A hand rehabilitation device, a control method and system of a hand rehabilitation device

Abstract

The application provides a hand recovery device, a control method and system thereof, and relates to the technical field of rehabilitation equipment. The method comprises the following steps: acquiring a training instruction in response to a user configuring a training action; calculating pulse signal parameters required by a motor according to the received training instruction; driving the motor based on the pulse signal parameters, so that the hand recovery device performs periodic bending and stretching movements; monitoring and estimating the bending angle of each joint component in real time; judging the bending state of a reference finger based on the bending angle, and controlling the hand recovery device to perform advanced training in combination with the current training mode of the wrist and the bending state of the reference finger; performing training safety control on the hand recovery device through the bending angle and a safety range; while realizing bionic actions such as grasping and rotating, the safety and adaptability of the training process are ensured, and the accuracy and reliability of the rehabilitation training are improved.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation equipment technology, and in particular to a hand recovery device, a control method for the hand recovery device, a system, a computer device, a computer-readable storage medium, and a computer program product. Background Technology

[0002] In the field of medical rehabilitation, the timeliness of treatment and training is crucial for patients with neurological diseases such as stroke. Research data shows that the rehabilitation effect and efficiency are most significant within 1-3 months after the onset of the disease. Missing this golden period significantly impacts the rehabilitation process, greatly reducing recovery outcomes. Among the many functional recovery issues, hand function recovery is particularly challenging. Compared to the lower limbs and other parts of the body, hand function recovery is not only more difficult but also slower. Without timely and effective scientific treatment, patients may face long-term hand dysfunction or even lifelong disability.

[0003] There is a close connection between hand function and brain activity; the nerve activity of the fingers can directly affect the functional state of the cerebral cortex. Therefore, restoring hand function can not only improve a patient's quality of life but also contribute to the recovery of brain function. However, current clinical treatment for hand function recovery mainly relies on a one-on-one treatment model with a physical therapist. This model requires the therapist to have high professional skills and physical strength, and the treatment cycle is long and expensive, making it unaffordable for many patients. Furthermore, due to the repetitive and monotonous nature of rehabilitation training, patients often struggle to maintain their motivation, further affecting the effectiveness of rehabilitation treatment.

[0004] This invention relates to a hand recovery device, a control method for the hand recovery device, a system, a computer device, a computer-readable storage medium, and a computer program product. Summary of the Invention

[0005] This specification provides a hand rehabilitation device, a control method for the hand rehabilitation device, a system, a computer device, a computer-readable storage medium, and a computer program product, to at least solve the problems of traditional hand rehabilitation devices, such as the large number of motors, complex and bulky systems, and difficulty in achieving bionic movements and flexible training. This invention achieves independent control of the five fingers of a single hand through an underactuated structure, significantly reducing the number of motors and the weight of the device. The pulse control-based motion scheme combined with multi-speed adjustment can adapt to the training needs of patients at different stages of rehabilitation. The introduction of sensor feedback and a dual safety mechanism ensures the safety and adaptability of the training process while achieving bionic movements such as grasping and rotation, improving the accuracy and reliability of rehabilitation training.

[0006] The control method for a hand recovery device provided in this application adopts the following technical solution, employing an underactuated control method, including: In response to the user's configuration of training actions, training instructions are obtained; the training instructions include: the current training mode of the wrist, the current training mode of the fingers, and the current training speed. Calculate the required pulse signal parameters for the motor based on the received training instructions; The motor is driven based on the pulse signal parameters, causing the hand recovery device to perform periodic bending and stretching movements; Real-time monitoring and estimation of the bending angles of each joint component; Based on the bending angle, the bending state of the reference finger is determined, and combined with the current training mode of the wrist and the bending state of the reference finger, the hand recovery device is controlled to perform advanced training; specifically, if the current training mode of the wrist is the wrist fixed mode: periodic bending / extension is performed at a set speed; if the current training mode of the wrist is the wrist coordinated mode: wrist internal rotation is triggered based on the change in the bending angle of the reference finger. The hand recovery device is trained and safety controlled by the bending angle and the safe range.

[0007] Optionally, the step of calculating the pulse signal parameters required by the motor based on the received training instructions includes: Training instructions are sent to the motion control module via the host computer; After receiving the training command, the motion control module calculates the pulse signal parameters; specifically, it calculates the total number of pulses for each motor based on the original step angle. ; Calculate the pulse signal frequency based on the current training speed, the pulse signal frequency ;in, For subdivision, The original step angle of the motor, For the motor rotation angle, This represents the motor speed.

[0008] Optionally, an eight-step drive mode is adopted, with a subdivision number of 2.

[0009] Optionally, the real-time monitoring and estimation of the bending angle of each joint component includes: The hand recovery device uses a flexion sensor to collect angle information of each finger joint in real time. The angle information collected by the bending sensor is sent to the finger data acquisition module. The angle information is converted into a voltage value by the finger data acquisition module, and the voltage value is sent to the host computer. The host computer converts the voltage value into a real-time bending angle and displays it in real time.

