Multifunctional data glove

Abstract

The utility model provides a multifunctional data glove which comprises a glove body and a force measuring device, and the data glove is worn on a hand through the glove body. The force measuring device is arranged on the glove body, is used for detecting grip strength and comprises a base body, a plurality of groups of bags and a plurality of pipelines, the base body is connected to the glove body, and the bags are arranged on the base body; the multiple sets of bag bodies are arranged corresponding to all areas of the finger part and the palm part respectively, all the sets of bag bodies are connected through pipelines and connected to the pressure sensor, and therefore the grasping force of all the areas of the hand can be accurately measured. When mirror image training is carried out, the output pressure is controlled through connection of a pipeline and a control device, so that the bag bodies in all the areas reach the preset pressure, all the areas of the hand can achieve the preset grabbing state, the rehabilitation effect is guaranteed, and precise rehabilitation is achieved.

Description

Technical Field

[0001] The utility model belongs to the field of soft robots, and particularly relates to a multifunctional data glove. Background Art

[0002] With the continuous development and popularization of virtual reality technology, human-computer interaction technology has been widely applied in many fields. As one of the important devices for human-computer interaction, data gloves have attracted extensive attention from researchers and enterprises. A data glove is a sensor device that can capture hand movement data and is widely used in fields such as virtual reality, robot control, and medical rehabilitation. In the field of virtual reality, data gloves can be used to achieve gesture recognition and interaction, improving the user's immersion and participation; in the field of robot control, data gloves can be used to achieve gesture control and operation control of robots; in the field of medical rehabilitation, data gloves can be used to achieve rehabilitation training for patients and record and analyze hand movement data. At present, significant progress has been made in data glove technology.

[0003] Generally, thin-film pressure sensors are used on data gloves to measure force data. Such thin-film pressure sensors can be used to measure the output force at a certain position on the finger, but cannot measure the grasping force of each area of the palm when the glove grasps an object. Generally, data gloves can be used in mirror active training and can perform simple force feedback, but cannot perform accurate force feedback for each area of the palm. Content of the Utility Model

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present utility model is to provide a multifunctional data glove that can specifically measure the grasping force of each area of the finger on an object, can achieve accurate force feedback for each area of the palm during mirror training, improve the rehabilitation effect, and achieve precise rehabilitation.

[0005] To achieve the above purpose and other related purposes, the present utility model provides a multifunctional data glove, including:

[0006] A glove body;

[0007] A force measurement device, connected to the glove body and located in the finger area, or the finger area and the palm area, and including:

[0008] A base, which is connected to the glove body;

[0009] Multiple groups of capsules, arranged on the base and distributed in the finger area, or the finger area and the palm area;

[0010] Multiple pipelines, each group of capsules being connected through one of the pipelines;

[0011] A pressure sensing module, which senses the internal pressure of each group of capsules through the pipeline.

[0012] According to an embodiment provided by the present utility model, the bladder body includes a finger area bladder body, which is arranged corresponding to the finger area and includes:

[0013] a thumb area bladder body, which is arranged corresponding to the thumb area;

[0014] at least one group of four-finger area bladder bodies, which are arranged corresponding to the four-finger area.

[0015] According to an embodiment provided by the present utility model, the four-finger area bladder body includes an index finger area bladder body, which is arranged corresponding to the index finger area.

[0016] According to an embodiment provided by the present utility model, the four-finger area bladder body further includes a middle finger area bladder body and / or a ring finger area bladder body and / or a little finger area bladder body, and the middle finger area bladder body, the ring finger area bladder body, and the little finger area bladder body are respectively located in the middle finger area, the ring finger area, and the little finger area.

[0017] According to an embodiment provided by the present utility model, the bladder body further includes a palm area bladder body, which is arranged corresponding to the palm area and includes:

[0018] a near-thumb area bladder body, which is arranged corresponding to the area near the base of the thumb;

[0019] at least one group of far-thumb area bladder bodies, which are arranged corresponding to the area far from the base of the thumb.

[0020] According to an embodiment provided by the present utility model, the far-thumb area bladder body includes:

[0021] a near-four-finger area bladder body, which is arranged corresponding to the area near the base of the four fingers;

[0022] a palm center area bladder body, which is arranged corresponding to the palm center area.

