Hand movement detection device, control method, rehabilitation device, and autonomous control system

Abstract

The present invention provides a hand motion detection device including a motion detection unit, the motion detection unit being provided on a finger joint of a first hand and generating detection information for feeding back the motion of the finger joint of the hand in the process of the finger of the first hand performing the motion of extension and flexion, so that the motion detection unit can generate detection information for feeding back the motion of the finger joint in real time when performing the motion of extension and flexion together with the finger of the first hand, the motion detection unit being connected to a control unit, the motion detection unit transmitting the detection information to the control unit, and the control unit issuing an execution command based on the detection information, thereby realizing the accurate collection of the motion information of the finger joint of the first hand in real time and the timely transmission of the detection information to the control unit. The present invention further provides a control method for the hand motion detection device, a rehabilitation device, and an autonomous control system.

Description

[Technical field]

[0001] The present invention relates to the technical field of finger rehabilitation training, and in particular to a hand movement detection device, a control method, a rehabilitation device, and an autonomous control system. [Background technology]

[0002] According to statistics, there are currently more than 10 million stroke patients in China, with the number of new patients exceeding 2 million each year. Hand dysfunction after stroke is the most common, but it is difficult to recover, and patients with hand dysfunction need long-term hand rehabilitation training to recover hand function. With the advancement of rehabilitation robot technology, the number of cases in which hand function rehabilitation robots are used to recover patients with hand dysfunction is increasing.

[0003] Patent Publication No. KR1020180072264A discloses a hand rehabilitation training system and training method, Patent Publication No. KR1020180134083A discloses a spherical wrist rehabilitation device and a rehabilitation device including the device, and Patent Publication No. CN208426594U discloses a hand grip for preventing hand scar contracture. These three inventions all collect hand movement information by clenching a fist and pushing an airbag, but the accuracy of finger joint movement information collection is not high, real-time finger joint movement information cannot be collected, and the finger joint movement of one finger cannot be collected. In the prior art, the cost of collecting finger joint movement information of one finger using an angle sensor or the like is high.

[0004] Patent Publication No. CN110478195A discloses a sensor device and an integrated finger joint rehabilitation glove, the sensor device includes a finger, the finger is adapted to be fitted to a user's finger and bends with the bending of the user's finger, the finger has a finger sensor, the finger sensor is used to transmit the movement of the finger to a controller, and the controller issues a trigger signal after receiving the signal from the finger sensor, where the controller is connected to the finger sensor through a signal line. In this way, the control signal is generated by the control of the user's finger, and the user can be the patient's family or the patient himself, so that the actual situation of the patient can be known more deeply and a more accurate control signal can be generated. However, it has the following defects: (1) Permanent magnets have the risk of their magnetic force weakening or disappearing due to external factors, causing the magnet to fall off; (2) magnetic materials can generate electromagnetic interference with external devices or be affected by the outside world, which means there are certain limitations on trial scenarios and usage conditions; (3) their weight increases the burden on the user and affects finger movements; and (4) one set of permanent magnets and Hall switches can only detect one joint. To move multiple joints on a finger, multiple permanent magnets and Hall switches are required, which are heavy, affect finger movements, and cannot detect multiple joints.

[0005] Therefore, there is a need to provide a hand motion detection device, a control method, a rehabilitation device and an autonomous control system to solve the above problems existing in the prior art. Summary of the Invention [Problem to be solved by the invention]

[0006] An object of the present invention is to provide a control method for a hand movement detection device, a rehabilitation device, and an autonomous control system for collecting movement information of the finger joints of a first hand accurately in real time. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the hand movement detection device of the present invention includes a movement detection unit that is provided on a finger joint of a first hand and generates detection information that feeds back the movement of the finger joint of the hand during the process of the fingers of the first hand performing extension and flexion movements, the movement detection unit is connected to a control unit, the movement detection unit transmits the detection information to the control unit, and the control unit issues an execution command based on the detection information.

[0008] Beneficial effects of the hand motion detection device according to the present invention are as follows: the motion detection unit is provided on the finger joints of the first hand and generates detection information for feeding back the motion of the finger joints of the hand in the process of the fingers of the first hand performing extension and bending movements, so that the motion detection unit can generate detection information for feeding back the motion of the finger joints in real time when performing extension and bending movements together with the fingers of the first hand, the motion detection unit is connected to a control unit, the motion detection unit transmits the detection information to the control unit, and the control unit issues an execution command based on the detection information, so that the motion detection unit accurately collects the motion information of the finger joints of the first hand in real time and transmits the detection information to the control unit in a timely manner.

[0009] Preferably, the movement detection unit includes a first detection unit and a second detection unit spaced apart from each other, and when the finger of the first hand is bent, the first detection unit contacts the second detection unit to trigger the generation of the detection information. The beneficial effects are as follows: the first detection unit and the second detection unit contact with each other to generate the detection information as the finger of the first hand is bent, thereby realizing the accurate collection of the movement information of the finger joint of the first hand in real time.

[0010] Preferably, the motion detection unit is provided over at least one finger joint, and generates the detection information in the process of the at least one finger joint performing an extension and flexion movement. The beneficial effects are as follows: The motion detection unit can detect the motion information of at least one finger joint.

[0011] Preferably, at least one finger of the first hand is provided with the motion detection unit, and one finger is provided with at least one motion detection unit. The beneficial effects are as follows: The motion detection unit can detect motion information of the finger joints of the at least one finger of the first hand.

[0012] Preferably, each finger joint is provided with a plurality of the motion detection units, the beneficial effects of which are as follows: it can improve the detection accuracy of the motion information of the finger joint of the first hand, and detect the multi-directional motion angles of the finger joint of the first hand, such as the adduction motion angle and the abduction motion angle of the joint between the palm and the finger.

[0013] Preferably, the hand motion detection device further includes a wearing part, the wearing part is glove-like and includes fingers, and the motion detection unit is provided on the fingers. Its beneficial effects are as follows: since the motion detection unit is provided on the wearing part, it is possible to prevent the motion detection unit from falling off the user's hand, and it is easy for the user to use the hand motion detection device, which is particularly applicable to people with hand dysfunction.

[0014] Preferably, the finger is provided with a receiving part, and the motion detection part is provided in the receiving part, which has the following beneficial effects: it is simple in arrangement, it can prevent the motion detection part and the finger of the wearing part from slipping relative to each other, it can ensure that the motion detection part moves with the user's finger, and it is easy to remove the motion detection part and clean the wearing part.

[0015] Preferably, the motion detection unit is fixed to the finger via any one of adhesive, hook-and-loop fastener, magnet, sewing thread, fastener, finger cot, and band, which has the following beneficial effects: It can prevent the motion detection unit and the finger of the wearing part from slipping relative to each other, and ensure that the motion detection unit moves with the user's finger.

[0016] Preferably, the first detection unit includes a first conductive adhesive layer, and the second detection unit includes a second conductive adhesive layer, the first conductive adhesive layer and the second conductive adhesive layer are respectively provided on the opposing inner side walls of the elastic housing without contacting each other, and when the finger joint of the first hand is in a bending state, the first conductive adhesive layer and the second conductive adhesive layer come into contact with each other to generate the detection information. Its beneficial effects are as follows: it has a simple structure, an ingenious design, and a low cost, and the first conductive adhesive layer, the second conductive adhesive layer and the elastic housing have good flexibility and are easy to bend with the extension and bending movements of the fingers of the first hand.

[0017] Preferably, the first conductive adhesive layer and the second conductive adhesive layer are both made of conductive adhesive, which has the following beneficial effects: simple structure, ingenious design, and low cost.