[0010] Optionally, the step of training safety control of the hand recovery device by means of the bending angle and the safe range includes: If the bending angle is outside the safe angle range, the safety mechanism is triggered, and the hand recovery device is controlled to stop immediately. The voltage value is acquired in real time; if the difference between the current voltage value and the previous voltage value is outside the voltage safety threshold, the safety mechanism is triggered to control the hand recovery device to stop immediately.

[0011] The control system for a hand recovery device provided in this application adopts the following technical solution, employing an underactuated control method, including: Host computer, motion control module and bending sensor; The host computer includes a host computer control module and a safety control module; the motion control module includes a parameter calculation submodule, an initial training submodule, and an advanced training submodule. The host computer control module is used to respond to the user's configuration of training actions and obtain training instructions; the training instructions include: the current training mode of the wrist, the current training mode of the fingers, and the current training speed. The parameter calculation submodule is used to calculate the pulse signal parameters required by the motor based on the received training instructions; The initial training submodule is used to drive the motor based on the pulse signal parameters, so that the hand recovery device can perform periodic bending and stretching movements; Bending sensors are used to monitor and estimate the bending angle of each joint component in real time; The advanced training submodule is used to determine the bending state of the reference finger based on the bending angle, and control the hand recovery device to perform advanced training in combination with the current training mode of the wrist and the bending state of the reference finger. Specifically, if the current training mode of the wrist is the wrist fixed mode: perform periodic bending / extension at a set speed; if the current training mode of the wrist is the wrist coordinated mode: trigger wrist internal rotation based on the change in the bending angle of the reference finger. A safety control module is used to perform training safety control on the hand recovery device based on the bending angle and the safety range.

[0012] Optionally, the step of calculating the pulse signal parameters required by the motor based on the received training instructions includes: Training instructions are sent to the motion control module via the host computer; After receiving the training command, the motion control module calculates the pulse signal parameters; specifically, it calculates the total number of pulses for each motor based on the original step angle. ; Calculate the pulse signal frequency based on the current training speed, the pulse signal frequency ;in, For subdivision, The original step angle of the motor, For the motor rotation angle, This represents the motor speed.

[0013] Optionally, an eight-step drive mode is adopted, with a subdivision number of 2.

[0014] Optionally, the real-time monitoring and estimation of the bending angle of each joint component includes: The hand recovery device uses a flexion sensor to collect angle information of each finger joint in real time. The angle information collected by the bending sensor is sent to the finger data acquisition module. The angle information is converted into a voltage value by the finger data acquisition module, and the voltage value is sent to the host computer. The host computer converts the voltage value into a real-time bending angle and displays it in real time.

[0015] Optionally, the step of training safety control of the hand recovery device by means of the bending angle and the safe range includes: If the bending angle is outside the safe angle range, the safety mechanism is triggered, and the hand recovery device is controlled to stop immediately. The voltage value is acquired in real time; if the difference between the current voltage value and the previous voltage value is outside the voltage safety threshold, the safety mechanism is triggered to control the hand recovery device to stop immediately.

[0016] The hand recovery device provided in this application adopts the following technical solution, including: A palm mechanism and a five-finger joint mechanism connected to the palm structure; The five-finger joint mechanism includes: a thumb joint component and several other joint components; the types of the other joint components include: an index finger joint component, a middle finger joint component, a ring finger joint component, and a little finger joint component; The thumb joint assembly includes two joint components, specifically: the thumb interphalangeal joint component and the thumb metacarpophalangeal joint component. The other joint components each include three components, specifically, the other joint components include in sequence: distal interphalangeal joint component, proximal interphalangeal joint component, and other metacarpophalangeal joint components; The thumb metacarpophalangeal joint component and the other metacarpophalangeal joint components are respectively connected to the palm mechanism; two adjacent joint components of the same joint assembly are hinged; each joint component is provided with a bending sensor.

[0017] This specification also provides a computer device, wherein the computer device includes: Processor; and, A memory that stores computer-executable instructions, which, when executed, cause the processor to perform any of the methods described above.

[0018] This specification also provides a computer-readable storage medium that stores one or more programs / instructions that, when executed by a processor, implement any of the methods described above.

[0019] This specification also provides a computer program product, wherein the computer program product includes: a computer program / instruction, which, when executed by a processor, implements any of the methods described above.