[0023] According to an embodiment provided by the present utility model, the finger area bladder body includes multiple groups of phalanx area bladder bodies, and each phalanx area bladder body is respectively arranged corresponding to each phalanx area of each finger.

[0024] According to an embodiment provided by the present utility model, the base body includes a pipeline layer, and the pipelines are distributed in the pipeline layer.

[0025] According to an embodiment provided by the present utility model, each pipeline layer corresponds to at least one of the pipelines.

[0026] According to an embodiment provided by the present utility model, the multifunctional data glove further includes a control device, and the pipelines are connected to the control device.

[0027] The multifunctional data glove of the present utility model connects the bladder bodies through pipelines. When the glove body grasps or pinches an object, the bladder bodies press on the surface of the object, causing internal pressure changes. The pressure sensors are used to measure the pressure changes, thereby enabling the measurement of the force of the hand. Multiple groups of bladder bodies are arranged corresponding to each area of the hand and are respectively connected to the pressure sensors, enabling accurate measurement of the forces in each area of the hand. When used in mirror training, it can provide accurate force feedback and control, thereby formulating targeted rehabilitation strategies, improving the rehabilitation effect, and achieving precise rehabilitation. The entire device uses bladder bodies and pipelines for measurement, with a simple, safe, and lightweight structure and high comfort when worn. It can distinguish the normal pressure exerted by a person and the frictional forces in the front-back and / or left-right directions according to the bladder body combination structure, or pressurize the bladder bodies through a fluid medium and then generate pressure and other stimuli on the corresponding areas of the hand through the deformation of the bladder bodies, thereby generating tactile feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for describing the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0029] Figure 1 FIG. 9 is a three-dimensional structure diagram of an embodiment of a multifunctional data glove provided by the present utility model;

[0030] Figure 2 FIG. 13 is a three-dimensional structure diagram of an embodiment of a multifunctional data glove provided by the present utility model;

[0031] Figure 3 FIG. 17 is a cross-sectional view of an embodiment of a multifunctional data glove provided by the present utility model;

[0032] Figure 4 FIG. 21 is a cross-sectional view of an embodiment of a multifunctional data glove provided by the present utility model;

[0033] Figure 5 FIG. 25 is a cross-sectional view of an embodiment of a multifunctional data glove provided by the present utility model;

[0034] Figure 6 FIG. 29 is a side cross-sectional view of an embodiment of a multifunctional data glove provided by the present utility model;

[0035] Figure 7 FIG. 33 is a cross-sectional view of the pipeline distribution of an embodiment of a multifunctional data glove provided by the present utility model;

[0036] Figure 8Cross-sectional view of another embodiment of a multi-functional data glove provided by the present utility model.

[0037] Label description:

[0038] 100, glove body; 200, base; 300, bladder; 400, pipeline;

[0039] 310, palm area bladder; 320, thumb area bladder; 330, index finger area bladder; 340, middle finger area bladder; 350, ring finger area bladder; 360, little finger area bladder;

[0040] 311, near-thumb area bladder; 312, near-four-finger area bladder; 313, palm center area bladder;

[0041] 321, thumb proximal phalanx area bladder; 322, thumb distal phalanx area bladder;

[0042] 331, index finger proximal phalanx area bladder; 332, index finger middle phalanx area bladder; 333, index finger distal phalanx area bladder;

[0043] 341, middle finger proximal phalanx area bladder; 342, middle finger middle phalanx area bladder; 343, middle finger distal phalanx area bladder;

[0044] 351, ring finger proximal phalanx area bladder; 352, ring finger middle phalanx area bladder; 353, ring finger distal phalanx area bladder;

[0045] 361, little finger proximal phalanx area bladder; 362, little finger middle phalanx area bladder; 363, little finger distal phalanx area bladder. Detailed implementation manner

[0046] The following uses specific specific examples to illustrate the implementation manner of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. The present utility model can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present utility model.

