Wearable rigid-flexible coupling force feedback single-finger skeleton

Abstract

The invention relates to the technical field of medical rehabilitation robots, and discloses a wearable rigid-flexible coupling force feedback single-finger skeleton which comprises a protective shell, a micro air pump is arranged in the protective shell, a multi-channel electromagnetic valve is fixedly arranged at the output end of the micro air pump, and branch air pipes are fixedly arranged at the output end of the multi-channel electromagnetic valve. Limiting blocks are arranged on the outer walls of the branch air pipes, glove supports are fixedly connected to the outer walls of the limiting blocks, expansion woven mesh pipes are arranged on the outer walls of the glove supports, rubber air bags are arranged in the glove supports, and the branch air pipes penetrate through the expansion woven mesh pipes to be fixedly connected to the interiors of the rubber air bags. A rigid-flexible coupled mechanical structure is combined with pneumatic artificial muscles, under PWM linear control of a pressure regulation and control unit, anthropomorphic flexion and extension driving is achieved, an output force curve is made to be attached to the natural motion characteristic of a human body, meanwhile, the weight of the whole machine is reduced by 60% or above, and then the wearing comfort of a patient is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical rehabilitation robots, in particular to a wearable rigid-flexible coupling force feedback single-finger skeleton. BACKGROUND

[0002] Hand movement dysfunction is a common sequelae of patients with neurological diseases such as stroke, cerebral palsy and old people with muscle atrophy, and patients often show finger flexion weakness, joint stiffness or loss of motor coordination, which seriously affects the ability of daily life, such as grasping and picking up objects; as a wearable assistive device, the core function of the rehabilitation glove is to drive the fingers to complete the flexion movement, helping patients to passively or actively rehabilitate to promote nerve remodeling and muscle function recovery.

[0003] The driving mode of the existing rehabilitation glove mainly includes two types: one type is to use a DC motor or a servo motor as a power source, and to transmit power to the finger joint through rigid gears, connecting rods and other mechanical structures, but the rigid mechanical structure is easy to cause rigid impact on the joint during movement, such as sudden force when starting or stopping, and long-term wearing may cause hand soft tissue compression or joint damage; the other type is the early pneumatic glove, which mainly uses pure soft structure or simple rigid-flexible splicing structure, but the design does not fully consider the synergy of rigid and flexible components, the pure soft structure is flexible, but the transmission efficiency of the output force is low, and it is difficult to accurately control the force change of finger flexion; the simple rigid-flexible splicing structure causes the output force curve to be low in matching degree with the force characteristics of natural human hand movement due to the unreasonable design of the rigid component, and some designs still retain a large number of rigid components to ensure driving force, which cannot effectively reduce the weight of the whole machine, and the comfort needs to be improved. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a wearable rigid-flexible coupling force feedback single-finger skeleton, which solves the problem that the driving structure of the existing rehabilitation glove cannot simultaneously consider the force characteristic matching of anthropomorphic movement and high wearing comfort.

[0005] To achieve the above purpose, the present application realizes the following technical scheme:

[0006] A wearable rigid-flexible coupling force feedback single-finger skeleton, comprising a protective shell, a micro air pump is arranged in the interior of the protective shell, a multi-channel electromagnetic valve is fixedly arranged at the output end of the micro air pump, a branch air pipe is fixedly arranged at the output end of the multi-channel electromagnetic valve, a limiting block is arranged on the outer wall of the branch air pipe, a glove support is fixedly connected to the outer wall of the limiting block, an inflatable braided mesh tube is arranged on the outer wall of the glove support, a rubber air bag is arranged in the interior of the glove support, the branch air pipe passes through the inflatable braided mesh tube and is fixedly connected in the interior of the rubber air bag, and a limiting assembly is arranged on the outer wall of the glove support.

[0007] By adopting the technical scheme, the humanized flexion and extension driving is realized under the PWM linear control of the pressure regulation unit through the rigid-flexible coupling mechanical architecture combined with the pneumatic artificial muscle, the traditional motor rigid impact is eliminated, the output force curve is fitted to the natural motion characteristics of the human body, the weight of the whole machine is reduced by more than 60%, and the patient wearing comfort is significantly improved.

[0008] Preferably, the limiting assembly comprises an elastic band, an outer wall of the elastic band is fixedly connected to an outer wall of the glove support, and an outer wall of a magic tape fixedly connected to the elastic band is attached to the outer wall of the glove support.

