] The second calling module is used to call the second preset mechanical curve of each finger corresponding to the second target item used in rehabilitation training; wherein, the second preset mechanical curve contains the correspondence between pressure value and training state, and the training state is wrist tilt angle or item deformation.

[0092] The second determining module is used to determine the second target pressure value of each finger corresponding to the second current training state based on the second preset mechanical curve;

[0093] The third control module is used to determine the target finger that is not exerting enough force based on the current pressure value and the second target pressure value corresponding to the current pressure value, and to adjust the air pressure of the pneumatic artificial muscle corresponding to the target finger to assist the target finger.

[0094] Based on the above embodiments, in one feasible embodiment, it further includes:

[0095] The prompting module is used to inflate and deflate the pneumatic artificial muscle corresponding to the target finger to make the target finger vibrate, and / or generate a voice prompt that indicates insufficient force exerted by the target finger.

[0096] The execution module is used to adjust the air pressure of the pneumatic artificial muscle corresponding to the target finger to assist the target finger if the pressure detected by the pressure sensor corresponding to the target finger does not reach the second target pressure value corresponding to the target finger within a preset time period.

[0097] Based on the above embodiments, in one feasible embodiment, it further includes:

[0098] The recording module is used to record the identification information of the items used for rehabilitation training on the healthy hand after the wearer puts on the flexible rehabilitation glove on the healthy hand side.

[0099] The module is used to acquire the training status and pressure value detected by the pressure sensor of each finger during rehabilitation training on the healthy hand side, and to construct a preset biomechanical curve for each finger based on the training status and pressure value.

[0100] The storage module is used to store the identity information corresponding to each item and the preset mechanical curve of each finger into the database.

[0101] Based on the above embodiments, in one feasible embodiment, the second calling module includes:

[0102] The reading unit is used to scan the electronic tag on the second target item using an RFID reader, and read the second preset mechanical curve of each finger corresponding to the second target item in the electronic tag.

[0103] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0104] Figure 6 A structural diagram of a control device for another flexible rehabilitation glove provided in an embodiment of this application is shown below. Figure 6 As shown, the control device for the flexible rehabilitation glove includes: a memory 20 for storing computer programs;

[0105] The processor 21 is used to execute a computer program to implement the steps of the control method for the flexible rehabilitation glove as described in the above embodiment.

[0106] The control device for the flexible rehabilitation glove provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0107] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0108] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the control method for the flexible rehabilitation glove disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, a first preset mechanical curve.

[0109] In some embodiments, the control device for the flexible rehabilitation glove may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0110] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on the control device for the flexible rehabilitation glove and may include more or fewer components than shown.

[0111] The control device for the flexible rehabilitation glove provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: if the rehabilitation training is in virtual mode, determine the first target object simulated by the rehabilitation training; call the first preset mechanical curve of each finger corresponding to the first target object; wherein, the first preset mechanical curve contains the correspondence between pressure value and training state, and the training state is wrist tilt angle or object deformation; obtain the first current training state, and determine the first target pressure value of each finger corresponding to the first current training state according to the first preset mechanical curve; adjust the air pressure of the pneumatic artificial muscle corresponding to each finger according to the first target pressure value.

[0112] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the control method for the flexible rehabilitation glove of the above-described method embodiment.

[0113] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0114] The control method, apparatus, medium, and flexible rehabilitation glove provided in this application have been described in detail above. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0115] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for controlling a flexible rehabilitation glove, characterized in that, include: If the rehabilitation training is in virtual mode, determine the first target item simulated in the rehabilitation training; The first preset mechanical curve of each finger corresponding to the first target item is invoked; wherein, the first preset mechanical curve contains the correspondence between pressure value and training state, and the training state is wrist tilt angle or item deformation. Obtain the first current training state, and determine the first target pressure value of each finger corresponding to the first current training state based on the first preset mechanical curve; The air pressure of the pneumatic artificial muscle corresponding to each finger is adjusted according to the first target pressure value.

