A method and device for assessing finger muscle tone based on bidirectional active traction

Abstract

This application relates to a method and apparatus for assessing finger muscle tension based on bidirectional active traction. The method includes a control drive unit that sequentially performs a first active traction operation and a second active traction operation on a target finger, causing the target finger to be in a bent state pointing in a first direction and then return to its initial state. First and second drive response information of the drive unit performing the first active traction operation are acquired. A finger muscle tension assessment result characterizing the target finger is generated based on the first and second drive response information. Without relying on an elastic return element, active traction in both the bending and straightening directions is applied to the target finger using the same drive unit. The finger muscle tension characteristics are assessed based on the drive response information obtained during the bidirectional active traction process. By acquiring the finger's response characteristics in different movement directions through the complete bending and straightening motion process, an objective and stable assessment of finger muscle tension characteristics is achieved.

Description

Technical Field

[0001] This application relates to the field of medical assistive device technology, and in particular to a method and device for assessing finger muscle tone based on bidirectional active traction. Background Technology

[0002] Muscle tension is the degree of muscle tension in a relaxed, resting state. Muscle tone is fundamental for maintaining various body postures and normal movement. Finger muscle tone is an important indicator reflecting the biomechanical properties of the hand muscles, tendons, and related soft tissues, and it plays a crucial role in the rehabilitation assessment and training of patients with nerve injuries, stroke, spinal cord injuries, and upper motor neuron diseases. Objective and repeatable assessment of finger muscle tone helps guide the development and adjustment of rehabilitation training programs and improves the safety and effectiveness of the rehabilitation process.

[0003] Existing methods for assessing finger muscle tone mainly include manual assessment and mechanically assisted assessment. Among them, manual assessment methods usually rely on the rehabilitation therapist's subjective feelings or grading judgments during passive finger traction. The assessment results are easily affected by factors such as the operator's experience, traction speed, and force application method, resulting in strong subjectivity and poor repeatability and consistency.

[0004] To improve the objectivity of assessments, some mechanically assisted methods have been developed that apply traction or stretching movements to the fingers using devices, combined with force sensors or other measurement methods to obtain mechanical information during the traction process. These methods typically employ unidirectional passive stretching, causing the fingers to extend under external force, and infer muscle tone characteristics based on the force values ​​obtained during stretching or their maximum values. However, such methods generally have the following shortcomings: On the one hand, the unidirectional passive stretching process is difficult to reflect the differences in the mechanical response of the fingers under different directions of movement, ignores the dynamic characteristics during loading and retraction, and is difficult to fully characterize the overall characteristics of finger muscle tension. On the other hand, passive stretching methods often rely on elastic elements, natural return, or the reaction force of the tissue being tested to complete the movement process. The conditions for switching the traction direction are uncontrollable, and additional non-physiological mechanical factors can easily be introduced during the stretching and return process, thereby affecting the stability and reliability of the evaluation results.

[0005] In addition, some existing methods reduce dynamic disturbances by limiting the stretching speed or emphasizing uniform stretching conditions, but it is still difficult to avoid the uncertainty in the return phase. Moreover, the evaluation process often only focuses on mechanical information in a single direction or a single phase, and the evaluation dimensions are relatively simple. Summary of the Invention

[0006] This application provides a method and device for assessing finger muscle tone based on bidirectional active traction, which at least solves the problems of poor mechanical response and low assessment stability in the related art when measuring finger muscle tone.

[0007] In a first aspect, embodiments of this application provide a method for assessing finger muscle tone based on bidirectional active traction, including: Position the target finger in its initial, naturally extended position; The control drive unit performs a first active traction operation on the target finger, causing the target finger to be in a bent state pointing in a first direction, and obtains the first drive response information of the drive unit performing the first active traction operation; The drive unit is controlled to perform a second active traction on the target finger in the bent state, so that the target finger moves to the initial state in a direction opposite to the first direction, and the second drive response information of the drive unit executing the second active traction operation is obtained; A finger muscle tension assessment result characterizing the target finger is generated based on the first drive response information and the second drive response information.

[0008] In one embodiment, the natural state is the state of the target finger under the condition that the elastic return element support is removed.

[0009] In one embodiment, the movement speed of the target finger in the first active traction operation and the second active traction operation is lower than a preset speed threshold.

[0010] In one embodiment, the displacement of the target finger in the first active traction operation and the second active traction operation is lower than a preset displacement threshold.

[0011] In one embodiment, generating a finger muscle tension assessment result characterizing the target finger based on the first drive response information and the second drive response information includes: The drive unit is controlled to repeatedly execute the first active traction operation and the second active traction operation, and at least two first drive response information and at least two second drive response information are acquired; The first mechanical response characteristics of the target finger during the forward loading process are determined based on at least two of the first driving response information, and the second mechanical response characteristics of the target finger during the reverse retraction process are determined based on at least two of the second driving response information. Based on the first and second mechanical response characteristics, a finger muscle tension assessment result characterizing the target finger is generated.