[0009] Preferably, a rehabilitation glove system based on a wearable rigid-flexible coupling force feedback single finger skeleton is used for the wearable rigid-flexible coupling force feedback single finger skeleton, and comprises the following modules.

[0010] Single finger skeleton array module: comprising five single finger skeletons corresponding to five fingers respectively;

[0011] Pneumatic driving module: connected to the single finger execution array module, used for providing controllable air pressure to each rubber air bag;

[0012] Sensing module: connected to the central control module, used for collecting user hand physiological signals;

[0013] Central control module: connected to the pneumatic control module and the sensing module, used for generating force feedback instructions according to the physiological signals and regulating the pneumatic control module;

[0014] Energy management module: connected to all electrical modules, used for powering all electrical modules.

[0015] Preferably, the pneumatic control module comprises:

[0016] Air source unit: used for generating constant pressure air flow;

[0017] Air flow distribution unit: used for independently controlling the on-off of each finger bone air flow;

[0018] Pressure regulation unit: changing the air flow by adjusting the PWM duty cycle of the multi-channel electromagnetic valve to realize the linear control of the air pressure in the rubber air bag.

[0019] Preferably, the sensing module comprises:

[0020] Myoelectric signal acquisition unit: used for capturing user hand muscle electrical signals;

[0021] Pressure feedback unit: used for monitoring the gripping force in real time;

[0022] Finger joint angle sensing unit: used for detecting the finger joint bending angle θ in real time;

[0023] Signal preprocessing unit: filters and amplifies electromyographic signals, performs ADC conversion on pressure signals, and outputs digital signals to the central processing module.

[0024] Preferably, the central processing module includes:

[0025] Mode selection unit: used to store three rehabilitation training modes: passive traction, active resistance, and game interaction;

[0026] Signal analysis unit: Used to receive preprocessed signals from the sensing module and extract the electromyographic signal intensity E. emg and real-time grip strength F actual ;

[0027] Force feedback generation unit: based on the selected training mode and E emg and F actual Calculate the target feedback force F for each phalanx. target ;

[0028] Pressure mapping unit: used to convert F target Converted to the target air pressure value P of the corresponding rubber airbag target ;

[0029] Valve control command unit: based on the target air pressure value P target Generate PWM duty cycle instructions for multi-channel solenoid valves.

[0030] Preferably, the target air pressure value P target Generate using the following formula:

[0031] P target =K p ·(F target -F actual )+K i ·∑(F target -F actual )Δt

[0032] Among them, F target The desired force value output by the force feedback generation unit, in N; F actual Real-time gripping force collected by the pressure feedback unit, unit: N; K p K is the proportionality coefficient. i The integral coefficient is stored in the mode selection unit and set according to different rehabilitation modes; Δt is the control cycle time, in seconds.

[0033] Preferably, the valve control command unit is based on P target Real-time air pressure P of the rubber airbag actualThe PWM duty cycle D is adjusted according to the PID algorithm, and then D is written into the drive register of the multi-channel solenoid valve to control the airflow. The formula for calculating the duty cycle D is as follows:

[0034] D = D base +K p_valve ·(P target -P actual )

[0035] Where D base K is the base duty cycle. p_valve Valve proportional coefficient; real-time air pressure P actual This information was obtained through detection using the pneumatic drive module.

[0036] Preferably, the energy management module:

[0037] Lithium-ion battery unit: a rechargeable battery pack with a rated voltage of 12V;

[0038] Voltage conversion unit: used to convert 12V to 5V and 24V;

[0039] Power management unit: Used to shut off the power supply to the air pump when there is no operation, and only keep the sensor module in standby mode.

[0040] Preferably, it also includes a motion constraint module, which is used to receive the bending angle θ detected by the knuckle angle sensing unit, and dynamically constrain the air pressure target value P based on the knuckle bending angle θ. target When θ > preset safety threshold θ max Send a reset command to the pressure mapping unit to make P target =0, achieving over-bending protection when θ≤θ max Then, based on the pre-stored safety motion curve P max (θ) will output P target The constraint is min(P) target ,P max (θ) is output to the valve control command unit, thereby realizing biomechanical adaptive constraint.