[0047] It should be noted that the diagrams provided in this embodiment only illustrate the basic concept of the present utility model in a schematic manner. Therefore, only the components related to the present utility model are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components during actual implementation. The type, quantity, and ratio of each component during actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0048] As a device capable of capturing hand movement data, the data glove is widely used in fields such as virtual reality, robot control, and medical rehabilitation. Usually, the data glove uses thin-film pressure sensors to measure force data, mostly for measuring the output force at a certain position of the finger, but it cannot measure the grasping force of each area of the palm when the glove grasps an object. When used for mirror active training, it can provide simple force feedback, but cannot provide accurate force feedback for each area of the palm.

[0049] Please refer to Figures 1 to 7 , the present utility model provides a multifunctional data glove, which includes a glove body 100 and a force measurement device. The data glove is worn on the hand through the glove body 100. The force measurement device is connected to the glove body 100 and is located in the finger area, or the finger area and the palm area. When the glove body 100 pinches or grasps an object following hand movements, it can accurately measure the force of each area of the hand, and control the output pressure according to the force measurement data during mirror training to precisely control the force of each area of the hand, thereby achieving precise rehabilitation.

[0050] Please refer to Figures 1 to 7 , according to an embodiment provided by the present utility model, the glove body 100 serves as the base of the force measurement device, and the force measurement device is arranged in the corresponding areas of the hand to achieve precise measurement of each area. The glove body 100 can be made of an elastic material, for example, which can fit the hand more closely, be comfortable to use and accurate in measurement; connection components such as Velcro can be provided on the glove body 100 for fixation to firmly wear the glove body 100 on the human hand; the force measurement device is fixedly connected to the glove body 100. When the hand makes bending and grasping movements, the glove body 100 and the force measurement device bend accordingly, thereby realizing measurement.

[0051] Please refer to Figures 1 to 7, according to an embodiment provided by the present utility model, the force measurement device includes a base body 200, multiple groups of capsules 300, multiple pipelines 400, and a pressure sensing module. The base body 200 is connected to the glove body 100. The capsules 300 and the pipelines 400 are arranged on the base body 200. When the glove body 100 is worn on the hand, the base body 200 is located on the palm side to measure the forces of each area when the hand grasps an object. Multiple groups of capsules 300 are arranged on the side of the base body 200 away from the glove body 100 and are distributed in the finger area, or the finger area and the palm area, serving as protruding structures on the surface of the base body 200. When the hand grasps or pinches an object, the capsules 300 will be squeezed, causing a change in the internal pressure. Multiple pipelines 400 are arranged on the base body 200. Each group of capsules 300 is connected through a pipeline 400. One end of the pipeline 400 is connected to the capsule 300, and the other end extends out of the base body 200. The capsules 300 are connected to the pressure sensing module through the pipelines 400. The pressure sensing module senses the internal pressure of each group of capsules 300 through the pipelines 400. The pressure sensing module can be, for example, a pressure sensor, which detects the internal pressure of the capsules 300, thereby obtaining the data of the force of the hand area corresponding to the capsules 300. The multiple groups of capsules 300 are measured separately, enabling accurate measurement of the forces of each area of the fingers and the palm when grasping or pinching an object. Using the capsules 300 as the detection components is safe, lightweight, and highly comfortable.

[0052] Please refer to Figures 1 to 7 , according to an embodiment provided by the present utility model, the base body 200 is fixedly connected to the glove body 100, and several protruding capsules 300 are arranged on its surface. The capsules 300 are hollow structures. Each group of capsules 300 is connected through a pipeline 400 and is connected to the pressure sensor through the pipeline 400. When the hand performs actions such as grasping, the base body 200 bends along with the glove body 100, and the capsules 300 press on the surface of the object, causing a change in the internal pressure of the capsules 300. Thus, the pressure sensor can be used to measure the force state of the hand position corresponding to each group of capsules 300.

[0053] Please refer to Figures 1 to 7, according to an embodiment provided by the present utility model, the base body 200 can be an integral fixing seat, fixed to the glove body 100, and it is made of a material with relatively low hardness such as silica gel, etc., to achieve actions such as bending and grasping of the hand. There are multiple measurement areas corresponding to the surface of the base body 200, and multiple groups of capsules 300 are arranged corresponding to each measurement area, and corresponding to each area of the hand, and can measure each area of the finger part and / or the palm part respectively, and more accurately obtain the state of force when the hand moves; it can be understood that the specific distribution of the measurement area of the base body 200 and the capsules 300 can be set differently according to measurement needs. In other embodiments, the base body 200 can also be a split structure. At this time, each base body 200 is a measurement area, and a group of capsules 300 is arranged thereon. The specific quantity and position of the base body 200 are arranged according to the required partition for measurement.

