Hand rehabilitation glove with artificial muscle

Abstract

The invention relates to the technical field of rehabilitation training equipment, and discloses a hand rehabilitation glove with artificial muscles, which comprises a connecting piece, a plurality of flexible pneumatic muscles are fixedly connected to the surface of the connecting piece, fingerstalls are fixedly connected to the ends, away from the connecting piece, of the plurality of flexible pneumatic muscles, elastic bands are fixedly connected to the surfaces of the plurality of fingerstalls, and the elastic bands are fixedly connected to the surface of the connecting piece. The outer layers of the multiple flexible pneumatic muscles are all expandable woven mesh pipes, the inner layers of the multiple flexible pneumatic muscles are all flexible rubber air bags, the ends, close to the connecting piece, of the multiple flexible rubber air bags are all fixedly connected with air pipes, and the bottom of the connecting piece is fixedly connected with hook-and-loop fasteners. Through precise pressure adjustment of the intelligent control module, natural contraction characteristics of human muscles can be simulated, the collision risk of a traditional rigid driving structure is avoided, and meanwhile, the safety monitoring module monitors the running state of the equipment in real time and triggers emergency response when the equipment is abnormal, so that the safety in the rehabilitation training process is further guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation training equipment, in particular to a hand rehabilitation glove with artificial muscles. BACKGROUND

[0002] The hand rehabilitation glove is a hand rehabilitation auxiliary instrument, which is mainly used for the hand movement function reconstruction of patients with stroke, cerebral palsy and the like, and the rehabilitation training of old people with muscle atrophy. The hand rehabilitation glove can assist the user to complete finger flexion and extension actions, help maintain the hand joint activity, enhance the muscle strength, promote the recovery of the hand movement coordination and flexibility, and improve the daily life ability of the patient.

[0003] The existing hand rehabilitation glove adopts a rigid driving structure, which has a collision risk, and lacks real-time monitoring of the equipment running state and an emergency response mechanism in an abnormal situation, so it is difficult to guarantee the safety of the rehabilitation training. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a hand rehabilitation glove with artificial muscles, which solves the problem that the rigid driving structure has a collision risk, lacks real-time monitoring of the equipment running state and an emergency response mechanism in an abnormal situation, and is difficult to guarantee the safety of the rehabilitation training.

[0005] To achieve the above object, the present application realizes the following technical scheme: a hand rehabilitation glove with artificial muscles, comprising a connecting piece, a plurality of flexible pneumatic muscles are fixedly connected to the surface of the connecting piece, a finger sleeve is fixedly connected to the end of each flexible pneumatic muscle away from the connecting piece, an elastic band is fixedly connected to the surface of each finger sleeve, an inflatable braided mesh tube is arranged on the outer layer of each flexible pneumatic muscle, a flexible rubber air bag is arranged on the inner layer of each flexible pneumatic muscle, an air pipe is fixedly connected to the end of each flexible rubber air bag close to the connecting piece, a magic tape is fixedly connected to the bottom of the connecting piece, and a driving assembly is arranged between the ends of the air pipes away from the finger sleeves.

[0006] By adopting the above technical scheme, the flexible pneumatic muscle is used for driving, the double-layer structure of the inflatable braided mesh tube on the outer layer and the flexible rubber air bag on the inner layer is used to replace the traditional rigid driving structure, the natural contraction characteristics of human muscles can be simulated, and the collision risk that may be caused by the rigid driving is avoided in structure; at the same time, the driving assembly cooperates with the subsequent control system to realize the precise control of the flexible pneumatic muscle, and the problem that the rigid driving structure in the prior art has a collision risk and lacks an effective safety guarantee mechanism is solved.

[0007] Preferably, the driving assembly comprises a multi-channel electromagnetic valve fixedly connected with a plurality of air tubes, an air pump arranged at the rear side of the multi-channel electromagnetic valve, and the multi-channel electromagnetic valve and the air pump output end are fixedly arranged, the rear side of the air pump is provided with a control panel, the rear side of the control panel is provided with a battery, and the control panel, the battery, the air pump and the multi-channel electromagnetic valve are electrically connected.

[0008] Preferably, a control system of a hand rehabilitation glove with artificial muscles comprises the following modules:

[0009] An intelligent control module integrated in the control panel is used for receiving signals and sending driving instructions to the air pump and the multi-channel electromagnetic valve, and has data processing and instruction generation functions for coordinating the cooperative work of each component.

[0010] A multi-modal sensing module arranged on the skin-adhesive side and the non-active area of the glove is signal-connected with the intelligent control module and used for collecting hand physiological signals and motion information.

[0011] A training mode module connected with the intelligent control module is used for providing a rehabilitation training scheme.

[0012] A safety monitoring module connected with the intelligent control module is used for monitoring the running state of the equipment.

[0013] Preferably, the intelligent control module comprises:

[0014] A pressure adjusting unit pre-stores deformation data of the flexible pneumatic muscle under different air pressures, and adjusts the air pressure in the air tube in combination with real-time deformation information.

[0015] A timing coordination unit is used for coordinating the opening and closing timing of the multi-channel electromagnetic valve, so that each flexible pneumatic muscle acts according to the preset logic.