[0018] Preferably, the first conductive adhesive layer and the second conductive adhesive layer include a conductive adhesive and a lead wire embedded in the conductive adhesive, which has the following beneficial effects: it further ensures the conductive effect of the conductive adhesive;

[0019] Preferably, the control unit and the motion detection unit are electrically connected via the lead wire, which has the following beneficial effects: the control unit is easily connected to the motion detection unit via the lead wire, which has a simple connection means, low cost, and stable information transmission.

[0020] Preferably, the conductive element is further provided at one end of the elastic housing, the upper end surface and the lower end surface of the conductive element contact the first conductive adhesive layer and the second conductive adhesive layer respectively, and the control unit and the motion detection unit are electrically connected via the conductive element. The beneficial effects are as follows: Since the upper end surface and the lower end surface of the conductive element contact the first conductive adhesive layer and the second conductive adhesive layer respectively, the support strength of the head end of the motion detection unit is improved, and the collection sensitivity of electrical information is higher.

[0021] Preferably, the method for controlling the hand movement detection device further comprises: A step S1 in which the motion detection unit generates detection information that feeds back motions of finger joints of the hand during a process in which the fingers of the first hand perform extension and flexion motions, and transmits the detection information to the control unit; and step S2, in which the control unit issues an execution command based on the detection information. The beneficial effects thereof are as follows: Realizing accurate real-time collection of movement information of the finger joints of the first hand.

[0022] Preferably, the present invention further provides a rehabilitation device including the hand movement detection device for collecting information, and the rehabilitation device further includes a pneumatic pressure adjustment assembly and a wearable training unit, and the wearable training unit is provided with a pneumatic telescopic assembly, and the pneumatic pressure adjustment assembly is connected to the pneumatic telescopic assembly, and the pneumatic pressure adjustment assembly is connected to a control unit, and the control unit controls the pneumatic pressure adjustment assembly to adjust the air pressure in the pneumatic telescopic assembly based on the detection information, so that the wearable training unit changes between a flexed state and an extended state, and realizes mirror training of the second hand.

[0023] The beneficial effects of the rehabilitation device of the present invention are as follows: when the hand motion detection device collects detection information, it can collect the motion information of the finger joints of the first hand, and the control unit controls the air pressure adjustment assembly to adjust the air pressure in the air pressure expansion and contraction assembly based on the detection information, so that the wearable training unit changes between a flexed state and an extended state, realizing the mirror training of the second hand, and adjusting the state of the second hand according to the state of the first hand, that is, the information for controlling the wearable unit is generated by the control of the user's fingers, and can be the patient's family or the patient himself, so that the rehabilitation training time, action and intensity of the second hand can be independently adjusted, so that the wearable training unit can be effectively adjusted to meet the requirements of the rehabilitation training of the second hand.

[0024] Preferably, the present invention further provides an autonomous control system including an executive unit and said hand motion detection device, said executive unit being connected to a control unit.

[0025] The beneficial effects of the autonomous control system of the present invention are as follows: The execution unit feeds back the movement information of the finger joints of the first hand based on the movement of the execution command, so that the user can not only obtain the training feedback result in real time, but also improve the user's proactiveness in autogenic training, increase the dependency on training, and can flexibly and independently control the execution unit.

[0026] Preferably, the execution unit includes a driving unit, and the driving unit is used to drive the image movement, the sound change, or the execution of a game based on the movement execution command, and the image, the sound, and the game are stored in the terminal device. Its beneficial effects are as follows: Since the execution unit drives the image movement, the sound change, or the execution of a game based on the execution command, the user can independently adjust the collection of the finger joint movement information of the first hand based on the feedback result to independently train the hand, which makes the autonomic training more flexible and more suitable for the user's actual situation, improving the training effect; Since the image movement, the sound change, or the execution of a game is fed back to the finger joint movement information of the first hand, the user can obtain the training feedback result in real time, which makes the training result more intuitive and can accurately reflect the completeness of the patient's hand movement; The user is more motivated to train independently due to the fun of the game, which increases the dependence on training, improving the training effect. [Brief description of the drawings]

[0027] [Figure 1] 1 is a structural schematic diagram of a hand movement detection device according to some embodiments of the present invention. [Diagram 2] 1 is a structural schematic diagram of a hand movement detection device according to some embodiments of the present invention when installed on a finger. [Diagram 3] 11A to 11C are schematic structural diagrams of a hand movement detection device according to some further embodiments of the present invention when the device is installed on a finger. [Figure 4] 2 is a structural schematic diagram of a motion detector according to some embodiments of the present invention; [Diagram 5] 2 is a side view of a motion detector structure according to some embodiments of the present invention. [Figure 6] 11 is a side view of a motion detector structure according to some alternative embodiments of the present invention. FIG. [Figure 7] 1 is a structural schematic diagram of a rehabilitation device according to some embodiments of the present invention. [Figure 8]1 is a schematic diagram of a training portion according to some embodiments of the present invention in an extended state. FIG. [Figure 9] 1 is a schematic diagram of a training portion according to some embodiments of the present invention in a flexed state. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the drawings of the present invention, and obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present invention. Unless otherwise defined, technical or scientific terms used in this specification should have ordinary meanings as understood by those skilled in the art of the present invention. As used in this specification, similar words such as "comprise" mean that the elements or components appearing before the word include the elements or components recited after the word and their equivalents, but do not exclude other elements or components.

[0029] FIG. 1 is a structural schematic diagram of a hand movement detection device according to some embodiments of the present invention.

[0030] In response to the conventional technical problems, an embodiment of the present invention provides a hand movement detection device, as shown in FIG. 1, the hand movement detection device includes a movement detection unit 1, the movement detection unit 1 is disposed on a finger joint of a first hand, and generates detection information for feeding back the movement of the finger joint of the hand in the process of the fingers of the first hand performing extension and flexion movements, the movement detection unit 1 is connected to a control unit 2, the movement detection unit 1 transmits the detection information to the control unit 2, and the control unit 2 issues an execution command based on the detection information, so that the movement detection unit can generate detection information for feeding back the movement of the finger joint together with the extension and flexion movements of the fingers of the first hand in real time, thereby realizing the accurate collection of movement information of the finger joints of the first hand in real time, and the timely transmission of the detection information to the control unit.

[0031] In some embodiments of the present invention, the control unit is part of the hand motion detection device, and the motion detection unit and the control unit are connected in a wired or wireless manner.

[0032] In some embodiments of the invention, the control unit is attached to the user's arm by a structure such as a band.

[0033] In some embodiments of the invention, the control unit is attached to the first palm or hand, preferably the palm, by a method such as gluing or binding, thereby preventing the user from affecting finger flexion movements.

[0034] In some embodiments of the present invention, the control unit is part of a device which cooperates with the hand movement detection device, the movement detection unit and the control unit being connected in a wired or wireless manner.

[0035] In some embodiments of the present invention, the motion detection unit includes a first detection unit and a second detection unit spaced apart from each other, and when the fingers of the first hand are bent, the first detection unit contacts the second detection unit to trigger the generation of the detection information, and the first detection unit and the second detection unit contact with each other and generate the detection information together with the bending of the fingers of the first hand, thereby realizing the accurate collection of motion information of the finger joints of the first hand in real time. The bending of the fingers of the first hand includes that the fingers are in a bent state or that the fingers are bent, that is, in a non-extended state.