[0054] Please refer to Figures 1 to 7 , according to an embodiment provided by the present utility model, the base body 200 includes a pipeline layer. When multiple groups of capsules 300 are connected by multiple pipelines 400, each pipeline 400 is located in the chamber of the base body 200 and is distributed in the pipeline layer. The pipeline layer and the capsules 300 are not in the same plane, so as to avoid interference between the pipeline 400 and the capsules 300; one end of the pipeline 400 extends out of the base body 200 and is connected to the pressure sensor, and it will not affect the measurement due to the bending of the glove body 100 following the hand; the entire force measurement device is connected as a whole, and the structure is simple. It can be understood that when the number of measurement partitions is small and the arrangement of the pipelines 400 is simple, the pipeline layer can also not be provided, and the pipeline 400 and the capsules 300 are on the same plane.

[0055] Please refer to Figures 1 to 7 , according to an embodiment provided by the present utility model, multiple groups of capsules 300 are connected by multiple pipelines 400, and at least one pipeline 400 is correspondingly arranged for each pipeline layer. When the number of measurement areas is large, the number of pipelines 400 is large and the distribution is complex. Multiple pipeline layers are arranged inside the base body 200, which is more convenient for the arrangement of the pipelines 400, and avoids interference between the pipeline 400 and the capsules 300, as well as between the pipelines 400. Correspondingly, at this time, the base body 200 is appropriately thickened to facilitate the arrangement of the capsules 300 and the pipelines 400.

[0056] Please refer to Figures 1 to 7 , according to an embodiment provided by the present utility model, the end of the pipeline 400 far from the capsule 300 is correspondingly arranged in the palm root area. Multiple pipelines 400 are respectively communicated with each group of capsules 300, and then extend out of the base body 200 from the palm root and are connected to an external device.

[0057] Please refer to Figures 1 to 7, according to an embodiment provided by the present utility model, the bladder 300 is divided into multiple groups according to the measurement areas, and each group of bladders 300 is connected through a pipeline 400 respectively. Each group of bladders 300 can measure the state of the hand area force corresponding to a measurement area. When the glove body 100 grasps an object following a hand movement, the bladder 300 contacts the object and presses the object surface, and the internal pressure of the bladder 300 changes. By connecting with a sensor through the pipeline 400, the pressure change is converted into an electrical signal change. By calibration, the corresponding relationship between the known pressure change and the output electrical signal change is obtained, and the magnitude of the force data can be obtained by measuring the electrical signal. It can be understood that the quantity and distribution state of the bladders 300 are not limited, and different settings can be made according to specific situations, such as different hand sizes, different measurement partitions, etc.

[0058] Please refer to Figures 1 to 7 , according to an embodiment provided by the present utility model, the bladder 300 includes a palm area bladder 310 and finger area bladders. The palm area bladder 310 is arranged corresponding to the palm area and can measure the state of the force at the palm position when grasping different objects; the finger area bladders are arranged corresponding to the finger areas and can measure the state of the force of each finger when grasping or pinching different objects.

[0059] Please refer to Figures 1 to 3 , according to an embodiment provided by the present utility model, the finger area bladders include a thumb area bladder 320 and at least one group of four-finger area bladders. The thumb area bladder 320 is arranged corresponding to the thumb area; the four-finger area bladders are arranged corresponding to the four-finger area; the thumb area bladder 320 and the four-finger area bladders are respectively connected by a pipeline 400, and each pipeline 400 is connected to a sensor for detecting the pressure of the bladder group it connects, so as to obtain the force data corresponding to the thumb and four-finger areas.