[0016] A fault diagnosis unit is used for monitoring the working parameters of the air pump and the multi-channel electromagnetic valve, identifying abnormalities, and switching to a redundant control logic when the main control logic is abnormal, the redundant control logic is used for guaranteeing the basic functions or safety state of the equipment when the main control logic is abnormal.

[0017] Preferably, the pressure adjusting unit adopts a dynamic mapping model, establishes the corresponding relationship between the air pressure and the deformation according to the characteristics of the outer woven mesh tube and the inner rubber air bag of the flexible pneumatic muscle, and realizes dynamic correction of the air pressure.

[0018] Preferably, the intelligent control module adopts a hierarchical task scheduling mechanism, allocates response resources in the order of safety monitoring tasks, motion intention execution tasks, and data processing tasks, and allocates system resources according to task priorities to ensure that critical tasks are executed in priority.

[0019] Preferably, the training mode module includes three groups of training units, each group containing three progressive training units, each unit having different finger motion trajectories and flexible pneumatic muscle driving parameters; the training mode module also pre-stores training programs corresponding to a plurality of daily function scenarios, each program containing a specific combination of finger motions and corresponding flexible pneumatic muscle driving logic; the progressive training units are training units with increasing difficulty or intensity, suitable for different rehabilitation stage requirements.

[0020] Preferably, the multi-modal sensing module includes:

[0021] The electromyography acquisition unit is arranged at the wrist-attached connecting part, uses a flexible electrode sheet, and is used to acquire electrical signals generated when the hand muscles contract, reflecting the user's active motion intention.

[0022] The posture sensing unit is arranged at the end of the finger sleeve, has a built-in motion sensor, and is used to capture finger motion postures.

[0023] The signals acquired by the electromyography acquisition unit and the posture sensing unit are sent to the intelligent control module after fusion processing.

[0024] Preferably, the safety monitoring module includes:

[0025] The parameter monitoring unit is used to acquire the working state of the air pump, the battery capacity, and the flexible pneumatic muscle deformation information, and send the information to the intelligent control module, to acquire the key operating parameters of the device in real time and provide data basis for safety control.

[0026] The emergency response unit is used to control the multi-channel electromagnetic valve to perform a deflation operation when the device operating parameters are abnormal, and send a prompt signal through the control panel.

[0027] Preferably, the intelligent control module further includes a data storage and synchronization unit, which is used to store training mode parameters, historical data acquired by the multi-modal sensing module, and device operation logs, and establish a wireless connection with an external terminal through the control panel, for data export and synchronization.

[0028] Working principle: the user inserts his fingers into the finger sleeve, fixes them with the elastic band, and then fixes the whole glove on the hand with the magic tape at the bottom of the connecting piece, at this time the connecting piece is attached to the back of the user's hand, the flexible pneumatic muscle corresponds to different fingers, and the double-layer structure composed of the outer inflatable woven mesh tube and the inner flexible rubber air bag ensures the flexibility and safety of driving;

[0029] After the user starts the device through the control panel, the battery supplies power to the whole driving assembly, the air pump starts to work to generate airflow, the airflow is divided through the multi-channel electromagnetic valve, the multi-channel electromagnetic valve controls the on-off and airflow size of different air pipes according to the instruction of the intelligent control module in the control panel, the intelligent control module receives the signals collected by the multi-modal sensing module, the intelligent control module combines the rehabilitation training scheme provided by the training mode module, adjusts the air pressure in the air pipe through the pressure regulating unit based on the dynamic mapping model, and coordinates the switching time sequence of the multi-channel electromagnetic valve through the time sequence coordination unit, so that each flexible pneumatic muscle is inflated and deflated according to the preset logic, and drives the fingers to complete the flexion and extension action.

[0030] The parameter monitoring unit of the safety monitoring module collects the running parameters of the air pump, the battery, the flexible pneumatic muscle and the like in real time, if an abnormality occurs, the emergency response unit controls the multi-channel electromagnetic valve to deflate and sends a prompt through the control panel, at the same time, the fault diagnosis unit of the intelligent control module monitors the working parameters of the air pump and the multi-channel electromagnetic valve, switches to a redundant control logic when an abnormality occurs, the data storage and synchronization unit stores the training parameters, historical data and operation logs, and realizes data export and synchronization through the wireless connection between the control panel and the external terminal, and the whole process adopts a hierarchical task scheduling mechanism, so that the safety monitoring and other key tasks are preferentially executed, and the hand rehabilitation training needs of the user are met.

[0031] The application provides a hand rehabilitation glove with artificial muscles.

[0032] 1、The application adopts flexible pneumatic muscles as the driving core, an outer inflatable woven mesh tube and an inner flexible rubber air bag, and precise pressure regulation of an intelligent control module, so that the natural contraction characteristics of human muscles can be simulated, the collision risk of a traditional rigid driving structure is avoided, and the safety in the rehabilitation training process is further ensured through real-time monitoring of the running state of the device and triggering of an emergency response when an abnormality occurs.

