Force feedback rehabilitation finger separating plate

Abstract

The force feedback rehabilitation finger separating plate comprises a finger separating plate body, a measuring module, a signal processing module, a display module and a music feedback module, the finger separating plate body comprises a first flexible layer, a supporting plate and a second flexible layer which are sequentially stacked, and the supporting plate has certain hardness and can be bent; a plurality of sealing cavities are formed between the first flexible layer and the supporting plate and serve as sensing units, the sensing units are connected with a measuring module through pipelines to indirectly measure hand force data, and each sensing unit comprises a plurality of bags so that the sensing units can make contact with the hand to achieve deformation measurement; the signal processing module processes pressure signals obtained by the measuring module and then transmits the pressure signals to the display module and the music feedback module, training data are monitored in real time, rehabilitation training and music feedback are combined, the interestingness of the training process is improved, and the treatment enthusiasm of a patient is improved.

Description

Technical Field

[0001] The utility model belongs to the fields of rehabilitation medicine, sports fitness and biomechanics equipment, and particularly relates to a force feedback rehabilitation fingerboard. Background Art

[0002] Currently, the number of patients suffering from hand disabilities caused by stroke, cerebral hemorrhage, cerebral infarction, cerebral thrombosis, cerebral palsy, burns, scalds, and other types of accidents in China is steadily increasing each year. Symptoms often manifest as hand twitching, spasms, weak grasping, inability to stretch normally, and "hooking" (a type of hand movement). Restoring hand function requires a gradual rehabilitation process. Immediate recovery through surgery or other corrective treatments is difficult to achieve, and ordinary families cannot afford the high cost of surgery. More people choose to go to hospitals or private rehabilitation centers for corrective rehabilitation. However, the overall rehabilitation costs are high, and the long distances and inconveniences often make it difficult for patients to follow the rehabilitation plan, resulting in missed recovery time. Furthermore, when patients conduct rehabilitation training at home, the lack of timely feedback affects the training effect. Conventional rehabilitation training is relatively boring, making it difficult for patients to persist in long-term independent rehabilitation training, making it difficult for them to fully recover through independent training. Therefore, it is necessary to develop and promote a hand rehabilitation training device that is low-cost, portable, and can be used anytime for rehabilitation training. It also has a data feedback function, is highly engaging, and can enhance training enthusiasm and enjoyment, helping patients persist in long-term training. Currently, groups such as the elderly also lack relevant equipment for hand exercise training. Utility Model Content

[0003] In view of the above shortcomings of the existing technology, the purpose of the present invention is to provide a force feedback rehabilitation fingerboard that can measure hand force data when assisting finger rehabilitation training, and combine with a music feedback system to enhance the fun of the rehabilitation process, increase the patient's enthusiasm for training, and effectively improve hand dysfunction. It has a simple structure, is easy to carry, has low cost, and is easy to promote.

[0004] To achieve the above-mentioned and other related purposes, the present invention provides a force feedback rehabilitation fingerboard, comprising:

[0005] The fingerboard is adapted to the shape of the hand and comprises:

[0006] a first flexible layer, wherein the first flexible layer is formed with a plurality of raised cavity structures at positions corresponding to the five fingers and / or the palm and / or the wrist;

[0007] a support plate connected to the first flexible layer and located on the opposite side of the raised cavity, wherein a plurality of sensing units are formed between the support plate and the first flexible layer, and each sensing unit is connected via at least one pipe;

[0008] as well as,

[0009] a measuring module connected to the pipeline to collect an internal pressure signal of the sensing unit;

[0010] The signal processing module is connected to the measuring module to obtain the pressure signal, process it and send it.

[0011] According to an embodiment of the present invention, the fingerboard further includes a second flexible layer connected to a side of the support plate away from the first flexible layer and covering the support plate.