[0060] Please refer to Figure 3 , according to an embodiment provided by the present utility model, the bladder 300 includes three bladder groups, namely a thumb area bladder 320, a four-finger area bladder, and a palm area bladder 310. Each group of bladders is respectively connected by a pipeline 400 and is correspondingly arranged in three measurement areas of the base body 200. Each pipeline 400 is respectively connected to a sensor for measuring the pressure of the group of bladders; when the glove body 100 grasps an object, both the finger and palm areas are stressed. The sensors connected by the three pipelines can respectively measure the force states of the thumb, the whole four fingers, and the whole palm during grasping, so as to obtain the force state data of the whole hand, measure the states of each position of the hand when grasping different objects, analyze the grip strength level of the user, and preliminarily evaluate the hand function and perform training and recovery.

[0061] Please refer to Figure 4, according to an embodiment provided by the present utility model, the palm area bladder 310 includes a near-thumb area bladder 311 and at least one group of far-thumb area bladders. The near-thumb area bladder 311 is arranged corresponding to the area near the base of the thumb, and the far-thumb area bladders are arranged corresponding to the areas away from the base of the thumb. The two groups of bladders are respectively connected by pipelines and can measure the forces on the areas of the palm near the four fingers and away from the four fingers respectively.

[0062] Please refer to Figure 4 , according to an embodiment provided by the present utility model, the far-thumb area bladders include a near-four-finger area bladder 312 and a palm area bladder 313. The near-four-finger area bladder 312 is arranged corresponding to the area near the bases of the four fingers, and the palm area bladder 313 is arranged corresponding to the palm area; the near-thumb area bladder 311, the near-four-finger area bladder 312, and the palm area bladder 313 are respectively connected by a pipeline 400, and each pipeline 400 is connected to a sensor to detect the internal pressure of each group of bladders respectively. The three groups of bladders respectively correspond to three areas of the palm and can measure the forces at different positions of the palm when grasping an object in a more refined manner, and accurately analyze the state of the palm when grasping an object.

[0063] Please refer to Figure 4 , according to an embodiment provided by the present utility model, the four-finger area bladders are divided into four groups, including an index finger area bladder 330, a middle finger area bladder 340, a ring finger area bladder 350, and a little finger area bladder 360, which are respectively located in the index finger area, the middle finger area, the ring finger area, and the little finger area; the index finger area bladder 330, the middle finger area bladder 340, the ring finger area bladder 350, and the little finger area bladder 360 are respectively connected by at least one pipeline 400, or the index finger area bladder 330, the middle finger area bladder 340, the ring finger area bladder 350, and the little finger area bladder 360 are connected by a pipeline 400. The four groups of bladders in the four-finger area and the thumb area bladder 320 are respectively arranged corresponding to the five finger positions. When performing a grasping or pinching action, the forces on each finger or further on different positions of each finger can be measured respectively, and thus the grasping state of the hand and the coordination of hand movements can be analyzed more accurately.

[0064] It can be understood that when the hand only performs a simple grasping action, its main force-bearing area is in the fingers. Therefore, it is only necessary to set the bladders 300 in the thumb and four-finger areas for measurement. Further, an object can be pinched only with the thumb and index finger. At this time, the four-finger area bladders only include the index finger area bladder 330, which is arranged corresponding to the index finger area, that is, the bladders 300 are divided into two groups, namely the thumb area bladder 320 and the index finger area bladder 330, and no bladders need to be set in other finger areas, and the structure is simpler.

[0065] Please refer to Figure 4, according to an embodiment provided by the present utility model, the bladder body 300 includes eight bladder groups, namely five finger-region bladder groups including the thumb-region bladder 320, index-finger-region bladder 330, middle-finger-region bladder 340, ring-finger-region bladder 350, and little-finger-region bladder 360, and three palm-region bladder groups 310 including the near-thumb-region bladder 311, near-four-finger-region bladder 312, and palm-region bladder 313. Each group of bladders is connected by a pipeline 400, and each pipeline is connected with a sensor to measure the internal pressure of the connected bladder group. The eight groups of bladders are located in eight measurement regions of the base body 200, corresponding to measuring the forces at the corresponding positions of the hand. When the glove body 100 grasps an object, it can measure the forces of each finger pressing the object and the three regions of the palm grasping the object respectively, and can accurately analyze and obtain the grasping force and grasping posture. Further, it can judge the overall grip strength level of the hand. Using the force data at different positions, it can also analyze the flexibility and coordination of the hand, and further evaluate the hand function to assist in realizing more refined and targeted rehabilitation training. When used for robot control, it can improve the flexibility and intelligence of the robotic hand.