[0012] In one embodiment, controlling the drive unit to repeatedly execute the first active traction operation and the second active traction operation, and acquiring at least two first drive response information pieces and at least two second drive response information pieces, includes: The control drive unit drives the traction mechanism to repeatedly perform the first active traction operation and the second active traction operation on the target finger according to the preset traction parameters; Collect first drive response information related to the first active traction operation and the second active traction operation, as well as at least two second drive response information.

[0013] In one embodiment, generating a finger muscle tension assessment result characterizing the target finger based on the first mechanical response characteristic and the second mechanical response characteristic includes: The first mechanical response characteristic is used as the basic mechanical response characteristic of the target finger under low-speed or quasi-static traction conditions, and the second mechanical response characteristic is used as the changing mechanical response characteristic of the target finger under different traction conditions. The first mechanical response characteristic and the second mechanical response characteristic are compared and calculated to obtain a muscle tension characteristic quantity used to characterize the difference in mechanical response of the target finger, and the muscle tension assessment result of the finger is obtained based on the muscle tension characteristic quantity.

[0014] Secondly, embodiments of this application provide a finger muscle tone assessment device based on bidirectional active traction, comprising: An initial fixation unit is used to place the target finger in its natural, straight initial state. The main control unit is used to control the drive unit to perform a first active traction operation on the target finger, so that the target finger is in a bent state pointing in a first direction, and to obtain the first drive response information of the drive unit performing the first active traction operation; The main control unit is also used to control the drive unit to perform a second active traction on the target finger in the bent state, so that the target finger moves to the initial state in a direction opposite to the first direction, and to obtain the second drive response information of the drive unit performing the second active traction operation; An evaluation unit is used to generate a finger muscle tension evaluation result characterizing the target finger based on the first drive response information and the second drive response information.

[0015] Thirdly, embodiments of this application provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the finger muscle tension assessment method based on bidirectional active traction as described in the first aspect above.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the finger muscle tension assessment method based on bidirectional active traction as described in the first aspect above.

[0017] The finger muscle tension assessment method and device based on bidirectional active traction provided in this application have at least the following technical effects.

[0018] Without relying on elastic return elements, the target finger is subjected to active traction in both bending and extension directions sequentially using the same drive unit. The finger muscle tone characteristics are evaluated based on the drive response information obtained during the bidirectional active traction process. By acquiring the finger's response characteristics in different movement directions through the complete bending and extension motion process, an objective and stable assessment of finger muscle tone characteristics can be achieved without relying on passive return or elastic elements.

[0019] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a flowchart of the finger muscle tone assessment method based on bidirectional active traction provided in the embodiments of this application; Figure 2 This is a schematic diagram of active traction in the finger bending direction provided in an embodiment of this application; Figure 3 This is a schematic diagram of active traction in the direction of finger extension provided in the embodiments of this application; Figure 4 This is a flowchart illustrating step S40 provided in an embodiment of this application; Figure 5 This is a structural block diagram of the finger muscle tone assessment device based on bidirectional active traction provided in the embodiments of this application; Figure 6 This is a structural diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0022] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0023] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0024] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0025] Based on the above, this application provides a method and device for assessing finger muscle tension based on bidirectional active traction.

[0026] Firstly, such as Figures 1 to 6As shown, this application provides a method for assessing finger muscle tone based on bidirectional active traction. Figure 1 This is a flowchart of the method, including: Step S10: Position the target finger in its initial, naturally extended state.

[0027] The target finger is the finger to be tested for finger muscle tone. To improve the accuracy of the finger muscle tone test, the target finger needs to be in a natural state.

[0028] Existing finger muscle tone tests often use straps or other components to fix the target finger. However, once fixed, the finger is subjected to external force, causing the finger muscles to be in a tense state, which affects the finger muscle tone test. Therefore, this embodiment requires that the target finger be in a natural, straight state before the finger muscle tone test. Here, "natural state" refers to the state of the target finger without the support of the elastic return element, ensuring that the target finger is not affected by any external force before the finger muscle tone test.

[0029] Step S20: Control the drive unit to perform a first active traction operation on the target finger, so that the target finger is in a bent state pointing in the first direction, and obtain the first drive response information of the drive unit performing the first active traction operation.

[0030] Among them, the active traction in the finger muscle tone test is based on the neuromuscular physiological regulation mechanism and the principle of mechanical balance. It quantitatively assesses muscle tone, nerve reflexes, and joint-muscle synergy through the interaction of "subject's active muscle contraction + tester's controllable reverse traction". The core is to achieve an objective assessment of muscle tone through the coordinated cooperation of the subject's active movement initiation and the tester's controllable reverse force application.