[0012] According to one embodiment of the present invention, the sensing unit includes:

[0013] A plurality of thumb zone sensing units, which are arranged corresponding to thumb positions;

[0014] and / or a plurality of index finger area sensing units, which are arranged corresponding to the positions of the index fingers;

[0015] and / or a plurality of middle finger area sensing units, which are arranged corresponding to the positions of the middle fingers;

[0016] and / or a plurality of ring finger area sensing units, which are arranged corresponding to the positions of the ring fingers;

[0017] and / or a plurality of pinky region sensing units, which are arranged corresponding to the pinky positions;

[0018] and / or a plurality of palm area sensing units, which are arranged corresponding to the positions of the palms;

[0019] and / or a plurality of wrist sensing units, which are arranged corresponding to the wrist positions.

[0020] According to an embodiment of the present invention, each of the sensing units is composed of a plurality of interconnected capsules, and the capsules correspond to the raised cavity structures of the first flexible layer.

[0021] According to an embodiment of the present invention, each of the capsules includes a plurality of sub-regions, and the sub-regions are not connected to each other;

[0022] In each of the sensing units, the sub-areas in the same direction in each of the capsules are connected through one of the pipes to form a sub-unit, and each of the sub-units senses forces in different directions respectively.

[0023] According to an embodiment of the present invention, one end of the pipe is connected to the capsule, and the other end is connected to the measurement module.

[0024] According to an embodiment of the present invention, the support plate includes a finger portion and a palm portion, and is a plastic plate. The finger portion can bend up and down and maintain the shape after plastic deformation.

[0025] According to an embodiment of the present invention, the signal processing module includes:

[0026] A signal conditioning unit, which obtains the pressure signal, conditions it, and converts it into a conditioned signal;

[0027] an analog-to-digital conversion unit, which obtains the conditioned signal and converts it into a digital signal;

[0028] The communication unit obtains the digital signal and sends it.

[0029] According to an embodiment of the present invention, a display module is further included, which is communicatively connected to the signal processing module, receives the digital signal sent by the communication unit and displays it in real time.

[0030] According to one embodiment of the present invention, a music feedback module is further included, which includes:

[0031] a controller, connected to the signal processing module, and receiving the digital signal sent by the communication unit;

[0032] The sound generating module is connected to the controller. After receiving the pressure data and the corresponding position information, the controller sends an instruction to control the sound generating module to emit the corresponding sound.

[0033] In the force feedback rehabilitation fingerboard of the present invention, the support plate can ensure that the fingerboard fits the fingers and supports the hand for training, and the sensing unit formed between the support plate and the first flexible layer is used to indirectly realize the measurement of hand force data. The sensing unit includes a plurality of capsule structures. When rehabilitation training is carried out, the capsule is deformed and produces pressure changes when it is pressed or squeezed. The pressure signal is detected by the measurement module and processed by the signal processing module to obtain the corresponding force data of each finger. Furthermore, multiple sub-units can also sense and measure forces of different dimensions. The flexible capsule is easier to deform while ensuring comfort, thereby achieving more accurate and sensitive measurement. The display module can be used to monitor the training process in real time and track the training results. At the same time, the controller of the music feedback module controls the sound generation module to emit corresponding sounds according to the pressure signal received from the signal processing module for different pressure values of the capsule at different finger positions, thereby increasing the interest of training, improving the training effect, and improving the flexibility of the fingers. It can also generate tactile feedback. The entire device has a simple structure, is easy to carry, and is low in cost and easy to popularize. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 This is a disassembled structural diagram of a fingerboard in an embodiment of the present invention;

[0036] Figure 2 This is a structural diagram of the first flexible layer and the capsule in an embodiment of the present invention;

[0037] Figure 3 A structural diagram of a support plate in an embodiment of the present invention;

[0038] Figure 4 This is a structural diagram of the second flexible layer in an embodiment provided by the utility model;

[0039] Figure 5 This is a schematic diagram of a normal, unbent state of a fingerboard in an embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram of a fingerboard in an embodiment of the present invention in an upwardly bent state;

[0041] Figure 7 This is a schematic diagram of a downwardly bent state of a fingerboard in an embodiment of the present invention;

[0042] Figure 8 This is a structural diagram of the first flexible layer and the bladder body when the bladder body is divided into multiple chambers in an embodiment provided by the present utility model;

[0043] Figure 9 This is a system composition diagram of a force feedback rehabilitation fingerboard in one embodiment of the present invention.