2. The control method for the flexible rehabilitation glove according to claim 1, characterized in that, After adjusting the air pressure of the pneumatic artificial muscle corresponding to each finger according to the first target pressure value, the method further includes: Obtain the actual air pressure of the pneumatic artificial muscle corresponding to each finger; The actual pressure value is calculated based on the actual air pressure corresponding to each finger and the effective working area of ​​the pneumatic artificial muscle. If the absolute value of the deviation between the actual pressure value and the first target pressure value corresponding to the actual pressure value is outside the preset range, the air pressure of the pneumatic artificial muscle corresponding to the actual pressure value will continue to be adjusted until the absolute value of the deviation is within the preset range.

3. The control method for the flexible rehabilitation glove according to claim 1, characterized in that, Also includes: If the rehabilitation training is in physical mode, obtain the second current training state and the current pressure value of each finger when exerting force, detected by the pressure sensor; The second preset biomechanical curve of each finger corresponding to the second target object used in rehabilitation training is invoked; wherein, the second preset biomechanical curve contains the correspondence between pressure value and training state, the training state being wrist tilt angle or object deformation; The second target pressure value for each finger corresponding to the second current training state is determined based on the second preset mechanical curve. The target finger with insufficient force is determined based on the current pressure value and the second target pressure value corresponding to the current pressure value, and the air pressure of the pneumatic artificial muscle corresponding to the target finger is adjusted to assist the target finger.

4. The control method for the flexible rehabilitation glove according to claim 3, characterized in that, Before adjusting the air pressure of the pneumatic artificial muscle corresponding to the target finger to assist the target finger, the procedure further includes: Inflate and deflate the pneumatic artificial muscle corresponding to the target finger to make the target finger vibrate, and / or generate a voice prompt indicating that the target finger is not exerting enough force; If the pressure detected by the pressure sensor corresponding to the target finger does not reach the second target pressure value corresponding to the target finger within a preset time period, the step of adjusting the air pressure of the pneumatic artificial muscle corresponding to the target finger to assist the target finger is entered.

5. The control method for the flexible rehabilitation glove according to claim 3, characterized in that, Before invoking the first preset mechanical curve or the second preset mechanical curve, the method further includes: After putting on a flexible rehabilitation glove on the healthy hand, record the identification information of the items used for rehabilitation training on the healthy hand. The training status of the healthy hand during rehabilitation training and the pressure value detected by the pressure sensor of each finger are obtained, and a preset biomechanical curve of each finger is constructed based on the training status and pressure value. The identification information corresponding to each item and the preset mechanical curve of each finger are stored in the database.

6. The control method for the flexible rehabilitation glove according to claim 3, characterized in that, The second preset biomechanical curve for each finger corresponding to the second target item used in rehabilitation training is invoked, including: The electronic tag on the second target item is scanned using an RFID reader, and the second preset mechanical curve of each finger corresponding to the second target item is read from the electronic tag.

7. A flexible rehabilitation glove, characterized in that, include: The glove body, pressure sensor, pneumatic artificial muscle, air pump, solenoid valve, and controller; Each finger of the glove body is provided with the pressure sensor and the pneumatic artificial muscle. The air pump is connected to the pneumatic artificial muscle. Each pneumatic artificial muscle is provided with the solenoid valve on the pipeline connected to the air pump. The controller is connected to the pressure sensor, the air pump and the solenoid valve respectively. The controller is used to execute the steps of the control method of the flexible rehabilitation glove according to any one of claims 1 to 6.

8. A control device for a flexible rehabilitation glove, characterized in that, include: The first determining module is used to determine the first target item simulated by the rehabilitation training if the rehabilitation training is in a virtual mode. The first calling module is used to call the first preset mechanical curve of each finger corresponding to the first target item; wherein, the first preset mechanical curve contains the correspondence between pressure value and training state, and the training state is wrist tilt angle or item deformation. The first acquisition module is used to acquire the first current training state and determine the first target pressure value of each finger corresponding to the first current training state according to the first preset mechanical curve. The first control module is used to adjust the air pressure of the pneumatic artificial muscle corresponding to each finger according to the first target pressure value.

9. A control device for a flexible rehabilitation glove, characterized in that, Includes memory used to store computer programs; A processor, configured to execute the computer program to implement the steps of the control method for the flexible rehabilitation glove as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the control method for the flexible rehabilitation glove as described in any one of claims 1 to 6.

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