[0031] like Figure 2 As shown, the drive unit applies active traction in a first direction to the target finger, causing it to bend in a controlled manner. During the transition from the initial state to the bending motion, the drive unit applies traction to the target finger according to a preset execution method and acquires first drive response information corresponding to the bending motion. This first drive response information reflects the working state of the drive system during the bending traction process, including one or more parameters characterizing the traction process. Typical parameters include recording the maximum range of motion (ROM) of the active movement using a joint angle gauge, and recording the peak resistance when traction reaches the limit of motion using a force gauge. The yellow arrows indicate the movement directions of the drive unit and the traction components.

[0032] Step S30: Control the drive unit to perform a second active traction on the target finger in a bent state, so that the target finger moves to the initial state in a direction opposite to the first direction, and obtain the second drive response information of the drive unit performing the second active traction operation.

[0033] Among them, such as Figure 3 As shown, the drive unit applies active traction in a second direction to the target finger, restoring it from its bent state in the previous step to its initial state. During the transition from the bent state to the initial state, the drive unit applies traction to the target finger according to a preset execution method, acquiring second drive response information during the traction process. The traction action to restore the initial state is also actively completed by the drive unit, rather than relying on elastic return or natural return processes. The yellow arrows indicate the movement directions of the drive unit and the traction components.

[0034] Step S40: Generate a finger muscle tension assessment result representing the target finger based on the first driving response information and the second driving response information.

[0035] Specifically, mechanical parameters, including resistance change patterns, resistance peaks, and resistance differences between the healthy and affected sides, are extracted from the first and second drive response information to assess the muscle tension of the target finger.

[0036] The proposed method for assessing finger muscle tone based on bidirectional active traction in this embodiment applies active traction to the target finger in both flexion and extension directions sequentially using the same driving unit without relying on elastic return elements. The finger muscle tone characteristics are then assessed based on the driving response information obtained during the bidirectional active traction process. By acquiring the finger's response characteristics in different movement directions through a complete flexion and extension motion process, an objective and stable assessment of finger muscle tone characteristics is achieved without relying on passive return or elastic elements.

[0037] It should be noted that during the process of the drive unit actively pulling the target finger in the above steps S20 and S30, the movement speed of the target finger in the first active traction operation and the second active traction operation is lower than the preset speed threshold, and the movement displacement of the target finger in the first active traction operation and the second active traction operation is lower than the preset displacement threshold.

[0038] The standard for traction speed is 10–15° / second. For healthy individuals or highly cooperative subjects, a moderate speed of 12–15° / second can be used to balance assessment efficiency and data accuracy. For those with nerve damage (such as stroke or cerebral palsy) or abnormal muscle tone, the speed should be reduced to a low of 10–12° / second to avoid excessively rapid traction inducing protective muscle spasms and interfering with the assessment of true muscle tone. Contraindications: Rapid traction exceeding 20° / second is strictly prohibited, as this speed will directly trigger defensive muscle contractions, leading to completely distorted assessment results. The traction speed is measured based on the rate of change of finger joint angle. For example, traction from 90° flexion (fist position) to 0° extension of the middle finger's metacarpophalangeal joint should be completed within 6–9 seconds.

[0039] The displacement is not a fixed length value and should be based on the physiological range of motion (ROM) of the joint, using a relative range limitation: the baseline range starts from the maximum angle of the subject's active movement (such as the limit of flexion angle of active fist clenching, the limit of extension angle of active finger extension), and is pulled in the antagonistic direction to the critical position of the joint's physiological range of motion, that is, the displacement is 10%–20% of the active range of motion (AROM); The traction endpoint corresponding to the safety threshold must meet two conditions: the tester can clearly perceive the change in resistance of muscle tension; and the subject does not experience joint pain or ligament traction.

[0040] For patients with dystonia, the displacement should be controlled within 10% of the AROM to avoid excessive traction that may worsen the spasm; for patients with bradystonia, the displacement can be appropriately extended to 20% of the AROM to fully assess the muscle's resistance.

[0041] For example, when a subject actively clenched his fist, the maximum flexion angle of the metacarpophalangeal joint was 80° (AROM=80°), and the displacement was 8–16°, that is, from 80° to the range of 64°-72°.

[0042] The purpose of limiting the movement speed is to avoid inducing false hypertonia. Muscles have the characteristic of "speed-dependent spasm". If the movement speed is too fast, it will stimulate the rapid stretch reflex of the muscle spindle, causing the muscle to produce non-specific defensive contraction, resulting in a misjudgment of "hypertonia". A speed of 10-15° / second can ensure that the muscle spindle only senses slow length changes, reflecting the true tension state of the muscle.