[0044] Description of labels:

[0045] 100, fingerboard; 200, measurement module; 300, signal processing module; 400, display module; 500, music feedback module;

[0046] 110, first flexible layer; 120, support plate; 130, second flexible layer; 140, capsule; 150, pipe;

[0047] 111. Thumb area sensing unit; 112. Index finger area sensing unit; 113. Middle finger area sensing unit; 114. Ring finger area sensing unit; 115. Little finger area sensing unit; 116. Palm area sensing unit; 117. Wrist area sensing unit;

[0048] 510. Controller; 520. Sound generating module. DETAILED DESCRIPTION

[0049] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different perspectives and applications without departing from the spirit of the present invention.

[0050] It should be noted that the illustrations provided in this embodiment are only used to schematically illustrate the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0051] Hand rehabilitation is a gradual process. For hand disabilities caused by various diseases or accidents, it is difficult to achieve immediate recovery through surgery, etc., and a large amount of continuous rehabilitation exercises are required afterwards. In order to facilitate patients to carry out continuous rehabilitation training and achieve good rehabilitation effects, it is of great significance to develop low-cost, highly portable home hand rehabilitation training aids. At the same time, it is also important to use training aids to enhance the fun of the training process to help patients persist in actively carrying out rehabilitation exercises.

[0052] See also Figures 1 to 9 The present invention provides a force feedback rehabilitation fingerboard, comprising a fingerboard 100, a measuring module 200, a signal processing module 300, a display module 400 and a music feedback module 500. The fingerboard 100 serves as the main body of rehabilitation training, and its shape is adapted to the shape of the hand. The hand is fixed on the fingerboard 100 and performs flexion, extension, pressing and other movements to perform rehabilitation exercises; the measuring module 200 is connected to the fingerboard 100, and may include, for example, a pressure sensor for collecting pressure signals; the signal processing module 300 is connected to the measuring module 200, and converts and processes the pressure signals and sends them to the display module 400 and / or the music feedback module 500. The display module 400 can monitor the hand force data in real time to track the training process, and the music feedback module 500 can convert the pressure signals of different fingers into different sounds, thereby increasing the fun of training and improving the patient's enthusiasm for rehabilitation exercises.

[0053] See also Figures 1 to 8According to one embodiment of the present invention, the fingerboard 100 includes a first flexible layer 110, a support plate 120, and a second flexible layer 130. The shape of the second flexible layer 130 is adapted to the shape of the hand so as to fit the hand for exercise. The first flexible layer 110 has a plurality of raised cavity structures corresponding to the five fingers and / or palm and / or wrist. The support plate 120 is connected to the first flexible layer 110 and is located on opposite sides of the raised cavities. A plurality of sensing units are formed between the support plate 120 and the first flexible layer 110. Each sensing unit is connected to at least one pipe 150. The measurement module 200 is connected to the pipe 150 to collect internal pressure signals of the sensing units. The second flexible layer 130 is connected to the side of the support plate 120 away from the first flexible layer 110 and covers the support plate 120. The first flexible layer 110, the support plate 120, and the second flexible layer 130 are stacked and fixed in sequence to form an integral fingerboard 100.

[0054] It should be noted that the sensing unit is formed between the first flexible layer 110 and the support plate 120, and is a sealed cavity structure. The first flexible layer 110 and the support plate 120 on both sides can provide contact support for the fingers. When the hand is fixed on the finger plate 100 for rehabilitation exercises, the sealed cavities will be squeezed to cause pressure changes inside them. Each sensing unit is connected to the corresponding pressure sensor through the pipe 150, and the internal pressure signal of the corresponding sealed cavity is collected through the pressure sensor. The signal processing module 300 is connected to the pressure sensor, obtains the pressure signal and converts it to obtain hand force data, and then sends it to the subsequent module, thereby indirectly realizing the measurement of force data at different positions of the hand.