[0020] In this invention, training instructions are obtained in response to user configuration of training actions. These instructions include the current training mode of the wrist, the current training mode of the fingers, and the current training speed. The required pulse signal parameters for the motor are calculated based on the received training instructions. The motor is driven based on these pulse signal parameters, causing the hand recovery device to perform periodic bending and extension movements. The bending angles of each joint component are monitored and estimated in real time. The bending state of a reference finger is determined based on these bending angles, and the hand recovery device is controlled to perform advanced training in conjunction with the current training mode of the wrist and the bending state of the reference finger. Specifically, if the current training mode of the wrist is a fixed wrist mode, periodic bending / extension is performed at a set speed. If the current training mode of the wrist is a coordinated wrist mode, wrist internal rotation is triggered based on changes in the bending angle of the reference finger. The hand recovery device is subjected to training safety control based on the bending angle and safety range. Through underactuated design and precise pulse control, a single motor independently drives the multi-joint coupled movement of a single finger, significantly reducing the complexity and weight of the device. The system combines real-time sensor feedback with adaptive safety protection, enabling multi-speed, multi-mode bionic rehabilitation training in wrist-fixed or collaborative modes. This effectively improves training safety, personalization, and rehabilitation outcomes, making it suitable for patients at different stages of recovery. Attached Figure Description

[0021] Figure 1 A schematic diagram illustrating the principle of a control method for a hand recovery device provided in the embodiments of this specification; Figure 2A schematic diagram of the control system of a hand recovery device provided in the embodiments of this specification; Figure 3 This is a schematic diagram of the structure of a hand recovery device provided in the embodiments of this specification; Figure 4 A schematic diagram of the control flow of a hand recovery device provided in the embodiments of this specification; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification; Figure 6 This is a schematic diagram of a computer-readable storage medium provided for an embodiment of this specification. Detailed Implementation

[0022] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0023] Exemplary embodiments of the invention will now be described more fully with reference to the accompanying drawings. While conforming to the inventive concept, the features, structures, characteristics, or other details described in a particular embodiment may be combined in one or more other embodiments in a suitable manner.

[0024] The terms “and / or” or “and / or” include all combinations of any one or more of the listed items.

[0025] If the technical solution of this application involves personal information, the product using this technical solution has clearly informed the user of the personal information processing rules and obtained the user's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using this technical solution has obtained the user's separate consent before processing the sensitive personal information, and also meets the requirement of "express consent". For example, at personal information collection devices such as cameras, clear and prominent signs are set up to inform users that they have entered the scope of personal information collection and that personal information will be collected. If an individual voluntarily enters the collection scope, it is deemed that they have agreed to the collection of their personal information; or on the personal information processing device, with clear signs / information informing users of the personal information processing rules, authorization is obtained from the individual through pop-up information or by asking the individual to upload their personal information; wherein, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the types of personal information processed.

[0026] Figure 1A control method for a hand recovery device provided in the embodiments of this specification includes: S1 responds to the user's configuration of training actions and obtains training instructions; S2 calculates the pulse signal parameters required by the motor based on the received training instructions; S3 drives the motor based on the pulse signal parameters, causing the hand recovery device to perform periodic bending and stretching movements; S4 monitors and estimates the bending angle of each joint component in real time; S5 determines the bending state of the reference finger based on the bending angle, and controls the hand recovery device to perform advanced training in combination with the current training mode of the wrist and the bending state of the reference finger. S6 uses the bending angle and safety range to perform training safety control on the hand recovery device; Specifically: S1 responds to the user's configuration of training actions and obtains training instructions; The training instructions include: the current training mode of the wrist, the current training mode of the fingers, and the current training speed; Users select and configure patient training plans through the host computer interface, generating training instructions. The user is the operator of the host computer.

[0027] Wrist training modes include: wrist fixed mode and wrist coordinated mode.

[0028] Finger training patterns include: periodic grasping / extension and grasping tasks.

[0029] Training speeds include: slow, medium, and fast.

[0030] The training program of the present invention includes, but is not limited to, grasping exercises performed with the wrist fixed, as well as complex grasping training that incorporates wrist rotation, aiming to comprehensively improve the hand rehabilitation effect of patients.

[0031] The invented training program has three different training speed levels: slow, medium, and fast. These speed levels are designed to meet the needs of patients at different stages of rehabilitation in order to promote the gradual recovery of hand function.

[0032] After generating training instructions, the host computer sends training instructions to the motion control module, which drives five motors at the speed (fast, medium or slow) set in the instructions to perform periodic finger bending and stretching movements.

[0033] This step enables intuitive and flexible customization of rehabilitation plans through a host computer interface, allowing operators to accurately configure training parameters based on the patient's specific condition, thus laying the foundation for personalized and adaptive rehabilitation training.

[0034] S2 calculates the pulse signal parameters required by the motor based on the received training instructions; Specifically, the pulse signal parameters required to drive each motor are calculated based on the current training mode and current training speed of the finger.

[0035] The S21 host computer sends training instructions to the controller; The S22 controller sends training instructions to the motion control module; after receiving the training instructions, the motion control module calculates the pulse signal parameters; The pulse signal parameters include the total number of pulses and the pulse signal frequency. The number of pulses determines the total displacement (angle) of the motion, which is a position quantity. The pulse frequency determines the instantaneous velocity of the motion, which is a velocity quantity.

[0036] S221 calculates the total number of pulses for each motor based on the original step angle; In one embodiment of this specification, to ensure precise control of the motor, an eight-step drive method is adopted, which halves the step angle. Specifically, the original step angle of the motor is reduced from 0.078° to 0.039°, thereby achieving fine adjustment of the motor rotation angle.