[0043] A fixed speed range eliminates interference from uneven force applied by the tester, ensuring consistent speed for both fingers and across different tests, thus making resistance data comparable. Low-speed traction avoids rapid stretching of the joint capsule and ligaments, making it particularly suitable for subjects with poor joint stability (such as those with rheumatoid arthritis or undergoing postoperative rehabilitation).

[0044] The purpose of limiting the displacement is to distinguish between "muscle tension resistance" and "joint structural resistance." If the displacement exceeds the physiological range of the joint, the resistance will come from the traction of ligaments and joint capsules, rather than the tension of the muscles themselves, causing the subject to deviate from the target. Limiting the displacement to 10%–20% of the AROM ensures that the resistance signal comes entirely from the muscles. For subjects with nerve damage or joint lesions, excessive traction may lead to joint dislocation or ligament sprain; limiting the safe range ensures the safety of the test. The resistance changes of different types of abnormal muscle tone are phased (e.g., the "folding knife phenomenon" of spasticity often occurs at the end of joint movement); limiting the displacement can focus on the key response range of muscle tone and avoid missing characteristic signals due to excessive traction.

[0045] In one embodiment, such as Figure 4 As shown, step S40 includes: Step S41: Control the drive unit to repeatedly execute the first active traction operation and the second active traction operation, and acquire at least two first drive response information and at least two second drive response information.

[0046] Step S42: Determine the first mechanical response characteristics of the target finger during the forward loading process based on at least two first driving response information, and determine the second mechanical response characteristics of the target finger during the reverse retraction process based on at least two second driving response information.

[0047] Step S43: Generate finger muscle tension assessment results characterizing the target finger based on the first mechanical response characteristics and the second mechanical response characteristics.

[0048] In practice, the active traction operations performed in this step include two types: slow repetition method and identification calculation method, as detailed below: Slow repetition method: The control drive unit repeatedly performs the first active traction operation and the second active traction operation on the target finger with preset low-speed traction parameters. The first active traction operation is a forward loading traction process, and the second active traction operation is a reverse retraction traction process. Under low-speed traction conditions, the kinetic energy change of the target finger can be ignored, so the drive work is mainly used to overcome the elastic potential energy and viscous resistance of the target finger.

[0049] During the first and second active traction operations, corresponding traction displacement and traction force information are collected respectively, and the work done by the first drive during the forward loading process is calculated. And the second drive work during the reverse retraction process .

[0050] Under slow traction conditions, the energy relationship of the target finger can be approximately expressed as the correspondence between Formula 1 and Formula 2: Formula 1; Formula 2; Furthermore, when the control drive unit first executes a set of finger bending traction movements, and then executes a set of finger straightening traction movements with opposite movement paths and the same traction speed, since the elastic potential energy of the target finger changes in opposite directions and has approximately equal amplitude during the two traction processes, and the energy consumption generated by viscous resistance under the same motion conditions is approximately the same, the energy characteristic quantity related to viscous resistance can be obtained by combining the work done in the two drives to eliminate the elastic potential energy term, as detailed in Formulas 3 and 4. Formula 3; Formula 4; Based on this, combined with the preset elastic potential energy model and viscous friction model, the energy distribution of the target finger during the traction process can be further modeled. The energy modeling form is not unique, and Formulas 5 and 6 below are only examples. Formula 5; Formula Six; in, This represents the elastic coefficient for each finger. To correspond to the coefficient of friction of each finger, This indicates the angle of increase from the initial state when different fingers are bent. Indicates the radius of different finger joints.

[0051] The energy characteristic quantities corresponding to each phalanx are associated with the phalanx bending angle and geometric parameters, and a muscle tension evaluation coefficient is introduced to characterize the mechanical response intensity of each phalanx. The muscle tension evaluation coefficient of each phalanx can be calculated through the corresponding coefficient term.

[0052] Here, the bending angle represents the amount of bending change of the target finger relative to its initial state, and the knuckle radius represents the equivalent geometric radius of the corresponding finger joint. Based on the combined results of the muscle tension assessment coefficients of each knuckle, a muscle tension assessment result is generated to characterize the overall muscle tension state of the target finger.

[0053] Identification and Calculation Method: It is assumed that the centroid of each phalanx coincides with its geometric center, and that during the actuation process, the target finger completes a bending motion within a single plane. The thumb and other fingers can be modeled and calculated independently. The control and actuation unit drives the target finger to perform an active bending traction operation, with the bending direction approximately parallel to the ground.