[0036] In some embodiments of the present invention, the motion detection unit includes a first detection unit and a second detection unit spaced apart from each other. When the finger of the first hand is in an extended state, the first detection unit contacts the second detection unit to trigger the generation of the detection information. When the finger of the first hand is in a non-extended state, the first detection unit does not contact the second detection unit and does not generate the detection information. However, when implementing this method, the structure of the motion detection unit is difficult to implement, and the first detection unit contacts the second detection unit to generate the detection information only when the finger of the first hand is in an extended state, that is, it can only detect the information of the finger changing from a bent state to an extended state, and cannot detect the detection information that feeds back the movement of the finger joints generated in the process of the finger extending and bending. Therefore, it can be seen that the detection range of this embodiment is small and has little advantage in practical application.

[0037] In some embodiments of the present invention, the first detection unit and the second detection unit trigger the generation of different detection information based on a change in a flexion angle of a finger joint and transmit the different detection information to the control unit.

[0038] In some embodiments of the present invention, the detected information includes any one of electrical information, magnetic information, and optical information.

[0039] In some embodiments of the present invention, the sensed information comprises at least one of a current, a voltage, an inductance and a resistance.

[0040] In some specific embodiments of the present invention, the detection information includes current information and resistance information, and when the finger joints of the first hand are in a bent state or are bent, the motion detection unit deforms with the bending movement of the finger joints of the first hand, and the first detection unit mutually contacts the second detection unit to generate current information; when the finger joints of the first hand are in an extended state, the motion detection unit extends with the extending movement of the finger joints of the first hand, and the first detection unit does not contact the second detection unit; when the bending angle of the finger joints of the first hand changes, the motion detection unit The bending angle also changes, and the contact area between the first detection unit and the second detection unit changes, so the generated resistance value information also changes: when the finger joint of the first hand performs a bending movement, the motion detection unit bends accordingly, and the contact area between the first detection unit and the second detection unit gradually increases, but the generated resistance value gradually decreases; when the finger joint of the first hand performs an extension movement, the motion detection unit extends accordingly, and the contact area between the first detection unit and the second detection unit gradually decreases, but the generated resistance value gradually increases.

[0041] In some embodiments of the present invention, when the first detection unit and the second detection unit are in mutual contact with each other, the change range of the resistance value of the movement detection unit is 10 to 1000 ohms, so that it is easy to reflect the bending angle of the finger joint in real time, and when the bending angle value of the finger joint is different, the resistance value of the movement detection unit is also different, so that the control unit can easily analyze and process the information of the resistance value to obtain the bending angle value of the finger joint.

[0042] In some embodiments of the present invention, the resistance value of the motion detection unit varies in a range of 300 to 800 ohms. Specifically, when the finger joint bending angle value is different, the resistance value of the motion detection unit may be 350 ohms, 400 ohms, 500 ohms, 600 ohms, 650 ohms, 700 ohms, 750 ohms, etc.

[0043] In some embodiments of the present invention, the resistance value of the motion detection unit varies in a range of 30 to 150 ohms. Specifically, when the finger joint flexion angle value is different, the resistance value of the motion detection unit may be 35 ohms, 40 ohms, 60 ohms, 120 ohms, 130 ohms, 140 ohms, etc.

[0044] In some embodiments of the present invention, the resistance value of the motion detection unit varies in a range of 50 to 100 ohms. Specifically, when the finger joint flexion angle value is different, the resistance value of the motion detection unit may be 55 ohms, 65 ohms, 70 ohms, 75 ohms, 80 ohms, 85 ohms, 90 ohms, etc.

[0045] In some embodiments of the present invention, the motion detection unit is attached to a finger of the first hand by means of gluing, binding or a finger cot, and the motion detection unit is attached across a knuckle of the first hand.

[0046] In some embodiments of the present invention, the motion detection unit is provided on the front or back of the pad of the finger of the first hand, the position of the motion detection unit is various, and the front or back of the pad of the finger of the first hand can be selected according to the actual situation, the motion detection unit is more simple when it is arranged in close contact with the front or back of the pad of the finger of the first hand, and the motion detection unit generates detection information together with the extension and flexion movements of the fingers of the first hand, which helps to improve the detection accuracy of the movement information of the finger joints of the first hand.

[0047] In an embodiment of the present invention, the underside of the finger pad refers to the surface of the finger that is the same as the back of the hand, i.e., the surface with the nails, the front of the finger pad refers to the same surface as the inside of the hand, i.e., the surface corresponding to the underside of the finger pad, and the first hand is the user's left hand or right hand.

[0048] In some embodiments of the present invention, as shown in Fig. 1, the hand motion detection device further includes a wearing part 3, the wearing part 3 is glove-like and includes fingers, the motion detection unit 1 is provided on the fingers, and since the motion detection unit 1 is provided on the wearing part 3, it is possible to prevent the motion detection unit 1 from falling off the user's hand, making it easier for the user to use the hand motion detection device, and is particularly applicable to people with hand dysfunction. In some other preferred embodiments of the present invention, the motion detection unit 1 is provided on the front or back surface of the pad of the finger.

[0049] In some embodiments of the invention, the control unit is part of the hand movement detection device, and the control unit is located in the palm or hand of the wearable part.

[0050] In some embodiments of the present invention, the finger is provided with a housing, the motion detection unit is provided within the housing, and the motion detection unit and the housing are removably connected, which has a simple arrangement, can prevent the motion detection unit and the finger of the worn part from slipping relative to each other, ensure that the motion detection unit moves together with the user's finger, and makes it easy to remove the motion detection unit and clean the worn part.

[0051] In some embodiments of the present invention, the receiving part is a mounting bag structure, and the mounting bag is provided with an opening, which is used for inserting the motion detection part.

[0052] In some embodiments of the present invention, the wearing part further includes a sewing thread, which is used to sew and fix the edge of the accommodating part to the finger of the wearing part, and sewing and fixing the accommodating part to the finger of the wearing part with the sewing thread is convenient and simple, strong and durable, and low cost.

[0053] In some embodiments of the present invention, the motion detection unit is fixed to the finger via any one of adhesive, hook-and-loop fastener, magnet, sewing thread, fastener, finger cot and band, thereby preventing the motion detection unit and the worn finger from slipping relative to each other and ensuring that the motion detection unit moves with the user's finger.

[0054] In some embodiments of the present invention, the worn portion may be a band structure or other structure capable of fastening the motion detection portion to the finger, such as a piece of fabric, a rope, a string, a finger cot, and the like.

[0055] In some embodiments of the present invention, the motion detection units are multiple and each is provided on one finger of the first hand, so that each of the motion detection units can detect motion information of a knuckle of one finger.

[0056] In some embodiments of the present invention, the motion detection unit is provided on at least one finger of the first hand, and at least one of the motion detection units is provided on each finger, so that the motion detection unit can detect motion information of finger joints of the at least one finger of the first hand.

[0057] In some embodiments of the present invention, the motion detection units are provided in a plurality of positions on one finger of the first hand, and the motion detection units are connected in parallel and respectively connected to the control unit, so that they can respectively detect the detection information generated in the process of the knuckles of the one finger performing the extension and flexion movements, and as a result, the motion detection units can respectively detect the movement information of the knuckles of the one finger.

[0058] In some embodiments of the present invention, as shown in FIG. 1, the motion detection unit includes five units, namely, a first motion detection unit 11, a second motion detection unit 12, a third motion detection unit 13, a fourth motion detection unit 14, and a fifth motion detection unit 15, and the five motion detection units are respectively connected to the control unit, the first motion detection unit 11 is in close contact with the thumb to collect motion information of the thumb joint and send it to the control unit, the second motion detection unit 12 is in close contact with the index finger to collect motion information of the index finger joint and send it to the control unit, the third motion detection unit 13 is in close contact with the middle finger to collect motion information of the middle finger joint and send it to the control unit, the fourth motion detection unit 14 is in close contact with the ring finger to collect motion information of the ring finger joint and send it to the control unit, and the fifth motion detection unit 15 is in close contact with the little finger to collect motion information of the little finger joint and send it to the control unit.