[0066] Please refer to Figure 5 , according to an embodiment provided by the present utility model, the finger-region bladders include multiple phalanx-region bladder groups. Each phalanx-region bladder group is connected by a pipeline 400 and is respectively connected with a sensor. The multiple phalanx-region bladder groups are arranged corresponding to each phalanx region of each finger, and can measure the forces at the positions of each phalanx respectively, perform more refined measurement on the force states at various positions of the finger, so as to perform more refined analysis on the hand function, and assist in realizing precise training of the hand control ability and improving the activity ability of the hand.

[0067] Specifically, please refer to Figure 5 , adapted to the finger structure. For example, the index-finger-region bladder 330 includes the proximal phalanx region bladder 331 of the index finger, the middle phalanx region bladder 332 of the index finger, and the distal phalanx region bladder 333 of the index finger. The three groups of bladders are respectively arranged corresponding to the proximal phalanx region, middle phalanx region, and distal phalanx region of the index finger. Each group of bladders is connected by a pipeline 400 and is respectively connected with a sensor to achieve accurate measurement of the forces at each phalanx region on the index finger.

[0068] Similarly, please refer to Figure 5, the middle finger region bladder 340 includes the proximal phalanx region bladder 341 of the middle finger, the middle phalanx region bladder 342 of the middle finger, and the distal phalanx region bladder 343 of the middle finger. The three groups of bladders are respectively arranged corresponding to the proximal phalanx region, the middle phalanx region, and the distal phalanx region of the middle finger; the ring finger region bladder 350 includes the proximal phalanx region bladder 351 of the ring finger, the middle phalanx region bladder 352 of the ring finger, and the distal phalanx region bladder 353 of the ring finger. The three groups of bladders are respectively arranged corresponding to the proximal phalanx region, the middle phalanx region, and the distal phalanx region of the ring finger; the little finger region bladder 360 includes the proximal phalanx region bladder 361 of the little finger, the middle phalanx region bladder 362 of the little finger, and the distal phalanx region bladder 363 of the little finger. The three groups of bladders are respectively arranged corresponding to the proximal phalanx region, the middle phalanx region, and the distal phalanx region of the little finger; the thumb region bladder 320 includes the proximal phalanx region bladder 321 of the thumb and the distal phalanx region bladder 322 of the thumb. The two groups of bladders are respectively arranged corresponding to the two phalanx regions of the thumb.

[0069] Please refer to Figure 5 , according to an embodiment provided by the present utility model, multiple groups of phalanx region bladders are respectively connected to sensors through pipelines to measure the forces of each phalanx of each finger part. Combining with the near thumb region bladder 311, the near four-finger region bladder 312, and the palm region bladder 313 to measure the forces at different positions of the palm, it is possible to more accurately evaluate the hand function, including the grip strength level, flexibility, and coordination, as well as the accuracy of hand control, etc., so as to train specifically to improve the hand movement ability.

[0070] It should be noted that according to the requirements of measurement and training, etc., there can be various different combinations in the distribution of the bladder groups, that is, the measurement partition of the hand is different. For example, when measuring and analyzing the grasping force of each finger part and the entire palm, or for overall rehabilitation training of the hand, the sensors connected to the thumb region bladder 320, the index finger region bladder 330, the middle finger region bladder 340, the ring finger region bladder 350, the little finger region bladder 360, and the palm region bladder 310 can be used to measure and control the forces of each finger part and the palm respectively; when it is necessary to measure, analyze, and train the flexibility of the finger part and the control ability of the finger part, multiple groups of phalanx region bladders are required to measure and control each phalanx of the finger part respectively; when measuring and training the pinching force of the finger part, the bladder groups corresponding to the distal phalanges of each finger part are mainly used for measurement, etc. According to the purpose of use, each bladder group can be combined with each other to measure multiple hand positions.

[0071] Please refer to Figures 1 to 7, according to an embodiment provided by the present utility model, the data glove further includes a control device. One end of the pipeline 400 away from the bladder body 300 is connected to the control device, and the control device is connected to the pressure sensor. The data glove is controlled by combining the feedback information of the pressure sensor to make the hand reach a preset active state. For example, during rehabilitation training, the control device can be used to control the input pressure so that the pressure of each group of bladder bodies reaches the required pressure value in the hand grasping state, thereby controlling the hand to achieve the preset action and realizing precise rehabilitation.