[0054] Given the work done by the first or second drive, acquire the structural and kinematic parameters related to the target finger, including at least the weight of each phalanx. ,length Joint radius and bending angle Based on the parameters, the kinetic energy, viscous frictional energy, and elastic potential energy of the target finger during the traction process are modeled, yielding the energy expression relationship of the target finger during active traction. The energy expression is shown in Equation 7: Formula 7; The total energy relationship of the target finger can be expressed as a functional relationship between the external driving input energy and the finger kinetic energy, viscous friction energy, and elastic potential energy. Furthermore, by eliminating or correcting the finger kinetic energy term in the total energy relationship, and combining it with a pre-defined viscous friction model and elastic potential energy model, parameter identification is performed on the energy expression relationship to obtain a muscle tension assessment coefficient used to characterize the muscle tension state of the target finger.

[0055] Methods for obtaining finger muscle tension based on drive response information at different traction speeds include: The control drive unit performs active traction operation on the target finger at at least two different traction speeds, wherein the first traction speed is a low-speed traction speed, used to acquire the first drive response information of the target finger under approximately quasi-static conditions; and the second traction speed is a high-speed traction speed, used to acquire the second drive response information of the target finger under speed variation conditions.

[0056] During active traction operations at different traction speeds, corresponding traction displacement and traction force information are collected. Based on the relationship between the collected traction force and traction displacement, the mechanical response characteristics of the target finger at different traction speeds are calculated.

[0057] The work done by the drive at different traction speeds can be expressed as follows: and Under the condition that the traction displacement trajectory is the same at different traction speeds, by comparing the work done at low speed and high speed traction, a speed-sensitive index is obtained to characterize the speed-related mechanical response characteristics of the target finger. This index can be expressed as the calculation relationship in Formula 8: Formula 8; Among them, the velocity-sensitive index is used to reflect the difference in the mechanical response of the target finger to changes in traction velocity. Based on the magnitude, trend of change, or normalization result of the velocity-sensitive index, a muscle tension assessment result is generated to characterize the muscle tension state of the target finger.

[0058] In one embodiment, step S41 includes: Step S411: The control drive unit drives the traction mechanism to repeatedly perform the first active traction operation and the second active traction operation on the target finger according to preset traction parameters. The traction parameters include at least traction speed, traction stroke, and traction direction.

[0059] Step S412: Collect first drive response information and at least two second drive response information related to the first active traction operation and the second active traction operation. The drive response information includes at least traction displacement information and drive output information related to traction force.

[0060] In practice, traction displacement information can be obtained through the rotation angle signal of the drive unit, the displacement sensor signal, or a combination thereof; drive output information related to traction force may include the output torque of the drive motor, the drive current, or the traction force information converted from the drive output information.

[0061] The drive response information collected during the first active traction operation is used as the first drive response information, and the drive response information collected during the second active traction operation is used as the second drive response information. By repeatedly executing the first active traction operation and the second active traction operation, at least two sets of first drive response information and at least two sets of second drive response information are obtained respectively.

[0062] The first and second driving response information are recorded and stored according to the traction time series or traction displacement series for subsequent mechanical response characteristic calculation and muscle tension assessment.

[0063] In one embodiment, step S43 includes: Step S431: The first mechanical response characteristic is used as the basic mechanical response characteristic of the target finger under low-speed or quasi-static traction conditions, and the second mechanical response characteristic is used as the changing mechanical response characteristic of the target finger under different traction conditions. Step S432: Compare and calculate the first mechanical response characteristics and the second mechanical response characteristics to obtain the muscle tension characteristic quantity used to characterize the difference in mechanical response of the target finger, and obtain the finger muscle tension assessment result based on the muscle tension characteristic quantity.

[0064] Feature extraction is performed on the first mechanical response characteristics obtained based on the first driving response information and the second mechanical response characteristics obtained based on the second driving response information. The features include at least the relationship between traction force and traction displacement during traction, the driving work characteristics, the energy change characteristics, and the equivalent mechanical parameters calculated from the features.

[0065] The first mechanical response characteristic is used as the basic mechanical response characteristic of the target finger under low-speed or quasi-static traction conditions, and the second mechanical response characteristic is used as the changing mechanical response characteristic of the target finger under different traction conditions. By comparing and calculating the first and second mechanical response characteristics, muscle tone characteristic quantities used to characterize the differences in mechanical response of the target finger are obtained.

[0066] Furthermore, muscle tone characteristics can be generated in any of the following ways: (1) Generated based on the difference relationship between the first mechanical response characteristics and the second mechanical response characteristics; (2) Generated based on the ratio relationship between the first mechanical response characteristic and the second mechanical response characteristic; (3) Generated based on the changing trend or fitting results between the first mechanical response characteristics and the second mechanical response characteristics; (4) The mechanical response characteristics obtained from multiple traction operations are statistically processed and generated.