[0059] In some embodiments of the present invention, the motion detection units are provided in a plurality of fingers of the first hand, and the motion detection units are connected in series and respectively to the control unit, so as to respectively detect and transmit the detection information generated during the process of the finger joints of any of the fingers performing extension and flexion movements to the control unit.

[0060] In some embodiments of the present invention, the movement detection unit is provided across at least one finger joint, and generates the detection information during the process of the finger joint of the at least one finger performing extension and flexion movements, and the movement detection unit is capable of detecting movement information of the finger joint of the at least one finger.

[0061] FIG. 2 is a structural schematic diagram of a hand movement detection device according to some embodiments of the present invention when installed on a finger.

[0062] In some embodiments of the present invention, as shown in FIG. 2, the motion detection unit is a sixth motion detection unit 16, one end of the sixth motion detection unit 16 is closely attached to the far-end interphalangeal joint, the other end is closely attached to the joint between the palm and the finger, and the middle part is closely attached to the near-end interphalangeal joint, so that the motions of three finger joints, the far-end interphalangeal joint, the near-end interphalangeal joint, and the joint between the palm and the finger, can be detected. That is, the sixth motion detection unit 16 can simultaneously detect the motions of the entire finger joints of one finger, thereby detecting the motion state of the entire finger. When any one of the far-end interphalangeal joint, the near-end interphalangeal joint, and the joint between the palm and the finger moves, the sixth motion detection unit 16 generates detection information therewith and transmits it to the control unit.

[0063] In some embodiments of the present invention, as shown in FIG. 2, the motion detection unit 16 is provided on the surface of the pad of the finger of the first hand. When the motion detection unit 16 is provided in close contact with the surface of the pad of the finger of the first hand, the arrangement is simpler, and the motion detection unit generates detection information during the process of the fingers of the first hand performing extension and flexion movements, which is helpful in improving the detection accuracy of the movement information of the finger joints of the first hand.

[0064] FIG. 3 is a structural schematic diagram of a hand movement detection device according to some other embodiments of the present invention when the device is attached to a finger.

[0065] In some embodiments of the present invention, as shown in FIG. 3, the motion detector includes three parts, namely, a seventh motion detector 17, an eighth motion detector 18, and a ninth motion detector 19, each of which can detect the motion of only one finger joint, and each motion detector is independent of each other, and the motion information of the finger joints collected by each motion detector does not affect each other. The seventh motion detector 17 is closely installed over the far-end interphalangeal joint, and the seventh motion detector 17 generates detection information during the process of the far-end interphalangeal joint performing the extension and flexion movements, and detects the far-end interphalangeal joint. The eighth movement detection unit 18 is provided in close contact with the interphalangeal joint at the proximal end, and the eighth movement detection unit 18 generates detection information during the process of the interphalangeal joint at the proximal end performing extension and flexion movements, and collects movement information of the interphalangeal joint at the proximal end, and the ninth movement detection unit 19 is provided in close contact with the joint between the palm and the fingers, and the ninth movement detection unit 19 generates detection information during the process of the joint between the palm and the fingers performing extension and flexion movements, and collects movement information of the joint between the palm and the fingers.

[0066] In some embodiments of the present invention, as shown in FIG. 3, the seventh motion detection unit 17, the eighth motion detection unit 18 and the ninth motion detection unit 19 are all provided on the underside of the pad of the finger of the first hand, and the motion detection units are provided in close contact with the underside of the pad of the finger of the first hand, which makes the arrangement simpler, and the motion detection units generate detection information during the process of the fingers of the first hand performing extension and flexion movements, which is helpful in improving the detection accuracy of the movement information of the finger joints of the first hand.

[0067] In some embodiments of the present invention, the seventh movement detection unit 17, the eighth movement detection unit 18 and the ninth movement detection unit 19 are connected in series and respectively to the control unit, and each detects the detection information generated in the process of one finger joint performing an extension and flexion movement.

[0068] In some embodiments of the present invention, the seventh movement detection unit 17, the eighth movement detection unit 18 and the ninth movement detection unit 19 are connected in series and connected to the control unit via a single bus. When it detects that any one of the finger joints performs an extension and flexion movement, it generates the detection information and transmits it to the control unit.

[0069] In some embodiments of the present invention, each finger joint is provided with a plurality of the motion detection units, thereby improving the detection accuracy of the motion information of the finger joints of the first hand, for example, the motion detection units are provided on the back and front surfaces of the pad of the finger of the same finger joint, respectively.

[0070] In some other preferred embodiments of the present invention, each finger joint is provided with a plurality of the motion detection units to detect the multi-directional motion angles of the finger joint, for example, to detect the angle of adduction and the angle of abduction of the joint between the palm and the finger, the motion detection units are provided on the side of the finger of the joint between the palm and the finger, the side of the finger referring to the side of the finger between the surface of the finger pad and the back surface of the finger pad.

[0071] In some specific embodiments of the present invention, the first hand of the user wears the hand motion detection device, and the motion detection unit is disposed on a joint between a palm and a finger of the first hand, and when the knuckle of the first hand is provided on the side of the finger of the joint between the palm and the finger, the motion detection unit extends with the extension of the knuckle of the first hand, and the first detection unit does not contact the second detection unit, and when the finger moves, when the joint between the palm and the finger rotates, the first detection unit and the second detection unit correspondingly curve and contact, generating detection information, and with an increase in the rotation angle of the joint between the palm and the finger, the contact area between the first detection unit and the second detection unit also increases, and the generated detection information also changes. In some embodiments of the present invention, the detection information is resistance information, and with an increase in the contact area between the first detection unit and the second detection unit, resistance information with a smaller resistance value is generated, and the rotation angle of the joint between the palm and the finger can be obtained based on the resistance value information.

[0072] In some embodiments of the present invention, the first detection unit includes a first conductive adhesive layer, and the second detection unit includes a second conductive adhesive layer, the first conductive adhesive layer and the second conductive adhesive layer are respectively provided on opposite inner walls of the elastic housing without contacting each other, when the finger joints of the first hand are in an extended state, the first conductive adhesive layer and the second conductive adhesive layer are not in contact with each other, and when the finger joints of the first hand are in a bent state, the first conductive adhesive layer and the second conductive adhesive layer are in contact with each other to generate the detection information, which has a simple structure, an ingenious design, and a low cost, and the first conductive adhesive layer, the second conductive adhesive layer and the elastic housing have good flexibility and are easy to bend with the extension and bending movements of the fingers of the first hand.

[0073] FIG. 4 is a structural schematic diagram of a motion detector according to some embodiments of the present invention, and FIG. 5 is a side view of the structure of a motion detector according to some embodiments of the present invention.

[0074] In some embodiments of the present invention, as shown in Fig. 4 and Fig. 5, the first detection unit includes a first conductive adhesive layer 1113, and the second detection unit includes a second conductive adhesive layer 1114, the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 are provided on the inner side walls of the elastic outer casing 1111 facing each other without being bonded to each other, the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 both include a conductive adhesive and a lead wire 1112 embedded in the conductive adhesive, the control unit (not shown) and the motion detection unit are electrically connected through the lead wire 1112, and the lead wire 1112 is connected to the control unit (not shown) through a connecting lead wire, which is a simple connection method, low cost, and stable information transmission. In some other preferred embodiments of the present invention, the lead wire 1112 is a metal conductive wire. In some other more preferred embodiments of the present invention, the lead wire 1112 is a copper wire.