[0041] Working principle: First, with the elastic band and Velcro forming an adjustable binding structure, the glove support is put on the hand to be rehabilitated. Then, the micro air pump is activated. The gas generated by the micro air pump is delivered to the branch air tube through a multi-channel solenoid valve. The airflow is then distributed to the five fingers through the branch air tube. The branch air tube passes through an inflatable braided mesh tube and is fixed at the end inside a rubber air bladder. The rubber air bladder is placed inside the glove support. The outer wall of the glove support is covered with an inflatable braided mesh tube, thus forming a biomimetic tendon structure.

[0042] When the gas is injected into the rubber air bag, the air bag expands to push the radial expansion, and then the net tube is axially contracted, so as to drive the glove support to bend, and then drive the knuckle to flex.

[0043] The application provides a wearable rigid-flexible coupling force feedback single-finger skeleton.

[0044] 1、The rigid-flexible coupling mechanical framework combined with the pneumatic artificial muscle in the application realizes the humanized flexion and extension driving under the PWM linear control of the pressure regulation unit, eliminates the rigid impact of the traditional motor, makes the output force curve fit the natural motion characteristics of the human body, reduces the weight of the whole machine by more than 60%, and further significantly improves the wearing comfort of patients.

[0045] 2、The application realizes the real-time capture of physiological states through multiple source sensing, analyzes signals and generates target force instructions in combination with a central processing module, realizes two-stage mapping of the gas pressure target value to the electromagnetic valve duty cycle based on the PID algorithm, and further forms a technical closed loop of physiological signals, force feedback and pneumatic execution, which supports five-finger independent control and multi-rehabilitation mode switching, meets the individual training needs in different stages of disease, and has a medical level standard of force control accuracy.

[0046] 3、The application realizes real-time monitoring of θ through joint angle sensing, and the motion constraint module forcibly cuts off the driving force when θ is over limited, and dynamically constrains the upper limit of the gas pressure according to the biomechanical curve P max (θ) within the safety range, so that the design converts the medical rules of clinical joint range of motion into the safety boundary of the equipment, eliminates the risk of over-flexion injury, and makes the rehabilitation training have biocompatibility and therapeutic effectiveness. DETAILED DESCRIPTION

[0047] Figure 1 It is a perspective view of a wearable rigid-flexible coupling force feedback single-finger skeleton;

[0048] Figure 2 It is a schematic diagram of a micro gas pump of a wearable rigid-flexible coupling force feedback single-finger skeleton;

[0049] Figure 3 It is a schematic diagram of a branch gas pipe of a wearable rigid-flexible coupling force feedback single-finger skeleton;

[0050] Figure 4 It is a framework diagram of a rehabilitation glove system based on the wearable rigid-flexible coupling force feedback single-finger skeleton;

[0051] Figure 5 It is a schematic diagram of a pneumatic driving module of a rehabilitation glove system based on the wearable rigid-flexible coupling force feedback single-finger skeleton;

[0052] Figure 6A sensing module schematic diagram of a wearable rigid-flexible coupling force feedback single finger skeleton-based rehabilitation glove system according to the present application;

[0053] Figure 7 A central control module schematic diagram of a wearable rigid-flexible coupling force feedback single finger skeleton-based rehabilitation glove system according to the present application;

[0054] Figure 8 An energy management module schematic diagram of a wearable rigid-flexible coupling force feedback single finger skeleton-based rehabilitation glove system according to the present application.

[0055] Wherein, 1, protective shell; 2, micro air pump; 3, multi-channel electromagnetic valve; 4, branch air pipe; 5, elastic band; 6, magic tape; 7, glove support; 8, inflatable braided mesh tube; 9, rubber air bag; 10, limiting block. DETAILED DESCRIPTION

[0056] The technical solutions of the present application will be described clearly and completely below in combination with the drawings of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0057] Please refer to the drawings of the present application Figure 1 - the drawings of the present application Figure 3 The present application provides a wearable rigid-flexible coupling force feedback single finger skeleton, comprising a protective shell 1, characterized in that: the inside of the protective shell 1 is provided with a micro air pump 2, the output end of the micro air pump 2 is fixedly provided with a multi-channel electromagnetic valve 3, the output end of the multi-channel electromagnetic valve 3 is fixedly provided with a branch air pipe 4, the outer wall of the branch air pipe 4 is provided with a limiting block 10, the outer wall of the limiting block 10 is fixedly connected with a glove support 7, the outer wall of the glove support 7 is provided with an inflatable braided mesh tube 8, the inside of the glove support 7 is provided with a rubber air bag 9, the branch air pipe 4 passes through the inflatable braided mesh tube 8 and is fixedly connected in the inside of the rubber air bag 9, and the outer wall of the glove support 7 is provided with a limiting assembly.