[0037] Number of pulses per revolution of the motor .in, The subdivision number is configured to be 2; This represents the initial step angle of the motor. At this point, the total number of pulses required to transition from the extended state to full bending is... .in, This represents the rotation angle of the motor.

[0038] In one embodiment of this specification, the original step angle The value is 0.078°, with a subdivision number of... .

[0039] When other joint components move from a fully extended state to a fully bent state, the motor rotates at the following angles. It is 180°, at this time, pulse.

[0040] When the thumb joint assembly is in its initial position, the angle corresponding to its fully extended state is 150°, and the angle corresponding to its fully bent state becomes 110°; at this time, the thumb joint assembly is actually bent by 40°. That is, the second link of the thumb joint assembly rotates 40°. Since the specific transmission ratio of the thumb linkage mechanism is 3:1, the corresponding motor rotation angle is... The angle is 120°. At this point, the total number of pulses required to control the thumb joint assembly is... pulse.

[0041] This invention significantly improves the control precision of the stepper motor rotation angle by combining an eight-step drive method and a microstepping configuration, ensuring that each joint component (especially the thumb with a special transmission structure) can move precisely to the target position, thereby achieving precise reproduction of complex hand movements.

[0042] S222 calculates the pulse signal frequency based on the current training speed; Motor speed V (in r / s) and pulse signal frequency The relationship (in Hz) is as follows: .

[0043] Therefore, pulse signal frequency As a preferred option, to simplify control, the pulse signal frequency is rounded down.

[0044] In one embodiment of this specification, at low speed, the speed is r / s, at this time, the pulse signal frequency The frequency of the pulse signal is approximated by 500Hz after rounding down to the nearest integer.

[0045] At medium speed, the speed is r / s, at this time, the pulse signal frequency The frequency of the pulse signal is approximated by 600Hz after rounding down to the nearest integer.

[0046] At high speed, the speed is r / s, at this time, the pulse signal frequency The frequency of the pulse signal is approximated by 900Hz and rounded down to the nearest integer.

[0047] This invention establishes a precise mathematical model of motor speed and pulse frequency, and performs engineering rounding on the theoretical calculation results to achieve stable and reliable control of movement speed (slow, medium, and fast), ensuring that the speed requirements of different rehabilitation stages can be accurately executed.

[0048] S3 drives the motor based on the pulse signal parameters, causing the hand recovery device to perform periodic bending and stretching movements; S31 initializes the hand recovery device; System initialization, resetting all motors and sensors.

[0049] The S32 motion control module sends motion commands containing pulse signals to the drive motor of the hand recovery device; In one embodiment of this specification, the motion control module starts counting when it emits pulses at a pulse signal frequency. When the total number of emitted pulses reaches a predetermined value... When the pulse output stops, the motor will rotate to the target angle and stop moving.

[0050] In one embodiment of this specification, the motion time is determined based on the total number of pulses / pulse frequency.

[0051] In another embodiment of this specification, the exercise time and speed are set autonomously. Specifically, in slow training mode, the time required for the finger to go from a fully bent state to a fully extended state is set to 8.7 seconds, corresponding to a motor speed of 19° / s; in medium speed mode, the required time is 7.2 seconds, corresponding to a motor speed of 23° / s; and in fast mode, this time is shortened to 4.8 seconds, corresponding to a motor speed of 35° / s.

[0052] S4 monitors and estimates the bending angle of each joint component in real time; The S41 uses the bending sensor of the hand recovery device to collect the angle information of each finger joint in real time; S42 sends the collected angle information to the finger data acquisition module through the bending sensor; S43 obtains the voltage value by performing mode conversion on the angle information through the finger data acquisition module, and sends the voltage value to the host computer; Specifically, the analog voltage signal of the angle information is converted into a digital signal by an A / D converter to obtain the voltage value.

[0053] S44 converts the voltage value into a real-time bending angle via the host computer and displays it in real time.

[0054] This invention enables closed-loop monitoring of hand joint status during training, transforming physical movements into quantifiable digital angle information, providing crucial real-time data input for subsequent advanced training logic and safety control.

[0055] S5 determines the bending state of the reference finger based on the bending angle, and controls the hand recovery device to perform advanced training in combination with the current training mode of the wrist and the bending state of the reference finger. S51 If the current training mode of the wrist is the wrist fixed mode: perform periodic bending / extension at a set speed; Specifically, if the current training mode of the wrist is the wrist fixed mode, the host computer sends instructions to the controller to make the motors corresponding to the five joint components repeatedly perform finger bending and extension movements under fast, medium and slow conditions.

[0056] S52 If the current training mode of the wrist is wrist coordination mode: trigger wrist internal rotation based on the bending angle change of the reference finger; Specifically, if the current training mode for the wrist is wrist coordination mode, then during the wrist coordination grasping training, a state-triggered progressive logic is used. Specifically, all five fingers synchronously perform bending movements in medium-speed mode. The middle finger is designated as the reference finger, and its bending angle is monitored in real time. When the bending angle change of the middle finger joint component is detected to be ≤2° within 1 second, it is determined that the finger has stably grasped the object. Then, the next stage instruction is triggered, and the motion control module drives the wrist to perform an internal rotation movement, completing the entire bionic "rotational grasping" action.