[0067] Specifically, muscle tone features can be mapped to continuous numerical muscle tone assessment results to characterize the strength of muscle tone in the target finger; or, muscle tone features can be mapped to discrete hierarchical muscle tone assessment results to characterize the muscle tone state range to which the target finger belongs.

[0068] The muscle tone assessment results can be further used to record changes in muscle tone of the target finger at different times or in different training phases, or to adjust traction parameters to achieve individualized training or assessment for the target finger.

[0069] In summary, the finger muscle tension assessment method based on bidirectional active traction provided in this application applies active traction to the target finger sequentially in both the flexion and extension directions using the same driving unit. After completing the active traction in both directions, the driving response information obtained from the active traction processes in both directions is comprehensively determined, reflecting the comprehensive mechanical response characteristics of the finger during forward loading and reverse retraction. Thus, an objective and stable assessment of finger muscle tension characteristics is achieved without relying on passive return or elastic elements.

[0070] Secondly, embodiments of this application provide a finger muscle tone assessment device 500 based on bidirectional active traction. Figure 5 This is based on the block diagram of the device. For example... Figure 5 As shown, it includes: The initial fixing unit 510 is used to place the target finger in an initial state of natural extension.

[0071] The target finger is the finger to be tested for finger muscle tone. To improve the accuracy of the finger muscle tone test, the target finger needs to be in a natural state.

[0072] Existing finger muscle tone tests often use straps or other components to fix the target finger. However, once fixed, the finger is subjected to external force, causing the finger muscles to be in a tense state, which affects the finger muscle tone test. Therefore, this embodiment requires that the target finger be in a natural, straight state before the finger muscle tone test. Here, "natural state" refers to the state of the target finger without the support of the elastic return element, ensuring that the target finger is not affected by any external force before the finger muscle tone test.

[0073] The main control unit 520 is used to control the drive unit to perform a first active traction operation on the target finger, so that the target finger is in a bent state pointing in a first direction, and to obtain the first drive response information of the drive unit performing the first active traction operation.

[0074] Among them, the active traction in the finger muscle tone test is based on the neuromuscular physiological regulation mechanism and the principle of mechanical balance. It quantitatively assesses muscle tone, nerve reflexes, and joint-muscle synergy through the interaction of "subject's active muscle contraction + tester's controllable reverse traction". The core is to achieve an objective assessment of muscle tone through the coordinated cooperation of the subject's active movement initiation and the tester's controllable reverse force application.

[0075] like Figure 2 As shown, the drive unit applies active traction in a first direction to the target finger, causing it to bend in a controlled manner. During the transition from the initial state to the bending motion, the drive unit applies traction to the target finger according to a preset execution method and acquires first drive response information corresponding to the bending motion. This first drive response information reflects the working state of the drive system during the bending traction process, including one or more parameters characterizing the traction process. Typical parameters include recording the maximum range of motion (ROM) of the active movement using a joint angle gauge, and recording the peak resistance when traction reaches the limit of motion using a force gauge.

[0076] The main control unit 520 is also used to control the drive unit to perform a second active traction on the target finger in a bent state, so that the target finger moves to the initial state in a direction opposite to the first direction, and to obtain the second drive response information of the drive unit performing the second active traction operation.

[0077] Among them, such as Figure 3 As shown, the drive unit applies active traction in a second direction to the target finger, restoring it from the bent state presented in the previous step to its initial state. During the change from the bent state to the initial state, the drive unit applies traction to the target finger according to a preset execution method, acquiring second drive response information during the traction process. The traction action to restore the initial state is also actively completed by the drive unit, rather than relying on elastic return or natural return processes.

[0078] The evaluation unit 530 is used to generate a finger muscle tension evaluation result characterizing the target finger based on the first drive response information and the second drive response information.

[0079] Specifically, mechanical parameters, including resistance change patterns, resistance peaks, and resistance differences between the healthy and affected sides, are extracted from the first and second drive response information to assess the muscle tension of the target finger.

[0080] The finger muscle tension assessment device based on bidirectional active traction proposed in this embodiment applies active traction to the target finger in both bending and straightening directions sequentially using the same drive unit without relying on elastic return elements. The finger muscle tension characteristics are assessed based on the drive response information obtained during the bidirectional active traction process. By acquiring the finger's response characteristics in different movement directions through the complete bending and straightening motion process, an objective and stable assessment of finger muscle tension characteristics is achieved without relying on passive return or elastic elements.

[0081] It should be noted that the finger muscle tension assessment device based on bidirectional active traction provided in this embodiment is used to implement the above-described embodiments, and details already described will not be repeated. As used above, the terms "module," "unit," "subunit," etc., can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the above embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0082] Thirdly, embodiments of this application provide an electronic device, Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. (e.g.) Figure 6 As shown, the electronic device may include a processor 61 and a memory 62 storing computer program instructions.