[0075] FIG. 6 is a side view of a structure of a motion detector according to some further embodiments of the present invention.

[0076] In some other embodiments of the present invention, as shown in Fig. 5 and Fig. 6, the difference between Fig. 6 and Fig. 4 is as follows: A conductive element 1115 is further provided at one end of the elastic outer casing 1111, and the upper end surface and the lower end surface of the conductive element 1115 contact the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 respectively, the control unit (not shown) and the motion detection unit are electrically connected through the conductive element 1115, and the conductive element 1115 is connected to the control unit (not shown) through a connecting lead, and the upper end surface and the lower end of the conductive element 1115 contact the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 respectively, thereby improving the support strength of the head of the motion detection unit and making the sensitivity of collecting electrical information higher. In some other preferred embodiments of the present invention, the conductive element is a head terminal.

[0077] In some other embodiments of the present invention, the first detection unit includes a first conductive adhesive layer 1113, and the second detection unit includes a second conductive adhesive layer 1114, the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 are respectively provided on opposing inner walls of the elastic outer casing 1111 without being adhered to each other, the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 are both made of conductive adhesive, a conductive element 1115 is further provided at one end of the elastic outer casing 1111, the upper end and lower end surfaces of the conductive element 1115 are in contact with the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 respectively, the control unit (not shown) and the motion detection unit are electrically connected via the conductive element 1115, and the conductive element 1115 is connected to the control unit (not shown) via a connecting lead wire.

[0078] Specifically, the detection information includes current information and resistance information. When the finger joints of the first hand are in a bent state or are being bent, the motion detection unit bends with the movement of the finger joints of the first hand, the elastic casing 1111 deforms, and the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 come into contact with each other to generate current information. When the finger joints of the first hand are in an extended state, the motion detection unit extends with the extension of the finger joints of the first hand, the elastic casing 1111 repels and extends, and the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 do not come into contact with each other. When the bending angle of the finger joints of the first hand changes, the motion detection unit extends with the extension of the finger joints of the first hand, the elastic casing 1111 repels and stretches, and the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 do not come into contact with each other. The bending angle of the motion detection unit also changes, and the contact area between the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 changes, so the generated resistance value information also changes. When the finger joint of the first hand bends, the motion detection unit also bends therewith, and the contact area between the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 gradually increases, but the generated resistance value gradually decreases. When the finger joint of the first hand extends, the motion detection unit also extends therewith, and the contact area between the first conductive adhesive layer 1113 and the second conductive adhesive layer 1114 gradually decreases, but the generated resistance value gradually increases.

[0079] In some embodiments of the present invention, the elastic housing is made of easily deformable silicone rubber, so that when the finger joint of the first hand is bent, the first conductive adhesive layer and the second conductive adhesive layer are easily brought into contact with each other, ensuring high sensitivity in detecting the movement information of the finger joint of the first hand.

[0080] In some embodiments of the present invention, at least one surface of the elastic outer casing is an uneven surface, and the uneven surface is formed by providing protrusions, uneven stripes, uneven patterns or patterns, etc. on the at least one surface of the elastic outer casing, which is easy to process and has an excellent anti-slip effect, and prevents the movement detection unit and the fingers of the first hand or the fingers of the wearing part from slipping relative to each other.

[0081] In some embodiments of the present invention, the elastic casing has a long and thin strip-like structure, which is convenient for arranging a motion detection unit on a finger of the first hand to detect the motion angle information of the finger joint.

[0082] In some embodiments of the present invention, the length of the elastic outer casing is between 10 and 140 mm.

[0083] In some embodiments of the present invention, the length of the elastic housing is 10-20 mm, and is adapted to collect movement information of a finger joint of a child's finger.

[0084] In some embodiments of the present invention, the length of the elastic housing is 15-50 mm, and is adapted to collect movement information of a finger joint of a child's finger.

[0085] In some embodiments of the present invention, the length of the elastic outer casing is 10 to 30 mm, and is adapted to collect movement information of a finger joint of one finger of an adult.

[0086] In some embodiments of the present invention, the length of the elastic outer casing is 40 to 140 mm, and is adapted to collect movement information of a finger joint of an adult's finger, specifically, 60 mm, 70 mm, 80 mm, 100 mm, or 110 mm, etc.

[0087] In some embodiments of the present invention, the elastic housing has a cross-sectional height of 0.5-6 mm.

[0088] In some embodiments of the present invention, the cross-sectional height of the elastic housing is 6 mm, which helps to improve the sensitivity and accuracy of collecting movement information of the finger joints of the first hand.

[0089] In some embodiments of the present invention, the cross-sectional height of the elastic housing is 0.5 mm, which helps the motion detection unit to be in close contact with a finger.

[0090] In some embodiments of the invention, the elastomeric housing has a cross-sectional height of 2mm, 4mm, 5mm, 3.5mm or 5.8mm.

[0091] In some embodiments of the present invention, the width of the elastic housing is 0.5-12 mm.

[0092] In some embodiments of the present invention, the width of the elastic housing is 0.5 mm, which helps the motion detection unit to fit tightly to a finger.

[0093] In some embodiments of the present invention, the width of the longitudinal section of the elastic housing is 12 mm, which helps to improve the sensitivity and accuracy of collecting movement information of the finger joints of the first hand.

[0094] In some embodiments of the invention, the width of the longitudinal cross section of the elastomeric housing is 1 mm, 2 mm, 5 mm, 7 mm or 10 mm.

[0095] In some preferred embodiments of the invention, the elastomeric housing has a length of 110 mm, a width of 7 mm and a cross-sectional height of 4 mm.

[0096] FIG. 7 is a structural schematic diagram of a rehabilitation device according to some embodiments of the present invention.

[0097] In some embodiments of the present invention, as shown in FIG. 7, a rehabilitation device including the hand motion detection device is further provided, the hand motion detection device includes a motion detection unit 1, the motion detection unit is provided on a finger joint of a first hand, and generates detection information for feeding back the motion of the finger joint in the process of the finger joint of the first hand performing the extension and flexion movements, the rehabilitation device further includes an air pressure adjustment assembly (not shown) and a wearable training unit 5, the wearable training unit 5 is provided with a pneumatic telescopic assembly (not shown), the pneumatic pressure adjustment assembly (not shown) is connected to the pneumatic telescopic assembly (not shown) via an air tube assembly (not shown), the pneumatic pressure adjustment assembly (not shown) is connected to a control unit (not shown), the control unit (not shown) controls the pneumatic pressure adjustment assembly (not shown) to adjust the air pressure in the pneumatic telescopic assembly (not shown) based on the detection information, so that the wearable training unit 5 changes between a flexed state and an extended state, realizing the mirror training of the second hand. Therefore, the state of the second hand can be adjusted according to the state of the first hand, that is, the time, action and intensity of the rehabilitation training of the second hand can be independently adjusted by adjusting the collection of the motion information controlling the finger joints of the first hand, so that the wearable training part can be effectively adjusted to meet the requirements of the rehabilitation training of the second hand. The pneumatic regulating assembly for driving the motion of the pneumatic telescopic assembly includes an air pump, a control valve and an air path system, etc., and the pneumatic regulating assembly is a common means in this field, so a detailed description is omitted here. In some specific embodiments of the present invention, the pneumatic regulating assembly adjusts the air pressure in the pneumatic telescopic assembly by controlling the pneumatic regulating assembly to inject or expel air into the pneumatic telescopic assembly. In other specific embodiments of the present invention, the pneumatic regulating assembly adjusts the air pressure in the pneumatic telescopic assembly by controlling the amount of air injected into the pneumatic telescopic assembly by the pneumatic regulating assembly, for example, by controlling the solenoid valve and the air path in the pneumatic regulating assembly.