[0033] 2、The training mode module comprises a three-level progressive training unit group and a plurality of daily function scene programs, can accurately capture the motion intention of the user and match the corresponding training scheme in combination with the electromyographic signals and finger posture information collected by the multi-modal sensing module, the dynamic mapping model of the intelligent control module and the hierarchical task scheduling mechanism ensure that the training intensity and action logic can be adaptively adjusted according to the rehabilitation stage of the user, and the problems of single training mode and insufficient adaptability of traditional rehabilitation equipment are solved.

[0034] 3、The application guarantees the basic function or safety state of the equipment when the driving assembly is abnormal through the fault diagnosis unit and the redundant control logic of the intelligent control module, improves the fault tolerance of the system, and the data storage and synchronization unit supports the recording, export and external terminal synchronization of training data, provides data support for rehabilitation effect evaluation and scheme optimization, forms an intelligent closed-loop management from perception, control, recording to optimization. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a perspective view of a hand rehabilitation glove with artificial muscles according to the application;

[0036] Figure 2 It is a magic tape schematic diagram of a hand rehabilitation glove with artificial muscles according to the application;

[0037] Figure 3 It is an architecture diagram of the control system of a hand rehabilitation glove with artificial muscles according to the application;

[0038] Figure 4 It is an architecture diagram of the intelligent control module of the control system of a hand rehabilitation glove with artificial muscles according to the application;

[0039] Figure 5 It is an architecture diagram of the multi-modal sensing module of the control system of a hand rehabilitation glove with artificial muscles according to the application;

[0040] Figure 6 It is an architecture diagram of the safety monitoring module of the control system of a hand rehabilitation glove with artificial muscles according to the application.

[0041] 1, connecting piece; 2, flexible pneumatic muscle; 3, finger sleeve; 4, elastic band; 5, air pipe; 6, multi-channel electromagnetic valve; 7, air pump; 8, control panel; 9, battery; 10, magic tape. DETAILED DESCRIPTION

[0042] The technical solutions of the application will be described clearly and completely below in combination with the drawings in the specification of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0043] Please refer to the drawings in the specification of the application Figure 1 - the drawings in the specification of the application Figure 2The embodiment of the present application provides a hand rehabilitation glove with artificial muscle, which comprises a connecting piece 1, a plurality of flexible pneumatic muscles 2 are fixedly connected to the surface of the connecting piece 1, a plurality of finger sleeves 3 are fixedly connected to the far end of the flexible pneumatic muscles 2 away from the connecting piece 1, a plurality of elastic bands 4 are fixedly connected to the surface of the plurality of finger sleeves 3, the outer layer of the plurality of flexible pneumatic muscles 2 is an inflatable braided mesh tube, the inner layer of the plurality of flexible pneumatic muscles 2 is a flexible rubber air bag, the far end of the plurality of flexible rubber air bags away from the connecting piece 1 is fixedly connected with an air pipe 5, the bottom of the connecting piece 1 is fixedly connected with a magic tape 10, and the far end of the plurality of air pipes 5 away from the finger sleeves 3 is provided with a driving assembly.

[0044] Specifically, the user inserts fingers into the finger sleeves 3, fixes the fingers by the elastic bands 4, and then fixes the glove as a whole on the hand by the magic tape 10 at the bottom of the connecting piece 1, at this time, the connecting piece 1 is attached to the back of the user's hand, the flexible pneumatic muscles 2 are distributed corresponding to different fingers, the double-layer structure composed of the outer layer inflatable braided mesh tube and the inner layer flexible rubber air bag guarantees the driving flexibility and safety, when the driving assembly works, the airflow generated by the air pump 7 is controlled by the multi-channel electromagnetic valve 6 and is delivered to the inner layer rubber air bag of the flexible pneumatic muscle 2 through the air pipe 5, after the air bag is inflated, the outer layer braided mesh tube is driven to contract, thereby pulling the finger sleeve 3 to realize the flexion and extension of the fingers, meeting the hand rehabilitation training needs of stroke, cerebral palsy patients and the elderly, replacing the traditional motor drive by the flexible pneumatic muscle 2, avoiding the collision risk of rigid structure, and realizing diversified training actions by the independent pneumatic control of single finger, improving the rehabilitation effect.

[0045] Please refer to the accompanying drawings Figure 1 - the accompanying drawings Figure 2 The driving assembly comprises a multi-channel electromagnetic valve 6, the multi-channel electromagnetic valve 6 is fixedly connected between the plurality of air pipes 5, an air pump 7 is arranged on the rear side of the multi-channel electromagnetic valve 6, the multi-channel electromagnetic valve 6 and the air pump 7 are fixedly arranged between the output ends, a control panel 8 is arranged on the rear side of the air pump 7, a battery 9 is arranged on the rear side of the control panel 8, and the control panel 8 is electrically connected between the battery 9, the air pump 7 and the multi-channel electromagnetic valve 6.