[0057] This invention transitions simple periodic movements to more complex and functional collaborative actions, simulating a real grasping process and effectively improving the intelligence and functionality of training.

[0058] S6 uses the bending angle and safety range to perform training safety control on the hand recovery device; S61 If the bending angle is outside the safe angle range, the safety mechanism is triggered to control the hand recovery device to stop immediately; To ensure patient safety, a safe angle range is set in the host computer. When the bending angle is detected to be outside the safe angle range, a safety mechanism is triggered to stop the patient immediately, thus preventing injury from excessive bending of the fingers.

[0059] In one embodiment of this specification, when the thumb metacarpophalangeal joint assembly moves in flexion, the range of motion of the finger joint is 0-55 degrees. When the thumb metacarpophalangeal joint assembly moves in extension, the range of motion of the finger joint is 0-10 degrees. When other metacarpophalangeal joint assemblies move in flexion, the range of motion of the finger joint is 0-85 degrees. When other metacarpophalangeal joint assemblies move in extension, the range of motion of the finger joint is 0-40 degrees.

[0060] In one embodiment of this specification, the bending angle is detected in real time. If the bending angle of each joint exceeds its safety limit, or the extension angle exceeds 5°, a safety mechanism is immediately triggered.

[0061] S62 acquires the voltage value in real time; if the difference between the current voltage value and the previous voltage value is outside the voltage safety threshold, a safety mechanism is triggered to control the hand recovery device to stop immediately.

[0062] Specifically, this invention includes a safety protection mechanism that sets a safe voltage range; The voltage value is compared with the previous value in real time. If the difference in voltage value is detected to be outside the safe range, the current state will be automatically determined to be unsafe and the safety mechanism will be triggered immediately.

[0063] In one embodiment of this specification, the voltage of the bending sensor is monitored in real time. If the absolute value of the voltage difference between adjacent sampling points is <0.001V (signal stagnation) or >0.5V (signal abrupt change), it is determined to be abnormal and a safety mechanism is triggered.

[0064] The safety mechanism includes: the host computer will send an emergency stop command to the motion control module, and the controller will schedule the motion control module to stop the motor, thereby avoiding potential harm to the patient.

[0065] This step establishes a multi-layered (angle, voltage change rate) active safety protection system that can identify abnormal states in real time and intervene immediately, preventing secondary injuries that may be caused by equipment failure or sudden patient conditions to the greatest extent possible, and ensuring the safety and reliability of the rehabilitation training process.

[0066] This invention is applicable to hand rehabilitation in hemiplegic patients. By allowing users to flexibly configure wrist coordination / fixation modes, grasping / grasping tasks, and multiple speeds via a host computer, personalized adaptation from basic joint movements to complex functional training can be achieved. Through eight-beat subdivision drive and precise pulse control, it ensures that the amplitude and speed of each flexion and extension movement strictly conform to the preset, providing stable and reliable repetitive stimulation for neuromuscular reeducation.

[0067] Furthermore, this invention introduces intelligent advanced logic based on real-time sensor feedback. During collaborative training, the system can automatically determine grip stability by monitoring the rate of change in finger bending angles and intelligently trigger subsequent wrist rotation movements, thereby simulating a natural "grasping-operation" behavior chain and greatly enhancing the initiative and functional orientation of training. Simultaneously, the system constructs a dual active protection network of angle safety thresholds and sensor signal mutations, enabling real-time monitoring of abnormalities and immediate emergency stops, providing a solid guarantee for patient safety.

[0068] Figure 2 This is a schematic diagram of the control system of a hand recovery device provided in an embodiment of this specification. The system includes: Host computer, motion control module and bending sensor 204; The host computer includes: a host computer control module 201 and a safety control module 206; the motion control module includes: a parameter calculation submodule 202, an initial training submodule 203, and an advanced training submodule 205. The host computer control module 201 is used to obtain training instructions in response to the user's configuration of training actions; the training instructions include: the current training mode of the wrist, the current training mode of the fingers, and the current training speed. The parameter calculation submodule 202 is used to calculate the pulse signal parameters required by the motor based on the received training instructions; The initial training submodule 203 is used to drive the motor based on the pulse signal parameters, so that the hand recovery device can perform periodic bending and stretching movements; Bending sensor 204 is used to monitor and estimate the bending angle of each joint component in real time; The advanced training submodule 205 is used to determine the bending state of the reference finger based on the bending angle, and control the hand recovery device to perform advanced training in combination with the current training mode of the wrist and the bending state of the reference finger; specifically, if the current training mode of the wrist is the wrist fixed mode: perform periodic bending / extension at a set speed; if the current training mode of the wrist is the wrist coordinated mode: trigger wrist internal rotation based on the change in the bending angle of the reference finger. The safety control module 206 is used to perform training safety control on the hand recovery device by means of the bending angle and the safety range.