[0098] In some embodiments of the present invention, the control unit is part of the rehabilitation device and can be used by connecting the hand movement detection device to the control unit.

[0099] In some embodiments of the present invention, the rehabilitation device further includes a device housing 4, and the air pressure regulating assembly and the control unit are disposed within the device housing 4, as shown in FIG.

[0100] In some other embodiments of the present invention, the control unit is part of the hand motion detection device and can be used in conjunction with the air pressure regulation assembly.

[0101] In an embodiment of the present invention, both the first hand and the second hand are also the user's left hand or right hand, and the mirror training refers to the second hand moving based on the movement of the first hand.

[0102] In some specific embodiments of the present invention, the left hand glove-like wearing training part and the right hand glove-like wearing training part are a set, and the right hand glove-like wearing training part and the left hand glove-like wearing training part are a set. In use, the wearing part and the wearing training part are selected to be connected to the outer casing of the device according to the needs of the patient.

[0103] In some embodiments of the present invention, as shown in FIG. 7, the wearing training part 5 is glove-shaped, and the pneumatic telescopic assembly specifically includes a connecting air tube 51, a corrugated tube 52, and an air tube assembly (not shown) fixed to the wearing training part 5, and the connecting air tube 51 and the corrugated tube 52 constitute one set of pneumatic telescopic assembly (not shown). Each finger of the wearing training part 5 is provided with one set of pneumatic telescopic assembly (not shown), and each set of pneumatic telescopic assembly (not shown) is respectively connected to the pneumatic adjustment assembly (not shown) through an air tube assembly (not shown). The corrugated tube 52 is provided at each joint position of the wearing training part 5, and the adjacent corrugated tubes 52 are connected through the connecting air tube 51. When air is injected into the corrugated tube 52, the air pressure inside the corrugated tube 52 increases, the length of the corrugated tube 52 increases, and the corrugated tube 52 is in a tensile state, causing the finger on which the corrugated tube 52 is provided to bend. When the air in the corrugated tube 52 is discharged, the air pressure inside the corrugated tube 52 is reduced, the length of the corrugated tube 52 is reduced, and the corrugated tube 52 is compressed, causing the fingers on which the corrugated tube 52 is provided to be stretched. In some preferred embodiments of the present invention, the initial state of the wearing training part is the extended state, and when the hand movement detection device is activated, the control unit drives the air pressure regulating assembly to discharge air from the air pressure telescopic assembly (not shown), the air pressure inside the corrugated tube 52 is reduced, the length of the corrugated tube 52 is reduced, and the fingers on the wearing training part 5 are extended, in this case, the wearing resistance of the wearing training part 5 is greatly reduced, and the user can easily wear the wearing training part 5.

[0104] In some embodiments of the present invention, the method for controlling the hand movement detection device comprises the steps of: A step S1 in which the motion detection unit generates detection information that feeds back motions of finger joints of the hand during a process in which the fingers of the first hand perform extension and flexion motions, and transmits the detection information to the control unit; and step S2, in which the control unit issues an execution command based on the detection information to realize accurate collection of movement information of the finger joints of the first hand in real time.

[0105] In some embodiments of the present invention, there is provided a method of controlling a rehabilitation device, the method comprising: a step S1 of disposing the motion detection unit at a knuckle of a finger of the first hand, generating detection information that feeds back a motion of the knuckle of the finger of the first hand in a process in which the finger of the first hand performs an extension and flexion motion, and then transmitting the detection information to the control unit; a step S2 in which the control unit analyzes and processes the detection information transmitted from the motion detection unit and issues an execution command; The pneumatic pressure adjusting assembly adjusts the air pressure in the pneumatic telescopic assembly based on the execution command, so that the wearable training portion changes between a flexed state and an extended state, thereby realizing mirror training of the second hand.

[0106] FIG. 8 is a schematic diagram of a wearable training portion according to some embodiments of the present invention in an extended state, and FIG. 9 is a schematic diagram of a wearable training portion according to some embodiments of the present invention in a flexed state.

[0107] In some embodiments of the present invention, as shown in FIG. 7, the user's left hand wears the wearable training part 5 and the right hand wears the wearable part 3, the wearable part 3 is provided with the hand movement detection device, the hand movement detection device includes a movement detection unit 1, the movement detection unit 1 is provided on the back of the pad of the finger of the wearable part 3, the movement detection unit 1 includes five parts, namely a first movement detection unit 11, a second movement detection unit 12, a third movement detection unit 13, a fourth movement detection unit 14 and a fifth movement detection unit 15, each of the movement detection units is connected to the control unit across two (e.g., the thumb) or three (fingers other than the thumb) joints of a finger, and detects the movement state of the entire finger.

[0108] In some specific embodiments of the present invention, the structure of five fingers is the same, so the movement of the index finger is used as an example. The rehabilitation device is started, and the pneumatic telescopic assembly in the wearing training part 5 makes the index finger of the second hand extend. When the index finger of the wearing part 3 performs a bending movement, as shown in Figs. 7 and 8, during the bending process, the first conductive adhesive layer (not shown) and the second conductive adhesive layer (not shown) in the second movement detection part 12 contact each other and conduct electricity, generate detection information and send it to the control part (not shown), and the control part (not shown) controls the pneumatic pressure adjustment assembly to increase the air pressure of the pneumatic telescopic assembly (not shown) of the index finger in the wearing training part 5 based on the obtained detection information, that is, the pneumatic pressure adjustment assembly controls the air pressure inside the corrugated tube 52 to increase, the length of the corrugated tube 52 increases, and the corresponding index finger of the wearing wearing training part 5 realizes the mirror bending movement. When the index finger of the wearing part 3 performs an extension movement, the first conductive adhesive layer (not shown) and the second conductive adhesive layer (not shown) in the second movement detection part 12 are separated from each other and do not contact each other, and the control part (not shown) controls the air pressure adjustment assembly to reduce the air pressure of the air pressure expansion and contraction assembly (not shown) in the index finger of the wearing training part 5, that is, the air pressure inside the corrugated tube 52 becomes smaller, the length of the corrugated tube 52 becomes smaller, and it exhibits a compressed state, so that the corresponding index finger of the wearing training part 5 realizes the mirror extension movement and further extends the index finger. That is, the second movement detection part 12 in the first hand closely contacts the index finger to collect the movement information of the knuckle of the index finger, and realizes the independent control so that the index finger of the second hand performs mirror training. The principle of mirror training of other fingers is the same.The first movement detection unit 11 in the first hand is in close contact with the thumb to collect movement information of the thumb's knuckles, thereby realizing the thumb of the second hand to be autonomously controlled to perform mirror training; the third movement detection unit 13 in the first hand is in close contact with the middle finger to collect movement information of the middle finger's knuckles, thereby realizing the middle finger of the second hand to be autonomously controlled to perform mirror training; the fourth movement detection unit 14 in the first hand is in close contact with the ring finger to collect movement information of the ring finger's knuckles, thereby realizing the ring finger of the second hand to be autonomously controlled to perform mirror training; and the fifth movement detection unit 15 in the first hand is in close contact with the little finger to collect movement information of the little finger's knuckles, thereby realizing the little finger of the second hand to be autonomously controlled to perform mirror training. The hand motion detection device allows the user to independently control the affected hand to perform rehabilitation movements with the healthy hand to complete mirror training, and the user independently controls the flexion and extension movements of the finger joints of the first hand to realize the mirror flexion and extension movements of the finger joints of the second hand, enhancing the user's sense of participation in treatment and improving the effect of rehabilitation training. Each motion detection unit does not affect each other, and is triggered independently, and the collected detection signals are also sent independently to the control unit.