[0046] Specifically, after the user starts the equipment by the control panel 8, the battery 9 supplies power to the whole driving assembly, the air pump 7 starts to work to generate airflow, the airflow is shunted by the multi-channel electromagnetic valve 6, the multi-channel electromagnetic valve 6 controls the on-off and airflow size of different air pipes 5 according to the instruction of the control panel 8, thereby accurately controlling the inflation and deflation state of the corresponding flexible pneumatic muscle 2, realizing independent regulation and control of each finger action, meeting the needs of different rehabilitation training actions, and the control panel 8 coordinates the working rhythm of the air pump 7 and the multi-channel electromagnetic valve 6, ensuring the stable operation of the driving assembly.

[0047] Please refer to the accompanying drawings Figure 3 A control system of a hand rehabilitation glove with artificial muscle comprises the following modules:

[0048] The intelligent control module is integrated in the control panel 8, used for receiving signals and sending driving instructions to the air pump 7 and the multi-channel electromagnetic valve 6, and has data processing and instruction generation functions, used for coordinating the cooperative work of various components;

[0049] The multi-modal sensing module is arranged on the skin side and the non-active area of the glove, and is signal-connected with the intelligent control module, used for collecting hand physiological signals and motion information;

[0050] The training mode module is connected with the intelligent control module, used for providing a rehabilitation training scheme;

[0051] The safety monitoring module is connected with the intelligent control module, used for monitoring the running state of the equipment.

[0052] Specifically, the intelligent control module is integrated in the control panel 8, receives signals from other modules, and sends corresponding driving instructions to the air pump 7 and the multi-channel electromagnetic valve 6 based on these signals, so as to coordinate the cooperative work of various components. This module has data processing and instruction generation functions, can analyze and operate the received information, and further generate control instructions meeting the requirements of rehabilitation training. In actual operation process, the intelligent control module receives the hand physiological signals and motion information collected by the multi-modal sensing module, combines the rehabilitation training scheme provided by the training mode module, processes the data, sends instructions to control the working state of the air pump 7, such as starting, stopping and adjusting the output air pressure, and at the same time sends instructions to control the on-off state of the multi-channel electromagnetic valve 6, so as to control the inflation and deflation of each flexible pneumatic muscle 2, thereby realizing precise control of the action of the rehabilitation glove;

[0053] The multi-modal sensing module is arranged on the skin side and the non-active area of the glove, and is signal-connected with the intelligent control module, used for collecting hand physiological signals and motion information, providing basic data support for the decision of the intelligent control module. Considering that the hand states and rehabilitation needs of different users are different, the multi-modal sensing module can obtain information from multiple dimensions. After processing these collected signals, the signals are sent to the intelligent control module, so that the system can accurately perceive the hand state and the motion intention of the user, and provide a basis for subsequent precise control;

[0054] The training mode module is connected with the intelligent control module, and provides diversified rehabilitation training schemes to adapt to the needs of different users in different rehabilitation stages. Since the severity of the disease, rehabilitation progress of different patients are different, the required training content and intensity also exist differences, therefore, the training mode module is pre-set with multiple training schemes, these schemes cover different finger action combinations, training intensity and training time, etc. In the use process, the intelligent control module can call the corresponding rehabilitation training scheme from the training mode module according to the user information collected by the multi-modal sensing module and the specific needs of the user, and generate driving instructions based on the scheme to ensure that the training content meets the rehabilitation goal.

[0055] The safety monitoring module is connected with the intelligent control module, and is used for monitoring the running state of the equipment to ensure the safety of the rehabilitation training process. In the long-term use process of the equipment, the air pump 7 may work abnormally, the battery 9 may be insufficient, the flexible pneumatic muscle 2 may be deformed abnormally, etc. If not found and processed in time, it may cause harm to the user. The safety monitoring module collects various running parameters of the equipment in real time, such as the output pressure of the air pump 7, the working current, the power of the battery 9, the deformation information of the flexible pneumatic muscle 2, etc. And send these parameters to the intelligent control module. When the intelligent control module judges that the running parameters of the equipment are abnormal, it can take corresponding measures according to the information provided by the safety monitoring module, such as controlling the equipment to stop working, sending a prompt signal, etc. to avoid affecting the user due to equipment problems.

[0056] Please refer to the accompanying drawings Figure 4 The intelligent control module includes:

[0057] The pressure regulating unit pre-stores the deformation data of the flexible pneumatic muscle 2 under different air pressures, and adjusts the air pressure in the air pipe 5 in combination with the real-time deformation information.

[0058] The timing coordination unit is used for coordinating the opening and closing timing of the multi-channel electromagnetic valve 6, so that each flexible pneumatic muscle 2 moves according to the preset logic.

[0059] The fault diagnosis unit is used for monitoring the working parameters of the air pump 7 and the multi-channel electromagnetic valve 6, and switching to the redundant control logic when an abnormality is identified. The redundant control logic is used to ensure the basic function or safety state of the equipment when the main control logic is abnormal.