[0069] Optionally, the step of calculating the pulse signal parameters required by the motor based on the received training instructions includes: Training instructions are sent to the motion control module via the host computer; After receiving the training command, the motion control module calculates the pulse signal parameters; specifically, it calculates the total number of pulses for each motor based on the original step angle. ; Calculate the pulse signal frequency based on the current training speed, the pulse signal frequency ;in, For subdivision, The original step angle of the motor, For the motor rotation angle, This represents the motor speed.

[0070] Optionally, an eight-step drive mode is adopted, with a subdivision number of 2.

[0071] Optionally, the real-time monitoring and estimation of the bending angle of each joint component includes: The bending sensor 204 of the hand recovery device collects the angle information of each finger joint in real time; The angle information collected by the bending sensor 204 is sent to the finger data acquisition module; The angle information is converted into a voltage value by the finger data acquisition module, and the voltage value is sent to the host computer. The host computer converts the voltage value into a real-time bending angle and displays it in real time.

[0072] Optionally, the step of training safety control of the hand recovery device by means of the bending angle and the safe range includes: If the bending angle is outside the safe angle range, the safety mechanism is triggered, and the hand recovery device is controlled to stop immediately. The voltage value is acquired in real time; if the difference between the current voltage value and the previous voltage value is outside the voltage safety threshold, the safety mechanism is triggered to control the hand recovery device to stop immediately.

[0073] The functions of the system in this embodiment have been described in the above method embodiments. Therefore, for any parts not detailed in this embodiment, please refer to the relevant descriptions in the foregoing embodiments, which will not be repeated here.

[0074] This specification provides an embodiment of a hand recovery device, comprising: A palm mechanism and a five-finger joint mechanism connected to the palm structure; The five-finger joint mechanism includes: a thumb joint component and several other joint components; the types of the other joint components include: an index finger joint component, a middle finger joint component, a ring finger joint component, and a little finger joint component; The thumb joint assembly includes two joint components, specifically: the thumb interphalangeal joint component and the thumb metacarpophalangeal joint component. The other joint components each include three components, specifically, the other joint components include in sequence: distal interphalangeal joint component, proximal interphalangeal joint component, and other metacarpophalangeal joint components; The thumb metacarpophalangeal joint component and the other metacarpophalangeal joint components are respectively connected to the palm mechanism; two adjacent joint components of the same joint assembly are hinged; each joint component is provided with a bending sensor.

[0075] To drive the various joint components, a motor mechanism is also provided; specifically, the motor mechanism includes several drive motors, with each joint component driven by a single drive motor. That is, the motor mechanism includes: a thumb motor, an index finger motor, a middle finger motor, a ring finger motor, and a little finger motor.

[0076] Each joint assembly is connected to a motor. Specifically, the thumb motor is electrically connected to the thumb joint assembly to control its movement. The index finger motor is electrically connected to the index finger joint assembly to control its movement. The middle finger motor is electrically connected to the middle finger joint assembly to control its movement. The ring finger motor is electrically connected to the ring finger joint assembly to control its movement. The little finger motor is electrically connected to the little finger joint assembly to control its movement.

[0077] Specifically, the thumb joint assembly has 2 degrees of freedom. Each of the other joint assemblies has 3 degrees of freedom. Therefore, this hand restoration device has a total of 14 degrees of freedom. Furthermore, the device includes 9 kinematic pairs; these include 8 lower kinematic pairs and 1 higher kinematic pair.

[0078] According to the degree-of-freedom algorithm for planar mechanisms, the input degrees of freedom of the mechanism are... .in, The number of active components; The number of lower kinematic pairs, The number of moving higher pairs.

[0079] In one embodiment of this specification, the mechanical input degrees of freedom of the device The device has a mechanical input degree of freedom of 1, meaning that the overall movement of each finger (joint component) requires only one input power, thus realizing "one motor controlling one finger", which significantly reduces the number of motors, space occupied and overall weight of the device.

[0080] The joint assembly includes a symmetrically arranged gear set, a seventh link, a left drive component, and a right drive component; The gear set includes: a meshing first gear and a second gear; an eighth link connects the center point of the first gear and the center point of the second gear; The left drive component includes: a first link, a second link, and a third link; a seventh link is hinged to the first link, the first link is hinged to the second link, and the second link is hinged to the third link; the third link is fixed to the first gear. The right-side drive components include: the fourth link, the fifth link, and the sixth link; The seventh link is hinged to the sixth link, the sixth link is hinged to the fifth link, and the fifth link is hinged to the fourth link; the fourth link is fixed to the second gear.

[0081] The second link is configured to rotate around its hinge point with the first link under the action of an external force, and drive the third link to move through the meshing transmission of the first gear and the second gear, and then drive the fourth link to move through the meshing transmission of the first gear and the second gear, and finally realize the extension and bending movement of the finger through the fourth link, the fifth link and the sixth link.