[0055] See also Figures 1 to 8 According to one embodiment of the present invention, the first flexible layer 110 and the support plate 120 may be connected by adhesive bonding, for example, to ensure the sealing of the connection, thereby forming a cavity of corresponding structure at the corresponding position. The cavities in each sensing unit are connected by a pipe 150 and are connected to an external pressure sensor. By measuring the pressure within the sensing unit, hand force data during rehabilitation training can be obtained. Specifically, when the hand is fixed to the fingerboard 100 and performs movements such as flexion, extension, and pressing, the surface of the first flexible layer 110 deforms under the action of the hand force, and the pressure within the sensing unit also changes. The pressure signal is collected by the pressure sensor of the measurement module 200, and the corresponding cavity pressure data and hand force data can be obtained through subsequent processing.

[0056] See also Figures 1 to 8According to one embodiment of the present invention, multiple sensing units are provided corresponding to the positions of the five fingers, and are connected to the pressure sensor via at least one pipe 150 to obtain pressure signals at the corresponding finger positions. Specifically, the sensing units include a plurality of thumb sensing units 111, and / or a plurality of index finger sensing units 112, and / or a plurality of middle finger sensing units 113, and / or a plurality of ring finger sensing units 114, and / or a plurality of little finger sensing units 115, and / or a plurality of palm sensing units 116, and / or a plurality of wrist sensing units 117. The thumb area sensing unit 111, the index finger area sensing unit 112, the middle finger area sensing unit 113, the ring finger area sensing unit 114, and the little finger area sensing unit 115 are respectively set to correspond to the thumb position, the index finger position, the middle finger position, the ring finger position, and the little finger position, and are connected to the pressure sensor through their respective pipes 150 to sense the pressure changes in the sensing unit at each finger, thereby measuring the force data of each finger. The sensing unit can be set at the required position according to training needs; the palm area sensing unit 116 and the wrist area sensing unit 117 are respectively set to correspond to the palm and wrist positions, and are connected to the pressure sensor through their respective pipes 150 to measure the force data of the palm and wrist.

[0057] See also Figures 1 to 8 According to one embodiment of the present invention, each finger includes multiple sensing units corresponding to the positions of each phalanx, and can measure the force data of different positions of the same finger. Specifically, for example, two thumb area sensing units 111 are provided corresponding to the thumb area, respectively located on the distal phalanx and proximal phalanx areas of the thumb; three index finger area sensing units 112 are provided corresponding to the index finger area, respectively located on the distal phalanx, middle phalanx, and proximal phalanx areas of the index finger. The sensing units of the remaining three finger areas are similarly arranged as those of the index finger area. Thus, each finger is connected to the sensor through multiple sensing units, and the force of each phalanx can be further measured separately.

[0058] See also Figures 1 to 8 According to one embodiment of the present invention, each sensing unit is composed of a plurality of interconnected capsules 140, and the capsules 140 correspond to the raised cavity structures of the first flexible layer 110. It is understood that the surface of the first flexible layer 110 is provided with multiple raised cavity structures. When the first flexible layer 110 is adhered to the support plate 120, the first flexible layer 110 and the support plate 120 can be separated to form multiple capsules 140 structures. Each raised cavity serves as a capsule 140, and multiple capsules 140 are interconnected to form a sensing unit. The raised flexible capsules 140 structure enables the sensing unit to better sense the force applied by the finger, thereby causing deformation and obtaining the pressure signal, thereby ensuring sensitive and accurate measurement.

[0059] See also Figure 8According to one embodiment of the present invention, further, each capsule 140 may include multiple sub-areas, and the sub-areas are not connected to each other; in each sensing unit, the sub-areas in the same direction in each capsule 140 are connected through a pipe 150 to form a sub-unit, and each sub-unit is used to sense forces in different directions.

[0060] Specifically, see Figure 8 For example, in each sensing unit, the interior of the capsule 140 is divided into two independent chambers, located at the front and rear, respectively, corresponding to the first sub-area 141 and the second sub-area 142. The first sub-areas 141 of all capsules 140 are connected by a pipe 150 to form a first sub-unit, and the second sub-areas 142 are connected by another different pipe 150 to form a second sub-unit. The first sub-unit and the second sub-unit can sense forces from different directions within the same area, thereby realizing multi-dimensional force measurement. Of course, in other embodiments, the capsule 140 can also be divided into two independent left and right sub-areas, and different sensing units can be combined in a variety of partitioning methods to distinguish between the positive pressure applied by the hand and the friction force of the front and back and / or left and right, etc.