[0060] Specifically, the pressure regulating unit pre-stores the deformation data under different air pressures obtained through multiple inflation and deflation experiments based on the double-layer structure characteristics of the outer inflatable woven mesh tube and the inner flexible rubber air bag of the flexible pneumatic muscle 2, receives real-time deformation information collected by the posture sensing unit in the multi-modal sensing module, determines the required air pressure value combined with the dynamic mapping model, and realizes dynamic correction and precise control of the air pressure in the air tube 5 through control of the valve opening and closing degree of the multi-channel electromagnetic valve 6, to ensure the output of adaptive driving force;

[0061] The timing coordination unit receives the control instructions generated by the intelligent control module according to the rehabilitation program provided by the training mode module, generates timing control signals and sends them to the multi-channel electromagnetic valve 6, controls the opening and closing time of each channel valve, and then controls the on-off and airflow size of the corresponding air tube 5, so that each flexible pneumatic muscle 2 inflates and deflates according to the preset time, drives the fingers to move according to the preset trajectory and logic, and meets the action coordination requirement;

[0062] The fault diagnosis unit real-time collects the output pressure, working current, running temperature of the air pump 7, the opening and closing state, response time and other parameters of the multi-channel electromagnetic valve 6, compares them with the pre-set normal range, identifies the abnormality, switches to the redundant control logic, and guarantees the basic functions or safety state of the equipment through the control of the multi-channel electromagnetic valve 6 deflation, etc., to avoid the harm to the user caused by the fault;

[0063] At the same time, the intelligent control module adopts a hierarchical task scheduling mechanism, allocates response resources in the order of safety monitoring tasks, motion intention execution tasks, and data processing tasks, ensures the priority execution of key tasks, and improves the system operation efficiency and reliability.

[0064] Please refer to the attached Figure 4 The pressure regulating unit adopts a dynamic mapping model to establish the corresponding relationship between air pressure and deformation according to the characteristics of the outer woven mesh tube and the inner rubber air bag of the flexible pneumatic muscle 2, and realizes dynamic correction of air pressure.

[0065] Specifically, the dynamic mapping model is constructed based on the structural characteristics of the flexible pneumatic muscle 2, and is used to realize precise and dynamic correction of the air pressure in the air tube 5 to adapt to the driving force demand in different rehabilitation training scenarios. In the establishment process of the dynamic mapping model, the weaving density, material elasticity of the outer inflatable woven mesh tube, and the elastic coefficient, wall thickness uniformity and other physical properties of the inner flexible rubber air bag are combined, and through inflation and deflation experiments of the flexible pneumatic muscle 2 under multiple different air pressure conditions, corresponding deformation data are collected and recorded, including key parameters such as axial expansion and radial expansion. Based on these experimental data and combined with relevant theories of material mechanics, a functional relationship model between air pressure value and deformation of the flexible pneumatic muscle 2 is constructed, i.e. the dynamic mapping model. This model can reflect the comprehensive deformation effect of the flexible pneumatic muscle 2 under different air pressure inputs due to the constraint effect of the outer woven mesh tube and the inflation characteristics of the inner rubber air bag.

[0066] In actual operation, the pressure regulating unit will receive real-time deformation information of the flexible pneumatic muscle 2 collected by the posture sensing unit and other components in the multi-modal sensing module in real time, input the real-time information into the dynamic mapping model, and through model operation, the target air pressure value required in the current deformation state can be back calculated, and then compared with the real-time air pressure monitoring value in the air pipe 5, and the air pressure regulating instruction is generated according to the difference and sent to the multi-channel electromagnetic valve 6, and the air pressure in the air pipe 5 is adjusted by controlling the opening and closing degree of the valve to realize dynamic correction of the air pressure.

[0067] For example, when the real-time deformation of the flexible pneumatic muscle 2 is less than the preset value, the dynamic mapping model will calculate the air pressure value that needs to be increased, and the pressure regulating unit controls the multi-channel electromagnetic valve 6 to increase the air intake of the corresponding air pipe 5, so that the inner rubber air bag is further inflated, the outer woven mesh tube is driven to contract, the deformation is increased to meet the preset requirement; on the contrary, when the real-time deformation is too large, the air intake is reduced or appropriately released, so as to ensure that the deformation of the flexible pneumatic muscle 2 always matches the action required by the rehabilitation training, guarantee the accurate output of the driving force, effectively compensate the influence caused by the material characteristic difference of the flexible pneumatic muscle 2, the aging in the use process and the change of deformation requirement of different training actions, and make the air pressure regulation more adaptive and accurate.

[0068] Please refer to the accompanying Figure 4 The intelligent control module adopts a hierarchical task scheduling mechanism, allocates response resources in the order of safety monitoring tasks, motion intention execution tasks and data processing tasks, and allocates system resources according to task priority to ensure that critical tasks are executed first.

[0069] Specifically, the hierarchical task scheduling mechanism divides the tasks processed by the intelligent control module into different priorities, sets the safety monitoring task as the highest priority, the motion intention execution task as the second priority, and the data processing task as the relatively low priority. According to this priority order, when allocating response resources, the intelligent control module first ensures the response demand of the safety monitoring task to ensure that information related to the safety of the device operation, such as the device abnormal signal sent by the safety monitoring module, can be processed in time, and then allocates response resources for the motion intention execution task to ensure that the driving instruction generated according to the user's motion intention can be transmitted to the air pump 7, the multi-channel electromagnetic valve 6 and other components in time to realize the precise action of the rehabilitation glove, and finally allocates response resources for the data processing task to process various data collected by the multi-modal sensing module, scheme information of the training mode module and the like.