[0058] Specifically, the protection shell 1 protects the micro air pump 2 and the multi-channel electromagnetic valve 3, thereby improving the overall impact resistance; the micro air pump 2 provides compressed gas, which is independently distributed to the five fingers through the direct connection electromagnetic valve 3, thereby achieving the effect of single-gas-source driving multiple fingers; the limiting block 10 supports the limiting branch air pipe 4, thereby eliminating the displacement deviation of the branch air pipe 4 during use; the glove support 7 constitutes the overall pneumatic muscle, and the glove support 7 adopts a double-layer structure, with the outer layer being an inflatable woven mesh tube 8 and the inner layer being a flexible inflatable woven mesh tube 8 that automatically shrinks when inflated, thereby driving the knuckle movement, thereby simulating the biomechanical properties of human flexor tendons.

[0059] Please refer to the attached Figure 1 - attached Figure 3 The limiting assembly includes an elastic band 5, the outer wall of the elastic band 5 is fixedly connected to the outer wall of the glove support 7, and the outer wall of the elastic band 5 is fixedly connected with a magic tape 6, and the outer wall of the magic tape 6 is attached to the outer wall of the glove support 7.

[0060] Specifically, the overall glove adopts a lightweight and detachable design, which is fixed on the hand through the elastic band 5 and the magic tape 6, and is made of TPU and silicone fabric composite material, which is soft and comfortable and can withstand high-frequency inflation and deflation.

[0061] Please refer to the attached Figure 4 A rehabilitation glove system based on a wearable rigid-flexible coupling force feedback single-finger skeleton, for the wearable rigid-flexible coupling force feedback single-finger skeleton, comprising the following modules:

[0062] Single-finger skeleton array module: containing 5 single-finger skeletons, respectively corresponding to five fingers;

[0063] Pneumatic driving module: connected to the single-finger execution array module, for providing controllable air pressure to each rubber air bag 9;

[0064] Sensing module: connected to the central control module, for collecting user hand physiological signals;

[0065] Central control module: connected to the pneumatic control module and the sensing module, for generating force feedback instructions according to physiological signals and controlling the pneumatic control module;

[0066] Energy management module: connected to all electrical modules, for powering all electrical modules.

[0067] Specifically, by fitting five independent wearable rigid-flexible coupling force feedback single finger skeletons to five fingers, the modularized finger driving effect is achieved, and the five-finger motion decoupling control effect is achieved; through the micro air pump 2, the airflow is distributed to each rubber air bag 9 through the multi-channel electromagnetic valve 3, and the centralized air supply and independent control of the fingers are achieved; through the electromyographic sensor, the muscle electrical signal is collected, the finger pressure sensor monitors the gripping force, and the finger joint angle sensing unit detects the bending angle θ, which realizes the multi-modal physiological signal fusion sensing function; through the mode selection unit, the rehabilitation strategy is called, and the safe closed-loop adaptive control function is realized; through the voltage conversion unit, the 12V lithium battery is converted to 5V, and the power consumption management unit is intelligently hibernated, which realizes the function of dynamic optimization of energy efficiency.

[0068] Please refer to the attached Figure 5 , the pneumatic control module comprises:

[0069] Air source unit: for generating constant pressure airflow;

[0070] Air flow distribution unit: for independent control of the on-off of each finger bone airflow;

[0071] Pressure regulation unit: by adjusting the PWM duty cycle of the multi-channel electromagnetic valve 3 to change the airflow, the linear control of the air pressure in the rubber air bag 9 is realized.

[0072] Specifically, the air source unit generates constant pressure airflow through the micro air pump 2, which provides a stable power source; the air flow distribution unit independently controls the on-off of each branch air pipe 4 through the multi-channel electromagnetic valve 3, which realizes the precise distribution of branch airflow; the pressure regulation unit dynamically adjusts the opening degree of the electromagnetic valve 3 through the PWM duty cycle, which realizes the linear control of the air pressure in the rubber air bag 9, and further realizes the effect of continuous stepless adjustment of output force.