[0082] When the other joint components move from a fully extended state to a fully flexed state, the angle δ between the distal and proximal interphalangeal joint components changes from 150° to 90°. That is, when the device is in a fully extended state, the full extension angle of a single finger is 150°; when the device is in a fully flexed state, the full flexion angle of a single finger is 90°.

[0083] When the second link rotates to 60°, the associated motor needs to rotate 180° accordingly. The transmission ratio between the second link and the motor is 3:1.

[0084] In one embodiment of this specification, such as Figure 3 As shown, the first link is a fixed connection structure, while the second link is connected to the connection point h of the first link via a pulley to achieve rotation. The third and fourth links are connected by the meshing of the first gear b and the second gear c. The center points of these two gears are fixed by the seventh link, thus allowing them to rotate around the gears.

[0085] Furthermore, the finger structure consists of two symmetrical parts. The left driving component includes a first link, a second link, and a third link; the right driving component includes a fourth link, a fifth link, and a sixth link. When the second link rotates around point h, it changes the angle between the second and third links. This angle change, through the meshing of the first gear b and the second gear c, drives the fourth link to move around point c. Then, through the special mechanical characteristics of the four-bar linkage, it further triggers the fifth link to rotate around point d and the sixth link to rotate around point f, ultimately achieving the extension and flexion movements of the finger.

[0086] In this specification, considering the requirements of high degree of freedom of the fingers and lightweight device, as well as avoiding the use of multiple motors, the hand recovery control system adopts an underactuated control method, that is, the control input is less than the degree of freedom. The finger model in the system includes 9 kinematic pairs, of which 8 are low (degree of freedom) pairs and 1 is a high (degree of freedom) pair.

[0087] The lower pair consists of the revolute joints at the connecting rod connection points, denoted as pairs a to h respectively, while the higher pair consists of the gear pairs connecting gear b and gear c.

[0088] like Figure 4 As shown, the control process of the hand recovery device is briefly described below, in detail: (1) Command configuration and issuance (corresponding to S1, involving the host computer and controller): The user selects and configures the training scheme (including wrist / finger mode, speed, etc.) in the host computer interface and generates training commands. Then, the host computer sends the training commands to the controller through a two-way communication link.

[0089] (2) Instruction parsing and pulse calculation (corresponding to S2, involving the controller and motion control module): The controller receives training instructions and transmits relevant data to the motion control module. Based on these parameters, the motion control module calculates the precise pulse signal parameters (total number of pulses and pulse frequency) required to drive the motors of each finger (thumb, index finger, middle finger, ring finger, little finger).

[0090] (3) Motion execution (corresponding to S3, involving the motion control module and motors): Drive: The motion control module generates and sends corresponding pulse sequences (motion commands) to the corresponding finger motors based on the calculated pulse parameters. After receiving the pulse signal, each finger motor starts to rotate, driving the hand rehabilitation device to perform periodic bending and stretching movements through the mechanical structure.

[0091] (4) Status Monitoring and Feedback (corresponding to S4, involving sensors, finger data acquisition module, and host computer): A bending sensor installed at the finger joint senses the angle change of the joint in real time and sends the analog signal to the finger data acquisition module. The A / D conversion chip in the finger data acquisition module converts the analog signal into a digital voltage value. This voltage value data is uploaded to the host computer through the controller. The host computer converts it into a real-time bending angle and displays the finger status on the interface, completing the closed loop of status feedback.

[0092] (5) Advanced control and safety monitoring (corresponding to S5): The host computer determines whether to trigger an advanced movement (such as wrist pronation) based on the real-time monitored bending angle (e.g., middle finger angle) and the current wrist training mode (fixed or coordinated). The decision command is then issued and executed again through the controller and motion control module.

[0093] (6) Safety control (corresponding to S6): The host computer continuously compares the monitored bending angle and voltage change values ​​with the preset safety range and threshold. Once an abnormality is detected (such as angle exceeding the limit or voltage sudden change), an emergency stop command is immediately sent to the motion control module through the controller. The motion control module then stops all motors to ensure training safety.

[0094] This invention starts with configuration on the "host computer", is coordinated by the "controller", is driven by the "motion control module", and then receives feedback through the "finger data acquisition module", finally returning to the "host computer" for monitoring and decision-making, forming a complete and closed-loop rehabilitation training control process. Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification. The electronic device includes a memory 501 and a processor 502. The memory 501 is used to store computer-executable instructions. When the computer-executable instructions are executed by the processor 502, they can implement the steps of the above-described method embodiments.

[0095] Figure 6 This is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of this specification. The computer-readable storage medium 600 stores one or more computer programs, which, when executed by a processor, can implement the steps of the above-described method embodiments.

[0096] This specification also provides a computer program product, including a computer program / computer executable instructions, which, when executed by a processor, can implement the steps of the above-described method embodiments.