[0072] Please refer to Figures 1 to 7 , the user firmly wears the data glove on the hand through the glove body 100. When the hand grasps an object, multiple groups of bladder bodies on the surface of the base body 200 press the surface of the object to generate internal pressure changes. Each group of bladder bodies is connected to the pressure sensor through the pipeline 400, and the force data of each measurement area can be measured, so as to obtain the force state of each position of the hand and detect the grip strength level of the user's hand; by setting the distribution of the bladder bodies 300, not only can the grip strength of the hand be measured and evaluated, but also the force states of different positions of the palm and each phalanx position of each finger can be detected to provide accurate force feedback, thereby judging the flexibility and coordination of the hand, further evaluating and analyzing the hand function, and the user's control ability of hand activities.

[0073] Please refer to Figures 1 to 7 , the present utility model can be used as a rehabilitation glove, which can accurately control hand movements such as grasping and pinching according to force feedback, especially for mirror image rehabilitation training, to promote the rehabilitation of the patient's hand and the recovery of the brain functional area. During rehabilitation training, the data glove is worn on the healthy side of the patient, and the rehabilitation glove is worn on the affected side of the patient. The grip strength of each area of the palm when the data glove grasps an object is measured by the force measurement device on the data glove, and the grip strength data is transmitted to the computer. The computer controls the output pressure through the control device to drive the rehabilitation glove to move to reach the same grip strength, thereby achieving the effect of rehabilitation treatment. Using mirror image training can effectively reduce the patient's anxiety and self-awareness disorder, improve the enthusiasm and confidence of rehabilitation training, obtain the best rehabilitation effect, and realize precise rehabilitation. Of course, the present utility model can also be used for the hand training of ordinary people to enhance the grip strength of the hand, further improve the hand activity ability, enhance the hand-brain coordination, and train the hand to master more refined manipulation ability.

[0074] Please refer to Figure 8, according to an embodiment provided by the present utility model, each bladder 300 can also be internally divided into two separate chambers, and the independent chambers at the same position within the bladders 300 in the same area are respectively connected by a pipeline 400. By means of a plurality of bladders 300, force data of different areas of the hand can be measured. The independent chambers at different positions can sense forces from different directions, enabling it to detect the deformation of the bladders 300 in multiple directions and thus sense its multi-dimensional force distribution. For example, each bladder 300 can be divided into two upper and lower independent chambers, namely the first sub-region and the second sub-region. In each measurement area, the first sub-regions of all the bladders 300 are connected by a pipeline, and all the second sub-regions are connected by another different pipeline. Of course, in other embodiments, the bladder 300 can also be divided into two left and right independent chambers or a combination of various partition settings, etc., so as to distinguish the normal pressure exerted by the hand and the frictional forces in the front-back and / or left-right directions, etc.

[0075] It should be noted that the number of sub-regions, that is, the independent chambers within the bladder 300, can be set to 3, 4 or other numbers. Each sub-region within the same measurement area is correspondingly connected by a pipeline 400, that is, each independent pipeline 400 connects the independent chambers at the same position within each bladder 300 in the same measurement area. In addition to measuring the hand force data in a partitioned manner, the forces in different directions within the same area can be further measured and distinguished, enabling more accurate measurement of the multi-dimensional forces at different positions of the hand. On this basis, the bladder 300 can also be pressurized through a fluid medium, and then pressure and other stimuli can be generated on the corresponding hand through the deformation of the bladder 300, thereby generating tactile feedback.

[0076] The present utility model can also be used in the field of robot control. By measuring and feeding back to timely adjust the grasping posture and grasping force, the flexibility and intelligence of the manipulator can be improved, and the setting of the bladder 300 can achieve accurate measurement without causing damage to the object; in addition, it can also be used for human-computer interaction in a virtual scenario. With the force feedback function of the data glove, a real tactile sensation can be created during the process of the user interacting with the three-dimensional object made by the computer, and the object information can be fed back to the user, enabling the user to truly feel the surface touch of the object and "touch" the virtual world personally, and interact with the virtual world more directly and naturally, greatly enhancing the interactivity and immersion.