[0070] In terms of system resource allocation, the hierarchical task scheduling mechanism also follows the task priority principle, allocating more sufficient system resources, including computing resources, storage resources, etc., to high-priority tasks. For example, when the safety monitoring task detects abnormal working parameters of the air pump 7, the intelligent control module will immediately allocate sufficient system resources to the task to enable it to quickly analyze the abnormal situation and trigger the corresponding processing logic, such as controlling the multi-channel electromagnetic valve 6 to perform the air release operation. For data processing tasks, such as statistical analysis of historical training data, system resources are allocated reasonably under the premise of not affecting the execution of high-priority tasks. Through this hierarchical task scheduling mechanism, the intelligent control module can ensure that critical tasks are executed first and avoid situations where high-priority tasks are delayed due to unreasonable resource allocation.

[0071] In actual operation, when multiple tasks are generated simultaneously, the system will prioritize responding to safety monitoring tasks to prevent equipment abnormalities from harming users. Next, it ensures the real-time performance of motion intent execution tasks to ensure that the actions of the rehabilitation glove accurately match the user's movement needs. Finally, it processes data processing tasks in an orderly manner to support the continuous optimization of the system, enabling the intelligent control module to efficiently coordinate the work of various modules and components in complex rehabilitation training scenarios.

[0072] Please refer to the attached Figure 3 The training mode module includes three groups of training units, each group containing three progressive training units with different finger movement trajectories and flexible pneumatic muscle 2 driving parameters. The training mode module also pre-stores training programs corresponding to various daily function scenarios, each program containing specific finger movement combinations and corresponding flexible pneumatic muscle 2 driving logic. Progressive training units are training units with increasing difficulty or intensity, designed to adapt to different rehabilitation stage needs.

[0073] Specifically, the training mode module includes three groups of training units, each group having three progressive training units. The hierarchical and progressive structure is designed based on the phased characteristics of hand function recovery during rehabilitation for different users. The training difficulty or intensity of each progressive training unit increases in sequence, and the finger movement trajectories and flexible pneumatic muscle 2 driving parameters corresponding to different units differ. For example, the primary training unit involves simple finger extension and bending movements, and the corresponding flexible pneumatic muscle 2 driving parameters are relatively gentle, such as a lower air pressure adjustment range and slower inflation and deflation rate. As the training unit level increases, the finger movement trajectories may become more complex, such as multi-finger coordinated gripping and finger pointing movements. The flexible pneumatic muscle 2 driving parameters will also be adjusted accordingly, such as increasing the air pressure range and improving the response speed, to adapt to the process of gradually enhancing hand function recovery from the initial stage.

[0074] Meanwhile, the training mode module also pre-stores a plurality of daily function scene corresponding training programs, the setting of these programs is to make the rehabilitation training more close to the daily life needs of the user, help the user better adapt to daily activities after training, each daily function scene training program contains specific finger action combination and corresponding flexible pneumatic muscle 2 driving logic, for example, the training program simulating the scene of twisting the bottle cap will contain the coordinated rotation action of the thumb and the index finger and the middle finger, the corresponding driving logic will control the corresponding flexible pneumatic muscle 2 of the finger to inflate and deflate according to the specific time sequence and air pressure, so as to reproduce the finger movement in this scene, for example, the training program simulating the scene of holding a pen will set the corresponding action combination and driving parameters for the fine control of the fingers, to ensure that the training effect is closely combined with the actual life application;

[0075] In actual application process, the intelligent control module can call corresponding training unit group or daily function scene training program from the training mode module according to the user's hand state information collected by the multi-modal sensing module, combined with the user's rehabilitation progress, for the user in the early stage of rehabilitation, the primary training unit group in the three-level training unit group can be selected, and the hand function is gradually activated through the action training with low difficulty, with the progress of rehabilitation, the user can gradually transit to the middle and high level training unit group, and the motion ability and coordination of the hand are improved through the training with increasing intensity and difficulty, while the daily function scene training program can be used to strengthen the user's adaptability to the actual life scene after the user has certain basis, to promote the transformation of rehabilitation effect to daily life ability, which realizes the stage coverage of user's rehabilitation process through progressive training unit, realizes the connection of training and actual application through daily function scene training program, fully considers the demand difference of users in different rehabilitation stages, so that the training content of the hand rehabilitation glove with artificial muscle is more targeted and practical.

[0076] Please refer to the accompanying drawings Figure 5 The multi-modal sensing module comprises:

[0077] The electromyography acquisition unit is arranged at the wrist-attached part of the connecting piece 1, adopts a flexible electrode sheet, and is used to acquire the electrical signal generated when the hand muscle contracts, reflecting the user's active motion intention.

[0078] The posture sensing unit is arranged at the end of the finger sleeve 3, is internally provided with a motion sensor, and is used to capture the finger motion posture.

[0079] The signals acquired by the electromyography acquisition unit and the posture sensing unit are sent to the intelligent control module after fusion processing.