[0097] Those skilled in the art will understand that all or part of the processes in the above method embodiments can be implemented by a computer program instructing related hardware. When the computer program is executed, it may include the processes of the embodiments of the above methods.

[0098] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A control method for a hand recovery device, characterized in that, The underactuated control method includes: In response to the user's configuration of training actions, training instructions are obtained; the training instructions include: the current training mode of the wrist, the current training mode of the fingers, and the current training speed. Calculate the required pulse signal parameters for the motor based on the received training instructions; The motor is driven based on the pulse signal parameters, causing the hand recovery device to perform periodic bending and stretching movements; Real-time monitoring and estimation of the bending angles of each joint component; Based on the bending angle, the bending state of the reference finger is determined, and combined with the current training mode of the wrist and the bending state of the reference finger, the hand recovery device is controlled to perform advanced training; specifically, if the current training mode of the wrist is the wrist fixed mode: periodic bending / extension is performed at a set speed; if the current training mode of the wrist is the wrist coordinated mode: wrist internal rotation is triggered based on the change in the bending angle of the reference finger. The hand recovery device is trained and safety controlled by the bending angle and the safe range.

2. The control method for the hand recovery device as described in claim 1, characterized in that, The step of calculating the pulse signal parameters required by the motor based on the received training instructions includes: Training instructions are sent to the motion control module via the host computer; After receiving the training command, the motion control module calculates the pulse signal parameters; specifically, it calculates the total number of pulses for each motor based on the original step angle. ; Calculate the pulse signal frequency based on the current training speed, the pulse signal frequency ;in, For subdivision, The original step angle of the motor, For the motor rotation angle, This represents the motor speed.

3. The control method for the hand recovery device as described in claim 2, characterized in that, It adopts an eight-step drive mode with a subdivision configuration of 2.

4. The control method for the hand recovery device as described in claim 1, characterized in that, The real-time monitoring and estimation of the bending angles of each joint component includes: The hand recovery device uses a flexion sensor to collect angle information of each finger joint in real time. The angle information collected by the bending sensor is sent to the finger data acquisition module. The angle information is converted into a voltage value by the finger data acquisition module, and the voltage value is sent to the host computer. The host computer converts the voltage value into a real-time bending angle and displays it in real time.

5. The control method for the hand recovery device as described in claim 4, characterized in that, The training safety control of the hand recovery device based on the bending angle and the safe range includes: If the bending angle is outside the safe angle range, the safety mechanism is triggered, and the hand recovery device is controlled to stop immediately. The voltage value is acquired in real time; if the difference between the current voltage value and the previous voltage value is outside the voltage safety threshold, the safety mechanism is triggered to control the hand recovery device to stop immediately.

6. A control system for a hand recovery device, characterized in that, The underactuated control method includes: Host computer, motion control module and bending sensor; The host computer includes a host computer control module and a safety control module; the motion control module includes a parameter calculation submodule, an initial training submodule, and an advanced training submodule. The host computer control module is used to respond to the user's configuration of training actions and obtain training instructions; the training instructions include: the current training mode of the wrist, the current training mode of the fingers, and the current training speed. The parameter calculation submodule is used to calculate the pulse signal parameters required by the motor based on the received training instructions; The initial training submodule is used to drive the motor based on the pulse signal parameters, so that the hand recovery device can perform periodic bending and stretching movements; Bending sensors are used to monitor and estimate the bending angle of each joint component in real time; The advanced training submodule is used to determine the bending state of the reference finger based on the bending angle, and control the hand recovery device to perform advanced training in combination with the current training mode of the wrist and the bending state of the reference finger. Specifically, if the current training mode of the wrist is the wrist fixed mode: perform periodic bending / extension at a set speed; if the current training mode of the wrist is the wrist coordinated mode: trigger wrist internal rotation based on the change in the bending angle of the reference finger. A safety control module is used to perform training safety control on the hand recovery device based on the bending angle and the safety range.

7. A hand recovery device, characterized in that, include: A palm mechanism and a five-finger joint mechanism connected to the palm structure; The five-finger joint mechanism includes: a thumb joint component and several other joint components; the types of the other joint components include: an index finger joint component, a middle finger joint component, a ring finger joint component, and a little finger joint component; The thumb joint assembly includes two joint components, specifically: the thumb interphalangeal joint component and the thumb metacarpophalangeal joint component. The other joint components each include three components, specifically, the other joint components include in sequence: distal interphalangeal joint component, proximal interphalangeal joint component, and other metacarpophalangeal joint components; The thumb metacarpophalangeal joint component and the other metacarpophalangeal joint components are respectively connected to the palm mechanism; two adjacent joint components of the same joint assembly are hinged; each joint component is provided with a bending sensor.

8. A computer device, characterized in that, The computer device includes: Processor; and, A memory storing computer-executable instructions, which, when executed, cause the processor to perform the method of any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs / instructions, which, when executed by a processor, implement the method as described in any one of claims 1-5.

10. A computer program product, characterized in that, Includes a computer program / instruction, which, when executed by a processor, implements the method as described in any one of claims 1-5.

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