[0061] It should be noted that the number of sub-regions within capsule 140 can be set to three, four, or more, corresponding to the number of sub-units in each sensing unit being three, four, or more, each of which is connected by a pipe 150, enabling the sensing of forces from multiple dimensions. Furthermore, capsule 140 can be pressurized with a fluid medium, and the deformation of capsule 140 can then generate pressure and other stimulation on the corresponding hand, thereby producing tactile feedback.

[0062] See also Figures 1 to 8 According to one embodiment of the present invention, within each group of sensing units, multiple capsules 140 are arranged in an array and connected via a pipe 150. For example, five sensing units correspond to five finger areas, and the raised cavities on the surface of the first flexible layer 110 corresponding to each finger are arranged in an array. The capsules 140 within each group of sensing units are also arranged in an array, and each capsule 140 is connected via a pipe 150. Specifically, for example, the capsules 140 can be arranged in two columns and multiple rows, with multiple capsules 140 connected in each column. The capsules 140 in the same row are interconnected, and the pipe 150 connects the capsules 140 in each row and column in a crisscross pattern. It is understood that the number and arrangement of the capsules 140 can vary depending on the hand shape, the structure of the fingerboard 100, etc. In other embodiments, the grouping and corresponding positions of the sensing units can also vary depending on the area to be measured.

[0063] See also Figures 1 to 9According to one embodiment of the present invention, one end of the tube 150 connects to the capsule 140 and the other end connects to the measurement module 200. Specifically, the tubes 150 do not interfere with each other. They extend from the finger plate 100 and connect to the measurement module 200 to obtain pressure signals from the capsule group in each finger area. It is understood that the capsule 140 can be an airbag or other fluid capsule, and the capsule 140 and tubes 150 can be filled with a certain fluid medium.

[0064] See also Figures 1 to 8 According to one embodiment of the present invention, the support plate 120 includes a finger portion and a palm portion, and is a plastic plate. The finger portion can be bent upward and downward and maintain the shape after plastic deformation, so that the finger plate 100 can be bent up and down to adapt to the hand. For example, the support plate 120 can be made of a thin metal with a certain hardness. While having a certain hardness, it can be bent and deformed, maintain the shape after plastic deformation, and restore its original shape under the action of a certain external force, and can be used repeatedly. When the finger is performing pressing training, the finger portion of the support plate 120 is bent upward or downward to a certain extent, which can better fit the patient's hand. When the finger is flexing and extending, the support plate 120 and the capsule 140 of the first flexible layer 110 are in contact with the hand to provide a certain resistance to achieve correction and training of the finger, and can achieve force measurement by squeezing the capsule 140.

[0065] See also Figures 1 to 8 According to one embodiment of the present invention, the first flexible layer 110 and the second flexible layer 130 are made of flexible material and cover and wrap the support plate 120 to ensure the integrity of the fingerboard 100 and comfort during use; the capsule 140 between the first flexible layer 110 and the support plate 120 is also more likely to deform under the action of force, thereby ensuring measurement sensitivity. At the same time, when the finger moves, the flexible capsule 140 massages the surface of the finger without causing discomfort.

[0066] It is understandable that the fingerboard 100 should also be provided with fixings to ensure that the hand and the fingerboard 100 are fixed during training. The fixings can be, for example, elastic straps or Velcro, which can be set on the wrists and fingers for easy adjustment and fixation.

[0067] See also Figures 1 to 9According to one embodiment of the present invention, the measurement module 200 may include a pressure sensor connected to one end of the pipeline 150 to obtain a pressure signal from a sensing unit corresponding to the pipeline 150, and then process the signal through the signal processing module 300. Specifically, the signal processing module 300 may include, for example, a signal conditioning unit, an analog-to-digital conversion unit, and a communication unit. The signal conditioning unit is used to obtain the pressure signal, condition it, and convert it into a conditioned signal; the analog-to-digital conversion unit obtains the conditioned signal and converts it into a digital signal; and the communication unit obtains the digital signal and transmits it.