[0073] Please refer to the attached Figure 6 , the sensing module comprises:

[0074] Electromyographic signal acquisition unit: for capturing user hand muscle electrical signal;

[0075] Pressure feedback unit: for real-time monitoring of gripping force;

[0076] Finger joint angle sensing unit: for real-time detection of finger joint bending angle θ;

[0077] Signal preprocessing unit: filters and amplifies the electromyographic signal, and converts the pressure signal to digital signal through ADC, and outputs the digital signal to the central processing module.

[0078] Specifically, the electromyographic signal acquisition unit captures electromyographic signals through surface electrodes arranged on the wrist fixing belt, thereby playing a role of non-invasive monitoring of muscle activation state; the pressure feedback unit monitors the gripping force in real time through the finger pulp integrated thin film pressure sensor, thereby playing a role of quantifying the hand biomechanical load; the finger joint angle sensing unit detects the bending angle θ through the angle encoder at the hinge of the 7-finger joint of the glove support, thereby playing a role of dynamically tracking the joint motion trajectory; the signal preprocessing unit performs 50Hz power frequency filtering / 1000 times amplification on the electromyographic signal and 24-bit ADC conversion on the pressure signal, thereby playing a role of multi-source signal noise reduction and digital fusion.

[0079] Please refer to the attached Figure 7 , the central processing module comprises:

[0080] The mode selection unit is used for storing three rehabilitation training modes of passive traction, active resistance and game interaction;

[0081] The signal analysis unit is used for receiving the preprocessed signals of the sensing module, extracting the electromyographic signal intensity E emg and the real-time gripping force F actual ;

[0082] The force feedback generation unit calculates the target feedback force F target of each phalanx according to the selected training mode and E emg and F actual ;

[0083] The air pressure mapping unit is used for converting F target into the air pressure target value P target of the corresponding rubber air bag 9;

[0084] The valve control instruction unit generates the PWM duty cycle instruction of the multi-channel electromagnetic valve 3 according to the air pressure target value P target .

[0085] Specifically, the mode selection unit stores three rehabilitation training modes of passive traction, active resistance and game interaction, thereby playing a role of adapting to the needs of different rehabilitation stages, and further achieving the effect of flexible switching of personalized training strategies; the signal analysis unit extracts the electromyographic intensity E emg and the real-time gripping force F actual in the preprocessed signals of the sensing module, thereby playing a role of quantifying the motion intention and biomechanical state of the user, and further achieving the effect of providing decision basis for force feedback generation; the force feedback generation unit calculates the target feedback force F emg by combining the selected training mode, E actual and F target , thereby playing a role of dynamically generating rehabilitation driving instructions, and further achieving the effect of accurately matching the rehabilitation needs of the user; the air pressure mapping unit converts F targetConvert the air pressure target value P of the rubber air bag 9 target , which plays a role in realizing the mapping of biomechanical signals to physical driving, and thus achieves the effect of precise response of the pneumatic actuator; the valve control instruction unit generates the PWM duty cycle instruction of the multi-channel electromagnetic valve 3 according to P target , which plays a role in dynamically adjusting air distribution, and thus achieves the effect of independent force control of each finger.

[0086] Wherein the air pressure target value P target is generated by the following formula:

[0087] P target = K p ·(F target -F actual )+ K i ·∑(F target -F actual )Δt

[0088] Wherein, F target is the expected force value output by the force feedback generation unit, unit: N; F actual is the real-time grip force collected by the pressure feedback unit, unit: N; K p is the proportional coefficient, K i is the integral coefficient, stored in the mode selection unit, and set according to different rehabilitation modes;△t is the control period time, unit: s.

[0089] Specifically, the proportional term K p ·(F target -F actual ) responds to the force deviation in real time, plays a role in quickly tracking the target force value, and thus achieves the effect of improving the real-time performance of force feedback; the integral term K i ·∑(F target -F actual )Δt continuously corrects the historical deviation, plays a role in eliminating steady-state error, and thus achieves the effect of ensuring long-term accuracy of force control; by dynamically calling K p , K i coefficients from the mode selection unit, it plays a role in matching the control needs of different rehabilitation scenes, and thus achieves the effect of flexible switching of control strategies.

[0090] The valve control instruction unit adjusts the PWM duty cycle D according to P target and the real-time air pressure P actual of the rubber air bag 9 according to the PID algorithm, and then writes D into the drive register of the multi-channel electromagnetic valve 3 to control the air flow, wherein the calculation formula of the duty cycle D is as follows:

[0091] D = D base + K p_valve ·(Ptarget -P actual )

[0092] wherein D base is the reference duty cycle, K p_valve is the valve proportional coefficient; the real-time air pressure P actual is obtained through the pneumatic driving module detection.