[0083] Specifically, the processor 61 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0084] The memory 62 may include a large-capacity storage device for data or instructions. For example, and not limitingly, the memory 62 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 62 may include removable or non-removable (or fixed) media. Where appropriate, the memory 62 may be internal or external to a data processing device. In a particular embodiment, the memory 62 is non-volatile memory. In a particular embodiment, the memory 62 includes read-only memory (ROM) and random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), an electrically alterable read-only memory (EAROM), or flash memory, or a combination of two or more of these. Where appropriate, the RAM can be Static Random-Access Memory (SRAM) or Dynamic Random-Access Memory (DRAM). DRAM can be Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), Extended Data Out Dynamic Random-Access Memory (EDODRAM), Synchronous Dynamic Random-Access Memory (SDRAM), etc.

[0085] The memory 62 can be used to store or cache various data files that need to be processed and / or communicated, as well as possible computer program instructions executed by the processor 61.

[0086] The processor 61 reads and executes computer program instructions stored in the memory 62 to implement any of the finger muscle tension assessment methods based on bidirectional active traction in the above embodiments.

[0087] In one embodiment, the electronic device may further include a communication interface 63 and a bus 60. Wherein, as... Figure 6 As shown, the processor 61, memory 62, and communication interface 63 are connected through bus 60 and complete communication with each other.

[0088] The communication interface 63 is used to enable communication between the various modules, devices, units, and / or equipment in the embodiments of this application. The communication interface 63 can also enable data communication with other components such as external devices, image / data acquisition devices, databases, external storage, and image / data processing workstations.

[0089] Bus 60 includes hardware, software, or both, that couples the components of the electronic device together. Bus 60 includes, but is not limited to, at least one of the following: data bus, address bus, control bus, expansion bus, and local bus. For example, and not as a limitation, bus 60 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 60 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0090] Fourthly, embodiments of this application provide a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the finger muscle tension assessment method based on bidirectional active traction provided in the first aspect.

[0091] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0092] In a possible implementation, the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform steps implementing the finger muscle tension assessment method based on bidirectional active traction provided in the first aspect.

[0093] The program code for executing the present invention can be written in any combination of one or more programming languages. The program code can be executed entirely on the user device, partially on the user device, as a standalone software package, partially on the user device and partially on a remote device, or entirely on a remote device.

[0094] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, all of which fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for assessing finger muscle tone based on bidirectional active traction, characterized in that, include: The target finger is placed in its initial, naturally extended state, which is the state of the target finger under the condition that the elastic return element is removed; The control drive unit performs a first active traction operation on the target finger, causing the target finger to be in a bent state pointing in a first direction, and obtains the first drive response information of the drive unit performing the first active traction operation; The drive unit is controlled to perform a second active traction on the target finger in the bent state, so that the target finger moves to the initial state in a direction opposite to the first direction, and the second drive response information of the drive unit executing the second active traction operation is obtained; A finger muscle tension assessment result characterizing the target finger is generated based on the first drive response information and the second drive response information; The first active traction and the second active traction operation include a slow repetition method and an identification calculation method. In the slow repetitive method, during the first active traction operation and the second active traction operation, the corresponding traction displacement information and traction force information are collected respectively. The first driving work in the forward loading process and the second driving work in the reverse retraction process are calculated. The two driving works are combined to eliminate the elastic potential energy term and obtain the energy characteristic quantity related to viscous resistance. Combined with the preset elastic potential energy model and viscous friction model, the energy distribution of the target finger in the traction process is modeled. The energy characteristic quantity corresponding to each phalanx is associated with the phalanx bending angle and geometric parameters. A muscle tension evaluation coefficient is introduced to characterize the corresponding mechanical strength of each phalanx. The muscle tension evaluation coefficient of each phalanx is calculated through the corresponding coefficient term. Based on the combined result of the muscle tension evaluation coefficients of each phalanx, a muscle tension evaluation result is generated to characterize the overall muscle tension state of the target finger. In the identification and calculation method, the corresponding traction displacement information and traction force information are collected respectively. Based on the relationship between the collected traction force and traction displacement, the mechanical response characteristics of the target finger at different traction speeds are calculated. Under the condition that the traction displacement trajectory is the same at different traction speeds, by comparing the work done at low speed traction and high speed traction, a speed-sensitive index is obtained to characterize the speed-related mechanical response characteristics of the target finger. According to the magnitude, trend of change, or normalization result of the speed-sensitive index, the muscle tension assessment result is generated to characterize the muscle tension state of the target finger. The speed-sensitive index is used to reflect the difference in the mechanical response of the target finger to the change of traction speed.