[0080] Specifically, the myoelectricity collection unit is arranged at the wrist-adhering part of the connecting piece 1, which can clearly capture the electrical signals generated by the contraction of the main muscle groups of the hand, and the region is relatively stable and not easily disturbed by finger movement. The myoelectricity collection unit adopts a flexible electrode sheet, which is made of flexible material and adheres to the skin surface, adapts to the contour changes of the wrist, ensures good contact state during user activity, reduces signal acquisition noise interference, and mainly collects the electrical signals generated by the contraction of the hand muscles. The strength, frequency and other characteristics of these signals can directly reflect the user's active motion intention. For example, when the user tries to bend the fingers, the specific electrical signal changes generated by the corresponding muscle groups can be captured and converted into processable data.

[0081] The posture sensing unit is arranged at the end of the finger sleeve 3, which can most directly reflect the finger movement state and facilitate accurate capture of posture changes. The built-in motion sensor can adopt an acceleration sensor, a gyroscope or a combination of both to collect parameters such as acceleration and angular velocity of finger movement, and then obtain real-time movement posture of the finger such as bending angle, movement trajectory, movement speed and other information through data processing, which assists the intelligent control module to determine the current position and movement trend of the finger and provides a reference for subsequent action control.

[0082] The signals collected by the myoelectricity collection unit and the posture sensing unit need to be fused and processed before being sent to the intelligent control module. Due to the limitations of a single signal, such as the fact that myoelectricity signals reflect active motion intention but may fluctuate due to muscle fatigue, and the fact that posture sensing signals reflect actual movement state but cannot directly reflect active control intention, through fusion processing including signal filtering, feature extraction, data correlation and other steps, the advantages of both can be utilized to make up for the shortcomings of a single signal, improve information reliability and accuracy, and make the fused signals more comprehensively reflect the user's hand movement state and active motion intention, providing high-quality data basis for the intelligent control module to generate accurate driving instructions.

[0083] Please refer to the attached Figure 6 , the safety monitoring module includes:

[0084] The parameter monitoring unit is used to collect the working state of the air pump 7, the battery 9 power and the deformation information of the flexible pneumatic muscle 2, and send the information to the intelligent control module, to collect the key running parameters of the equipment in real time and provide data basis for safety control;

[0085] The emergency response unit is used to control the multi-channel electromagnetic valve 6 to perform air release operation when the equipment running parameters are abnormal, and send a prompt signal through the control panel 8.

[0086] Specifically, the parameter monitoring unit collects the key operating parameters of the device in real time, including the output pressure, working current, operating temperature, etc. of the air pump 7, the battery 9 power parameter, and the deformation information of the flexible pneumatic muscle 2, etc. These parameters can directly reflect the operating conditions of the core components of the device. The parameter monitoring unit sends the collected information to the intelligent control module in real time, so that the intelligent control module can timely grasp the overall operation of the device.

[0087] The emergency response unit is used to take effective measures to minimize risks when the device operating parameters are abnormal. When the intelligent control module determines that the device is abnormal according to the data of the parameter monitoring unit, it sends an instruction to the emergency response unit. After receiving the instruction, the emergency response unit immediately controls the multi-channel electromagnetic valve 6 to perform the air release operation to avoid damage to the device or injury to the user due to excessive pressure of the flexible pneumatic muscle 2. At the same time, the control panel 8 sends a prompt signal, which can be a sound alarm, a flashing light, or a screen text display, to remind the user and relevant personnel to handle it in time.

[0088] Please refer to the attached Figure 4 The intelligent control module also includes a data storage and synchronization unit for storing training mode parameters, historical data collected by the multi-modal sensing module, and device operation logs, and establishing a wireless connection with the external terminal through the control panel 8 for data export and synchronization.

[0089] Specifically, the data storage and synchronization unit effectively manages various data generated during the rehabilitation training process, provides data support for training scheme optimization, user rehabilitation progress tracking, and device maintenance, and facilitates data interaction with external terminals to improve the practicality and expandability of the system. The data storage and synchronization unit has data storage function, and the storage content includes training mode parameters, historical data collected by multi-modal sensing module and device operation logs.

[0090] The unit also has data synchronization and export function, through the control panel 8 and the external terminal to establish a wireless connection, the wireless connection mode can use Bluetooth, Wi-Fi or other suitable wireless communication protocol. In actual application, the user or medical staff can initiate a data synchronization request through an external terminal such as a computer, tablet, smartphone, etc. After responding, the data storage and synchronization unit exports the stored information to the external terminal in the preset format, and the external terminal can also import new training mode parameters or system configuration information to realize two-way synchronization, which is convenient for medical staff to remotely view user training records and rehabilitation progress, develop personalized follow-up training programs, and facilitate remote management and maintenance of the device.

[0091] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A hand rehabilitation glove with artificial muscles, comprising a connecting element (1), characterized in that: The connecting piece (1) is fixedly connected with a plurality of flexible pneumatic muscles (2) on the surface, the far end of the plurality of flexible pneumatic muscles (2) away from the connecting piece (1) is fixedly connected with a finger sleeve (3), the surface of the plurality of finger sleeves (3) is fixedly connected with an elastic band (4), the outer layer of the plurality of flexible pneumatic muscles (2) is an inflatable braided mesh tube, the inner layer of the plurality of flexible pneumatic muscles (2) is a flexible rubber air bag, the end of the plurality of flexible rubber air bags close to the connecting piece (1) is fixedly connected with an air pipe (5), the bottom of the connecting piece (1) is fixedly connected with a magic tape (10), and the end of the plurality of air pipes (5) away from the finger sleeve (3) is provided with a driving assembly.