[0109] In some other embodiments of the present invention, the user's left hand wears the wearable training part 5, and the right hand wears the wearable part 3. The wearable part 3 is provided with the hand motion detection device, and the hand motion detection device includes a motion detection unit 1, and the motion detection unit 1 is provided on the back of the finger pad of the wearable part 3. The motion detection unit 1 includes five units, namely, a first motion detection unit 11, a second motion detection unit 12, a third motion detection unit 13, a fourth motion detection unit 14, and a fifth motion detection unit 15. Each of the motion detection units spans two (for example, the thumb) or three (fingers other than the thumb) joints of one finger, and is respectively connected to the control unit to detect the movement state of one entire finger. The first motion detection unit 11, the second motion detection unit 12, the third motion detection unit 13, the fourth motion detection unit 14, and the fifth motion detection unit 15 are connected to the control unit. The first motion detection unit 11, the second motion detection unit 12, the third motion detection unit 13, the fourth motion detection unit 14 and the fifth motion detection unit 15 are connected in series and connected to the control unit via a single bus. When any one of the first motion detection unit 11, the second motion detection unit 12, the third motion detection unit 13, the fourth motion detection unit 14 and the fifth motion detection unit 15 detects the movement of the knuckles of any one finger of the first hand, it transmits the collected detection information to the control unit, and the control unit controls the pneumatic pressure adjustment assembly to adjust the air pressure in the pneumatic expansion and contraction assemblies provided on all fingers of the wearable training unit based on the detection information, and the entire wearable training unit changes between a flexed state and an extended state, thereby realizing the mirror training of the second hand.

[0110] In some other embodiments of the present invention, the user's left hand wears the wearable training part, and the right hand wears the wearable part, and the wearable part is provided with a hand movement detection device, and the hand movement detection device includes a movement detection unit for detecting the movement of the knuckles of any one finger of the right hand and transmitting the collected detection information to the control unit, and the control unit controls the pneumatic pressure adjustment assembly to adjust the air pressure in the pneumatic extension and contraction assemblies provided on all fingers in the wearable training part based on the detection information, and the entire wearable training changes between a flexed state and an extended state, realizing mirror training of the second hand, that is, using the movement detection unit provided on the right hand, the five fingers of the left hand can be controlled to perform flexion and extension movements together.

[0111] In some other embodiments of the present invention, as shown in FIG. 3, three motion detection units, namely, the seventh motion detection unit 17, the eighth motion detection unit 18 and the ninth motion detection unit 19, are provided in each finger of the first hand, and the seventh motion detection unit 17, the eighth motion detection unit 18 and the ninth motion detection unit 19 each detect the movement of one finger joint and are each connected to the control unit, thereby detecting the movement state of one finger joint. During the wearing training, the corrugated tubes provided in close contact with each finger joint all pass through the connecting air tube and the air pressure regulating assembly independently, so that when the control unit receives the movement of one finger joint of a finger of the first hand, it controls the corresponding finger joint of the corresponding finger of the second hand to perform mirror training. For example, the ninth movement detection unit 19 detects the movement information of the joint between the palm and finger of the index finger of the first hand, and when the joint between the palm and finger of the index finger of the first hand performs extension and bending movements, the ninth movement detection unit 19 generates detection information and sends it to the control unit, and the control unit controls the air pressure regulating assembly to adjust the air pressure in the corrugated tube provided at the joint between the palm and finger of the index finger of the second hand, so that the joint between the palm and finger of the index finger performs the corresponding extension and bending movements, thereby realizing the mirror training of the joint between the palm and finger of the index finger.

[0112] In some other embodiments of the present invention, each finger of the first hand is provided with three motion detection units, namely, the seventh motion detection unit, the eighth motion detection unit, and the ninth motion detection unit, which are connected in series, each detects the movement of one finger joint, and is connected to the control unit via one bus, thereby detecting the movement state of one finger joint. When any one of the seventh motion detection unit, the eighth motion detection unit, and the ninth motion detection unit in each finger of the first hand detects the movement of any one finger joint of the first hand, the collected detection information is sent to the control unit, and the control unit controls the pneumatic pressure adjustment assembly to adjust the air pressure in the pneumatic expansion and contraction assemblies provided on all fingers of the wearable training unit based on the detection information, and the entire wearable training unit changes between a flexed state and an extended state, thereby realizing the mirror training of the second hand.

[0113] In some embodiments of the present invention, the control unit converts the detection information into angle value information, and controls the pneumatic pressure regulating assembly to adjust the air pressure output to the pneumatic expansion and contraction assembly based on the angle value information, so that the fingers of the wearable training part also realize bending of a corresponding angle value, and independently controls the fingers of the wearable training part to realize bending of a corresponding angle value based on the detection information generated by the movement detection unit during the process of the fingers of the first hand performing extension and bending movements.

[0114] In some embodiments of the present invention, the hand motion detection device can realize real-time mirror angle control of the second hand finger. As shown in Figure 7, the index finger is used as an example, when the bending angle change occurs in the joint of the index finger of the wearing part 3, the contact area between the first conductive adhesive layer (not shown) and the second conductive adhesive layer (not shown) in the second motion detection part 12 changes to generate detection information and send it to the control part (not shown), and the control part (not shown) converts the obtained detection information into corresponding angle value information and air pressure information, and controls the pressure in the corresponding telescopic assembly of the wearing training part 5 by the air pressure adjustment assembly, and the air pressure inside the corrugated tube 52 also changes, the length of the corrugated tube 52 also changes, and the bending angle also changes, so that the corresponding index finger of the wearing wearing training part 5 realizes the bending movement of the mirror, and the bending angle also changes accordingly. In some specific embodiments of the present invention, when the joint between the palm and the finger of the index finger performs a bending movement, as the bending angle of the joint increases, the contact area between the first conductive adhesive layer (not shown) and the second conductive adhesive layer (not shown) becomes larger, the resistance value therebetween decreases, and the detection information changes. Based on the different detection information, the movement information of the finger can be obtained. The control unit (not shown) converts the detection information into corresponding angle value information and air pressure information, and controls the air pressure adjustment assembly to increase the pressure in the corresponding telescopic assembly of the index finger of the wearing training unit 5, so that the index finger of the wearing training unit 5 moves to increase the bending angle of the mirror. When the knuckle of the index finger performs an extension movement, the bending angle of the joint becomes smaller, the contact area between the first conductive adhesive layer (not shown) and the second conductive adhesive layer (not shown) becomes smaller, the resistance value therebetween becomes larger, the detection information changes, and the finger movement information can be obtained based on the different detection information. The control unit (not shown) converts the detection information into corresponding angle value information and air pressure information, and controls the air pressure adjustment assembly to reduce the pressure in the corresponding telescopic assembly in the index finger of the wearing training part 5, so as to make the index finger of the wearing training part 5 move to realize the change in the bending angle of the mirror.