[0068] See also Figures 1 to 9 According to one embodiment of the present invention, the display module 400 is communicatively connected to the signal processing module 300 to receive and display the digital signals sent by the communication unit in real time, enabling intuitive tracking and monitoring of the training process. The display module 400 can be, for example, a display screen or other electronic device communicatively connected to the signal processing module 300, enabling the viewing and monitoring of hand training data at any time, facilitating analysis of rehabilitation treatment effectiveness by medical personnel.

[0069] See also Figures 1 to 9 According to one embodiment of the present invention, the music feedback module 500 includes a controller 510 and a sound generating module 520. The controller 510 is connected to the signal processing module 300 and receives the digital signal sent by the communication unit. The sound generating module 520 is connected to the controller 510. After receiving the pressure data and the corresponding position information, the controller 510 sends an instruction to control the sound generating module 520 to emit the corresponding sound. Specifically, for example, the signal processing module 300 sends the force data corresponding to different fingers to the corresponding processing unit in the controller 510, and after processing, sends instructions to control the sound generating module 520 to emit corresponding sounds. When the user presses the thumb area capsule 140, the sound generating module 520 will emit a "do" sound; when the user presses the index finger area capsule 140, the sound generating module 520 will emit a "re" sound; when the user presses the middle finger area capsule 140, the sound generating module 520 will emit a "mi" sound; when the user presses the ring finger area capsule 140, the sound generating module 520 will emit a "fa" sound; when the user presses the little finger area capsule 140, the sound generating module 520 will emit a "sol" sound; when the user presses the palm area capsule 140, the sound generating module 520 will emit a "la" sound; when the user presses the wrist area capsule 140, the sound generating module 520 will emit a "si" sound. Furthermore, the combination of pressure from multiple fingers can produce a variety of sounds, and the loudness of the sound varies with the pressure. At the same time, the duration of pressure can control the extension of the sound. Patients can fully experience the joy of playing during rehabilitation training and effectively enhance their enthusiasm for rehabilitation treatment.

[0070] See also Figures 1 to 9 According to one embodiment of the present invention, the music feedback module 500 also includes a switch connected to the controller 510, which can control the on and off of the circuit of the music feedback module 500, realize the switching between the music performance mode and the silent mode, and adapt to various training modes of different groups of people.

[0071] It can be understood that the connection circuits of multiple modules such as the measurement module 200, the signal processing module 300, and the music feedback module 500 can be integrated into a control board and fixed on the fingerboard 100 or inside the fingerboard 100. The entire device is simple, light and easy to carry.

[0072] See also Figures 1 to 9 According to an embodiment of the present invention, when performing rehabilitation training, the support plate 120 is adjusted according to the finger angle so that the finger plate 100 fits the hand, and the finger plate 100 is fixed under the palm. When the fingers bend downward or press the capsule 140, the pressure of the sensing unit in the corresponding area changes; or the finger plate 100 can be fixed on the back of the patient's hand in the reverse direction, and the convex side of the capsule 140 is attached to the back of the hand, and the finger plate 100 is bent at an appropriate angle. When the patient extends his five fingers, the resistance of the finger plate 100 presses the capsule 140, and the pressure of the sensing unit in the corresponding area changes; the measuring module 200 receives the The pressure signal of the sensing unit is received and processed by the signal processing module 300 and then sent to the display module 400 and / or the music feedback module 500. The hand force data can be displayed through the display module 400 for monitoring and analysis. When the music feedback module 500 is turned on, different sounds can be emitted when each finger moves, which enhances the fun of training. Music elements can also be added when formulating corresponding rehabilitation training plans based on the patient's condition, such as completing the performance of a piece of music in one training, etc., so that the patient can experience the joy of playing during the treatment process, further enhance the patient's enthusiasm for treatment, and improve the rehabilitation training effect.