2. The hand rehabilitation glove with artificial muscle according to claim 1, characterized in that: The driving assembly comprises a multi-channel electromagnetic valve (6), the multi-channel electromagnetic valve (6) is fixedly connected between the plurality of air pipes (5), the rear side of the multi-channel electromagnetic valve (6) is provided with an air pump (7), the multi-channel electromagnetic valve (6) and the air pump (7) are fixedly connected between the output ends, the rear side of the air pump (7) is provided with a control panel (8), the rear side of the control panel (8) is provided with a battery (9), and the control panel (8) is electrically connected between the battery (9), the air pump (7) and the multi-channel electromagnetic valve (6).

3. A control system for a hand rehabilitation glove with artificial muscles, characterized by, A hand rehabilitation glove with artificial muscles for any one of claims 1-2, comprising the following modules: An intelligent control module integrated in the control panel (8) for receiving signals and sending driving instructions to the air pump (7) and the multi-channel electromagnetic valve (6), the intelligent control module having data processing and instruction generation functions for coordinating the cooperative work of each component; A multi-modal sensing module provided on the skin-side and non-active area of the glove and connected with the intelligent control module for collecting hand physiological signals and motion information; A training mode module connected with the intelligent control module for providing rehabilitation training programs; A safety monitoring module connected with the intelligent control module for monitoring the running state of the equipment.

4. The control system of a hand rehabilitation glove with artificial muscles according to claim 3, characterized in that, The intelligent control module comprises: A pressure adjustment unit pre-storing deformation data of the flexible pneumatic muscle (2) under different air pressures and adjusting the air pressure in the air pipe (5) in combination with real-time deformation information; A timing coordination unit for coordinating the switching timing of the multi-channel electromagnetic valve (6) to make each flexible pneumatic muscle (2) act according to the preset logic; A fault diagnosis unit for monitoring the working parameters of the air pump (7) and the multi-channel electromagnetic valve (6) and switching to a redundant control logic when an abnormality is identified, the redundant control logic being used to ensure the basic functions or safety state of the equipment when the main control logic is abnormal.

5. The control system of a hand rehabilitation glove with artificial muscles according to claim 4, characterized in that: The pressure adjustment unit adopts a dynamic mapping model to establish the corresponding relationship between air pressure and deformation according to the characteristics of the outer braided mesh tube and the inner rubber air bag of the flexible pneumatic muscle (2), and realizes dynamic correction of air pressure.

6. The control system of a hand rehabilitation glove with artificial muscles according to claim 3, characterized in that: The intelligent control module adopts a hierarchical task scheduling mechanism, allocates response resources in the order of safety monitoring tasks, motion intention execution tasks and data processing tasks, and allocates system resources according to task priorities to ensure that critical tasks are executed first.

7. The control system of the hand rehabilitation glove with artificial muscle according to claim 3, characterized in that: The training mode module includes three groups of training units, each group containing three progressive training units, each unit having different finger movement trajectories and driving parameters of the flexible pneumatic muscle (2); The training mode module also pre-stores training programs corresponding to various daily function scenarios, each program containing specific finger movement combinations and corresponding flexible pneumatic muscle (2) driving logic; the progressive training units are training units with increasing difficulty or intensity, suitable for different rehabilitation stage needs.

8. The control system of a hand rehabilitation glove with artificial muscles according to claim 3, characterized in that, The multi-modal sensing module includes: An electromyography acquisition unit, which is arranged on the wrist of the connecting piece (1) and uses a flexible electrode sheet to acquire electrical signals generated by hand muscle contraction, reflecting the user's active motion intention; A posture sensing unit, which is arranged at the end of the finger sleeve (3) and has a built-in motion sensor to capture finger movement posture; The signals collected by the electromyography acquisition unit and the posture sensing unit are sent to the intelligent control module after fusion processing.

9. The control system of a hand rehabilitation glove with artificial muscles according to claim 3, characterized in that, The safety monitoring module includes: A parameter monitoring unit, which is used to acquire the working state of the air pump (7), the battery (9) capacity and the deformation information of the flexible pneumatic muscle (2), and sends the information to the intelligent control module to acquire the key operating parameters of the equipment in real time and provide data basis for safety control; An emergency response unit, which is used to control the multi-channel electromagnetic valve (6) to perform air release operation when the equipment operating parameters are abnormal, and send a prompt signal through the control panel (8).

10. The control system of a hand rehabilitation glove with artificial muscles according to claim 3, characterized in that: The intelligent control module also includes a data storage and synchronization unit for storing training mode parameters, historical data collected by the multi-modal sensing module and equipment operation logs, and establishing wireless connection with external terminals through the control panel (8) for data export and synchronization.

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