[0077] In summary, for the multi-functional data glove of the present utility model, a force measurement device is arranged on the glove body 100. When the glove body 100 grasps or pinches an object together with the hand, the pressure change generated by the contact between the bladder 300 on the substrate 200 and the object is used to measure the grip force of each part of the hand. The bladder 300 is connected through a pipeline 400 and connected to a sensor. The structure is light, with high flexibility, and comfortable and safe to wear. Multiple groups of bladders are arranged corresponding to different positions of the hand, capable of accurately measuring the force at each position of the hand, and more precisely evaluating and analyzing hand functions. Combining with a control device to adjust the data glove to make the bladder 300 reach a preset pressure, so that the hand wearing the data glove reaches a preset movement state, and different rehabilitation strategies are adopted for different patients, enabling targeted rehabilitation training. The data glove of the present utility model can also be used as a rehabilitation glove for mirror training. The data glove worn on the healthy hand is used for accurate measurement, and the rehabilitation glove of the affected hand is controlled in real time through data feedback to perform preset actions. Mirror training can effectively improve the enthusiasm of patients for rehabilitation treatment, with fine control and capable of adapting to various rehabilitation strategies. During the rehabilitation training process, the plan can be adjusted in a timely manner according to the feedback to achieve precise rehabilitation. In addition, the present utility model can also be used for robot control and virtual interaction, etc., with wide applications, simple structure, low cost, and convenient to wear and use.

[0078] The foregoing embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit it; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present utility model, and should all be included in the protection scope of the present utility model.

[0079] Except for the technical features described in the specification, the remaining technical features are known to those skilled in the art. To highlight the innovative features of the present utility model, the remaining technical features are not described herein again.

Claims

1. A multifunctional data glove, characterized in that, Comprising: A glove body; A force measuring device, connected to the glove body and located in the finger region, or the finger region and the palm region, which comprises: A substrate, the substrate being connected to the glove body; Multiple groups of bladders, arranged on the substrate and distributed in the finger region, or the finger region and the palm region; Multiple pipelines, each group of bladders being communicated through one of the pipelines; A pressure sensing module, sensing the internal pressure of each group of bladders through the pipeline.

2. The multifunctional data glove according to claim 1, wherein, The bladder comprises a finger region bladder, arranged corresponding to the finger region, which comprises: A thumb region bladder, arranged corresponding to the thumb region; At least one group of four-finger region bladders, arranged corresponding to the four-finger region.

3. The multifunctional data glove according to claim 2, characterized in that, The four-finger region bladder comprises an index finger region bladder, which is arranged corresponding to the index finger region.

4. The multi-functional data glove according to claim 2, wherein The four-finger region bladder further comprises a middle finger region bladder and / or a ring finger region bladder and / or a little finger region bladder, and the middle finger region bladder, the ring finger region bladder and the little finger region bladder are respectively located in the middle finger region, the ring finger region and the little finger region.

5. The multifunctional data glove according to claim 1, characterized in that, The bladder further comprises a palm region bladder, arranged corresponding to the palm region, which comprises: A near-thumb region bladder, arranged corresponding to the region near the base of the thumb; At least one group of far-thumb region bladders, arranged corresponding to the region far from the base of the thumb.

6. The multifunctional data glove according to claim 5, characterized in that, The far-thumb region bladder comprises: A near-four-finger region bladder, arranged corresponding to the region near the base of the four fingers; A palm center region bladder, arranged corresponding to the palm center region.

7. The multi-functional data glove according to claim 2, characterized in that The finger region bladder comprises multiple groups of phalanx region bladders, and each of the phalanx region bladders is respectively arranged corresponding to each phalanx region of each finger.

8. The multi-functional data glove according to claim 1, characterized in that, The substrate comprises a pipeline layer, and the pipelines are distributed in the pipeline layer.

9. The multifunctional data glove according to claim 8, characterized in that, Each pipeline layer corresponds to at least one of the pipelines.

10. The multifunctional data glove according to claim 1, characterized in that, It further comprises a control device, and the pipeline is connected to the control device.

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