[0093] Specifically, through the proportional adjustment term K p_valve ·(P target -P actual ), the real-time response air pressure deviation plays a role in quickly approaching the target air pressure, thereby achieving the effect of improving the response agility of the air path; through the reference duty cycle D base maintains the system basic airflow, which plays a role in ensuring the pre-tightening force of the pneumatic muscle, thereby achieving the effect of avoiding the hysteresis phenomenon of the actuator; by writing the duty cycle D into the electromagnetic valve driving register, it plays a role in digital adjustment of the valve opening, thereby achieving the effect of realizing continuous and accurate control of air flow.

[0094] Please refer to the attached Figure 8 , the energy management module:

[0095] Lithium cell: rechargeable battery pack, rated voltage 12V;

[0096] Voltage conversion unit: used to convert 12V to 5V and 24V;

[0097] Power consumption management unit: used to turn off the air pump power supply when there is no operation, and only maintain the standby of the sensing module.

[0098] Specifically, the lithium cell provides 12V basic voltage through the rechargeable battery pack, which plays a role in mobile energy supply, thereby achieving the effect of supporting the device to work away from the fixed power supply; the voltage conversion unit converts the 12V basic voltage into 5V and 24V dual output, which plays a role in adapting to the working voltage of different electrical modules, thereby achieving the effect of ensuring the collaborative operation of electronic components and pneumatic systems; the power consumption management unit turns off the air pump power supply when there is no operation and maintains the standby of the sensing module, which plays a role in dynamic optimization of energy distribution, thereby achieving the effect of significantly prolonging the continuous operation time of the device.

[0099] Please refer to the attached Figure 4 , it also includes a motion constraint module, which is used to receive the bending angle θ detected by the finger joint angle sensing unit, and dynamically constrain the air pressure target value P target according to the finger joint bending angle θ; when θ> preset safety threshold θ max , send a reset command to the air pressure mapping unit to make P target =0, realize over-flex protection, when θ≤θ maxThen, based on the pre-stored safety motion curve P max (θ) will output P target The constraint is min(P) target ,P max (θ) is output to the valve control command unit, thereby realizing biomechanical adaptive constraint.

[0100] Specifically, by when θ>θ max Forced P target =0, which cuts off the pneumatic drive, thereby preventing injury from excessive joint flexion; by when θ≤θ max Press P at time max (θ) Curve constraint P target This plays a role in dynamically matching the load-bearing capacity of the joints, thereby ensuring the biocompatibility of rehabilitation training.

[0101] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wearable rigid-flexible coupling force feedback single finger skeleton comprising a protective shell (1), characterized in that: The inside of the protective shell (1) is provided with a micro air pump (2), the output end of the micro air pump (2) is fixedly provided with a multi-channel electromagnetic valve (3), the output end of the multi-channel electromagnetic valve (3) is fixedly provided with a branch air pipe (4), the outer wall of the branch air pipe (4) is provided with a limiting block (10), the outer wall of the limiting block (10) is fixedly connected with a glove support (7), the outer wall of the glove support (7) is provided with an inflatable woven mesh tube (8), the inside of the glove support (7) is provided with a rubber air bag (9), the branch air pipe (4) passes through the inflatable woven mesh tube (8) and is fixedly connected in the inside of the rubber air bag (9), and the outer wall of the glove support (7) is provided with a limiting assembly.

2. The wearable rigid-flexible coupling force feedback single finger exoskeleton according to claim 1, wherein: The limiting assembly comprises an elastic band (5), the outer wall of the elastic band (5) is fixedly connected to the outer wall of the glove support (7), and the outer wall of the elastic band (5) is fixedly connected with a magic tape (6), and the outer wall of the magic tape (6) is attached to the outer wall of the glove support (7).

3. A rehabilitation glove system based on a wearable rigid-flexible coupled force feedback single-finger skeleton, characterized in that, A wearable rigid-flexible coupling force feedback single finger skeleton for any one of claims 1 and 2, comprising the following modules: Single finger skeleton array module: contains 5 single finger skeletons, corresponding to five fingers respectively; Pneumatic driving module: connected to the single finger execution array module, for providing controllable air pressure to each rubber air bag (9); Sensing module: connected to the central control module, for collecting user hand physiological signals; Central control module: connected to the pneumatic control module and the sensing module, for generating force feedback instructions according to physiological signals, and regulating the pneumatic control module; Energy management module: connected to all electrical modules, for powering all electrical modules.