2. The finger muscle tone assessment method based on bidirectional active traction according to claim 1, characterized in that, In both the first and second active traction operations, the movement speed of the target finger is lower than a preset speed threshold.

3. The finger muscle tone assessment method based on bidirectional active traction according to claim 1, characterized in that, In both the first and second active traction operations, the displacement of the target finger is lower than a preset displacement threshold.

4. The finger muscle tone assessment method based on bidirectional active traction according to claim 1, characterized in that, The step of generating a finger muscle tension assessment result characterizing the target finger based on the first drive response information and the second drive response information includes: The drive unit is controlled to repeatedly execute the first active traction operation and the second active traction operation, and at least two first drive response information and at least two second drive response information are acquired; The first mechanical response characteristics of the target finger during the forward loading process are determined based on at least two of the first driving response information, and the second mechanical response characteristics of the target finger during the reverse retraction process are determined based on at least two of the second driving response information. Based on the first and second mechanical response characteristics, a finger muscle tension assessment result characterizing the target finger is generated.

5. The finger muscle tone assessment method based on bidirectional active traction according to claim 4, characterized in that, The control of the drive unit to repeatedly execute the first active traction operation and the second active traction operation, and to acquire at least two first drive response information pieces and at least two second drive response information pieces, including: The control drive unit drives the traction mechanism to repeatedly perform the first active traction operation and the second active traction operation on the target finger according to the preset traction parameters; Collect first drive response information related to the first active traction operation and the second active traction operation, as well as at least two second drive response information.

6. The finger muscle tone assessment method based on bidirectional active traction according to claim 4, characterized in that, The step of generating a finger muscle tension assessment result characterizing the target finger based on the first mechanical response characteristic and the second mechanical response characteristic includes: The first mechanical response characteristic is used as the basic mechanical response characteristic of the target finger under low-speed or quasi-static traction conditions, and the second mechanical response characteristic is used as the changing mechanical response characteristic of the target finger under different traction conditions. The first mechanical response characteristic and the second mechanical response characteristic are compared and calculated to obtain a muscle tension characteristic quantity used to characterize the difference in mechanical response of the target finger, and the muscle tension assessment result of the finger is obtained based on the muscle tension characteristic quantity.

7. A finger muscle tone assessment device based on bidirectional active traction, characterized in that, include: An initial fixing unit is used to place the target finger in a natural, straight initial state, which is the state of the target finger under the condition that the elastic return element is removed; The main control unit is used to control the drive unit to perform a first active traction operation on the target finger, so that the target finger is in a bent state pointing in a first direction, and to obtain the first drive response information of the drive unit performing the first active traction operation; The main control unit is also used to control the drive unit to perform a second active traction on the target finger in the bent state, so that the target finger moves to the initial state in a direction opposite to the first direction, and to obtain the second drive response information of the drive unit performing the second active traction operation; An evaluation unit is used to generate a finger muscle tension evaluation result characterizing the target finger based on the first drive response information and the second drive response information; The first active traction and the second active traction operation include a slow repetition method and an identification calculation method. In the slow repetitive method, during the first active traction operation and the second active traction operation, the corresponding traction displacement information and traction force information are collected respectively. The first driving work in the forward loading process and the second driving work in the reverse retraction process are calculated. The two driving works are combined to eliminate the elastic potential energy term and obtain the energy characteristic quantity related to viscous resistance. Combined with the preset elastic potential energy model and viscous friction model, the energy distribution of the target finger in the traction process is modeled. The energy characteristic quantity corresponding to each phalanx is associated with the phalanx bending angle and geometric parameters. A muscle tension evaluation coefficient is introduced to characterize the corresponding mechanical strength of each phalanx. The muscle tension evaluation coefficient of each phalanx is calculated through the corresponding coefficient term. Based on the combined result of the muscle tension evaluation coefficients of each phalanx, a muscle tension evaluation result is generated to characterize the overall muscle tension state of the target finger. In the identification and calculation method, the corresponding traction displacement information and traction force information are collected respectively. Based on the relationship between the collected traction force and traction displacement, the mechanical response characteristics of the target finger at different traction speeds are calculated. Under the condition that the traction displacement trajectory is the same at different traction speeds, by comparing the work done at low speed traction and high speed traction, a speed-sensitive index is obtained to characterize the speed-related mechanical response characteristics of the target finger. According to the magnitude, trend of change, or normalization result of the speed-sensitive index, the muscle tension assessment result is generated to characterize the muscle tension state of the target finger. The speed-sensitive index is used to reflect the difference in the mechanical response of the target finger to the change of traction speed.

8. An electronic device, characterized in that, include memory, processor, and A computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the finger muscle tension assessment method based on bidirectional active traction as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the finger muscle tension assessment method based on bidirectional active traction as described in any one of claims 1 to 6.

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