[0073] The force feedback rehabilitation fingerboard of the present invention is a fingerboard 100 that is stacked in sequence by a first flexible layer 110, a support plate 120, and a second flexible layer 130. The support plate 120 can bend to adapt to the patient's hand condition and assist in force measurement during rehabilitation training. The flexible layers on both sides ensure comfortable wearing. Multiple sensing units are formed between the first flexible layer 110 and the support plate 120. Each sensing unit includes a plurality of interconnected capsules 140. During rehabilitation training, pressure sensors can detect the pressure of sensing units in different finger areas to obtain force data of hand movement. Multi-dimensional force perception and measurement can also be achieved by further partitioning the capsules 140 and sensing units. The flexible capsules 140 can not only improve the sensitivity and accuracy of measurement, but also ensure comfort during hand movement. The music feedback module 500 presents different pressure data of different fingers with different sounds, realizing the combination of finger rehabilitation training and music feedback, enhancing the interest of the rehabilitation training process and improving the patient's enthusiasm for treatment.

[0074] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

[0075] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present invention, the remaining technical features will not be described here in detail.

Claims

1. A force feedback rehabilitation fingerboard, characterized in that: include: The fingerboard is adapted to the shape of the hand and comprises: a first flexible layer, wherein the first flexible layer is formed with a plurality of raised cavity structures corresponding to the fingers and / or the palm and / or the wrist; a support plate connected to the first flexible layer and located on the opposite side of the raised cavity, wherein a plurality of sensing units are formed between the support plate and the first flexible layer, and each sensing unit is connected by at least one pipe; as well as, a measuring module connected to the pipeline to collect an internal pressure signal of the sensing unit; The signal processing module is connected to the measuring module to obtain the pressure signal, process it and send it.

2. The force feedback rehabilitation fingerboard according to claim 1, characterized in that: The fingerboard further includes a second flexible layer connected to a side of the support plate away from the first flexible layer and covering the support plate.

3. The force feedback rehabilitation fingerboard according to claim 1, characterized in that: The sensing unit includes: A plurality of thumb zone sensing units, which are arranged corresponding to thumb positions; and / or a plurality of index finger area sensing units, which are arranged corresponding to the positions of the index fingers; and / or a plurality of middle finger area sensing units, which are arranged corresponding to the positions of the middle fingers; and / or a plurality of ring finger area sensing units, which are arranged corresponding to the positions of the ring fingers; and / or a plurality of pinky region sensing units, which are arranged corresponding to the pinky positions; and / or a plurality of palm area sensing units, which are arranged corresponding to the positions of the palms; and / or a plurality of wrist sensing units, which are arranged corresponding to the wrist positions.

4. The force feedback rehabilitation fingerboard according to claim 1, characterized in that: Each of the sensing units is composed of a plurality of interconnected capsules, and the capsules correspond to the protruding cavity structures of the first flexible layer.

5. The force feedback rehabilitation fingerboard according to claim 4, characterized in that: Each of the capsules includes a plurality of sub-regions, and the sub-regions are not connected to each other; In each of the sensing units, the sub-areas in the same direction in each of the capsules are connected through one of the pipes to form a sub-unit, and each of the sub-units senses forces in different directions respectively.

6. The force feedback rehabilitation fingerboard according to claim 5, characterized in that: One end of the pipeline is connected to the subunit, and the other end is connected to the measurement module.

7. The force feedback rehabilitation fingerboard according to claim 1, characterized in that: The support plate comprises a finger portion and a palm portion, and is a plastic plate. The finger portion can be bent up and down and maintain a shape after plastic deformation.

8. The force feedback rehabilitation fingerboard according to claim 1, characterized in that: The signal processing module includes: A signal conditioning unit, which obtains the pressure signal, conditions it, and converts it into a conditioned signal; an analog-to-digital conversion unit, which obtains the conditioned signal and converts it into a digital signal; The communication unit obtains the digital signal and sends it.

9. The force feedback rehabilitation fingerboard according to claim 8, characterized in that: It also includes a display module, which is communicatively connected to the signal processing module, receives the digital signal sent by the communication unit and displays it in real time.

10. The force feedback rehabilitation fingerboard according to claim 9, characterized in that: Also included is a music feedback module, which includes: a controller, connected to the signal processing module, and receiving the digital signal sent by the communication unit; The sound generating module is connected to the controller. After receiving the pressure data and the corresponding position information, the controller sends an instruction to control the sound generating module to emit the corresponding sound.

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