4. The wearable rigid-flexible coupling force feedback-based single-finger skeleton rehabilitation glove system according to claim 3, characterized in that: The pneumatic control module comprises: Air source unit: for generating constant pressure air flow; Air flow distribution unit: for independently controlling the on-off of each finger bone air flow; Pressure regulation unit: changes the air flow by adjusting the PWM duty cycle of the multi-channel electromagnetic valve (3), realizing the linear control of the air pressure in the rubber air bag (9).

5. The wearable rigid-flexible coupling force feedback-based single-finger skeleton rehabilitation glove system according to claim 3, characterized in that: The sensing module comprises: Myoelectric signal acquisition unit: for capturing user hand muscle electrical signals; Pressure feedback unit: for real-time monitoring of gripping force; Finger joint angle sensing unit: for real-time detection of finger joint bending angle θ; Signal preprocessing unit: filters and amplifies the myoelectric signal, and performs ADC conversion on the pressure signal to output a digital signal to the central processing module.

6. The wearable rigid-flexible coupling force feedback-based single-finger skeleton rehabilitation glove system according to claim 3, characterized in that: The central processing module comprises: Mode selection unit: for storing passive traction, active resistance and game interaction three kinds of rehabilitation training modes; Signal analysis unit: for receiving the preprocessed signal of the sensing module, extracting the electromyogram signal intensity E emg and real-time grip force F actual ; Force feedback generation unit: according to the selected training mode and E emg and F actual , the target feedback force F target of each finger bone is calculated; The air pressure mapping unit is configured to map the F target to a target air pressure value P target for the corresponding rubber airbag (9). Valve control command unit: generates a PWM duty command based on the target air pressure P target Generates a PWM duty command for the multi-channel solenoid valve (3).

7. The wearable rigid-flexible coupling force feedback-based single-finger skeleton rehabilitation glove system according to claim 6, characterized in that: The air pressure target value P target Generated by the following equation: P target = K p · (F target - F actual ) + K i ·∑(F target - F actual )Δt Wherein, F target is the expected force value output by the force feedback generation unit, unit: N; F actual is the real-time gripping force collected by the pressure feedback unit, unit: N; K p is the proportional coefficient, K i is the integral coefficient, stored in the mode selection unit, set according to different rehabilitation modes;△t is the control period time, unit: s.

8. The wearable rigid-flexible coupling force feedback-based single-finger skeleton rehabilitation glove system according to claim 6, characterized in that: The valve control instruction unit adjusts the PWM duty ratio D according to P target The real-time air pressure P of the rubber air bag (9) actual The PWM duty ratio D is adjusted according to the PID algorithm, and then D is written into the drive register of the multi-channel electromagnetic valve (3) to control the air flow, wherein the calculation formula of the duty ratio D is as follows: D = D base + K p_valve · (P target - P actual ) Wherein D base is the reference duty cycle, K p_valve is the valve proportional coefficient; real-time air pressure P actual Obtained by the pneumatic drive module detection.

9. The wearable rigid-flexible coupling force feedback-based single-finger skeleton rehabilitation glove system according to claim 3, characterized in that: The energy management module: Lithium cell unit: a rechargeable battery pack with a rated voltage of 12V; Voltage conversion unit: for converting 12V to 5V and 24V; Power consumption management unit: for turning off the air pump power supply when there is no operation, and only maintaining the standby of the sensing module.

10. The wearable rigid-flexible coupling force feedback-based single-finger skeleton rehabilitation glove system according to claim 3, characterized in that: The motion constraint module is used for receiving the bending angle θ detected by the metacarpophalangeal joint angle sensing unit and dynamically constraining the air pressure target value P according to the metacarpophalangeal joint bending angle θ target When θ> preset safety threshold θ max , a reset instruction is sent to the air pressure mapping unit to make P target =0, overflexion protection is realized, and when θ≤θ max , the output P max is limited to min(P target , P max (θ)) according to the pre-stored safety motion curve P target (θ) and is output to the valve control instruction unit, so that biomechanical adaptive constraint is realized.

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