[0115] In some embodiments of the present invention, the control unit controls the start or stop of movement of the wearable training part based on the detection information, thereby achieving independent control to start the movement of the wearable training part based on the detection information generated by the movement detection unit during the process of the fingers of the first hand performing extension and flexion movements, and achieving independent control to stop the movement of the wearable training part based on the detection information generated by the movement detection unit when the fingers of the first hand are extended.

[0116] In some embodiments of the present invention, a motion detection unit is provided on one finger joint of the first hand, and the user realizes that the motion detection unit generates the detection information during the process of the finger joint of the first hand performing extension and flexion movements, and controls the wearable training part to start moving, and the user realizes that the motion detection unit does not generate the detection information when the finger joint of the first hand is extended, and controls the wearable training part to stop moving.

[0117] In some embodiments of the present invention, the user sets the motion detection units of several fingers of the first hand as switches that control the movement of the wearable training part by using a button unit on the outer casing of the device, and when the user trains with the wearable training part, the multiple motion detection units on the first hand can generate the detection information when the several fingers of the first hand simultaneously extend and flex, and autonomously control the wearable training part to start the movement, and the user can autonomously control the multiple motion detection units on the first hand to not generate the detection information when the several fingers of the first hand extend simultaneously, and to stop the movement of the wearable training part.

[0118] In some embodiments of the present invention, the user sets the motion detection unit in a finger of the first hand as a switch that controls the movement of the wearable training part by using a button unit on the outer casing of the device, and when the user trains with the wearable training part, the motion detection unit in the finger of the first hand can generate the detection information during the process of the finger of the first hand performing extension and flexion movements, and control the wearable training part to start moving, and the motion detection unit in the finger of the first hand can be controlled not to generate the detection information when the finger of the first hand is extended, and to stop the movement of the wearable training part.

[0119] In some embodiments of the present invention, an autonomous control system is provided that includes an executive unit and the hand motion detection device, the executive unit being connected to the control unit, the executive unit being used to act based on the execution instructions.

[0120] In some embodiments of the present invention, the execution unit includes a driving unit, and the driving unit is used to drive image movement, sound change, or game execution according to the movement execution command, and the image, sound, and game are stored in a terminal device. The execution unit drives image movement, sound change, or game execution according to the execution command, so that the user can autonomously adjust the collection of finger joint movement information of the first hand based on the feedback result to autonomously train the hand, which makes the autonomic training more flexible and more suitable for the user's actual situation, and improves the training effect; the image movement, sound change, or game execution is driven to feed back the finger joint movement information of the first hand, so that the user can obtain the training feedback result in real time, the training result is more intuitive, and can accurately reflect the completeness of the patient's hand movement; the user is more motivated to train independently due to the fun of the game, and the dependence on training is also increased, improving the training effect.

[0121] In some specific embodiments of the present invention, a game software is stored in the terminal device, the terminal device is connected to the control unit, and three motion detection units, namely, the seventh motion detection unit, the eighth motion detection unit, and the ninth motion detection unit, are provided on a certain finger of a first hand of a user, and each of them is connected to the control unit, the seventh motion detection unit is provided in close contact with a far-end interphalangeal joint, the seventh motion detection unit generates detection information during the process in which the far-end interphalangeal joint performs extension and flexion movements, collects motion information of the far-end interphalangeal joint, and the eighth motion detection unit generates detection information during the process in which the far-end interphalangeal joint performs extension and flexion movements, collects motion information of the far-end interphalangeal joint, and generates detection information for the far-end interphalangeal joint. The eighth movement detection unit is provided in close contact with a proximal interphalangeal joint, and the eighth movement detection unit generates detection information during a process in which the proximal interphalangeal joint performs an extension and flexion movement, and collects movement information of the proximal interphalangeal joint. The ninth movement detection unit is provided in close contact with a joint between a palm and a finger, and the ninth movement detection unit generates detection information during a process in which the joint between a palm and a finger performs an extension and flexion movement, and collects movement information of the joint between a palm and a finger. When the joint between the palm and a finger performs a flexion movement, the first conductive adhesive in the ninth movement detection unit and when the joint between the palm and the fingers performs an extension movement, the ninth movement detection unit generates resistance value information that the first conductive adhesive layer and the second conductive adhesive layer in the ninth movement detection unit come into contact with each other and become conductive, and the resistance value gradually decreases, and transmits this resistance value information to the control unit. The control unit controls the person in the game to move to the left, and when the joint between the palm and the fingers performs an extension movement, the ninth movement detection unit generates resistance value information that the first conductive adhesive layer and the second conductive adhesive layer in the ninth movement detection unit come into contact with each other and become conductive, and the resistance value gradually increases, and transmits this resistance value information to the control unit. The control unit controls the person in the game to move to the right, and similarly, When the interphalangeal joint at the far end performs a bending movement, the control unit controls the person in the game to move upward, and when the interphalangeal joint at the near end performs an extending movement, the control unit controls the person in the game to move downward, when the interphalangeal joint at the far end performs a bending movement, the control unit controls the person in the game to crawl, and when the interphalangeal joint at the far end performs an extending movement, the control unit controls the person in the game to jump up, and the control unit controls the moving speed of the person in the game based on the change in resistance value.In some preferred embodiments of the present invention, several fingers of the user are provided with the motion detection units, each of the motion detection units is connected to the control unit, and the control unit controls different actions of the character in the game based on the detection information of the motion detection unit in each finger. In some other embodiments of the present invention, several fingers of the user are provided with the motion detection units, each of the fingers is provided with a plurality of the motion detection units for detecting the motion of one knuckle, and each of the motion detection units is connected to the control unit, so that each of the control units controls more actions of the character in the game.

[0122] In some embodiments of the present invention, when performing self-training, for a user who is unable to independently extend or flex his / her hand due to a serious injury to the hand, self-training can be assisted by wearing the wearable training unit on the hand and disposing the pneumatic adjustment assembly connected to the wearable training unit, i.e., the motion detection unit and the pneumatic expansion / contraction assembly can be disposed simultaneously in the same glove.

[0123] Although the embodiments of the present invention have been described in detail above, it is apparent to those skilled in the art that various modifications and changes can be made to these embodiments. However, it should be understood that such modifications and changes are within the scope and spirit of the present invention as defined in the appended claims. It should be noted that the present invention described herein is capable of other embodiments and can be implemented or realized in various ways.

Claims

1. A hand motion detection device, comprising: a motion detection unit, the motion detection unit being provided on a finger joint of a first hand, generating detection information that feeds back a motion of the finger joint of the hand in a process in which the finger of the first hand performs an extension and flexion motion, the motion detection unit being connected to a control unit, the motion detection unit transmitting the detection information to the control unit, and the control unit issuing an execution command based on the detection information; the motion detection unit includes a first detection unit and a second detection unit spaced apart from each other, and when a finger of the first hand is bent, the first detection unit contacts the second detection unit to trigger generation of the detection information; the first detection unit includes a first conductive adhesive layer, the second detection unit includes a second conductive adhesive layer, the first conductive adhesive layer and the second conductive adhesive layer are provided on opposing inner walls of an elastic housing without contacting each other, and when a finger joint of the first hand is in a bent state, the first conductive adhesive layer and the second conductive adhesive layer come into contact with each other to generate the detection information; The first conductive adhesive layer and the second conductive adhesive layer are both made of a conductive adhesive; A conductive element is further provided at one end of the elastic housing, and an upper end surface and a lower end surface of the conductive element are in contact with the first conductive adhesive layer and the second conductive adhesive layer, respectively, and the control unit and the motion detection unit are electrically connected via the conductive element. A hand movement detection device comprising:

2. 2. The hand movement detection device according to claim 1, wherein the movement detection unit is provided across at least one finger joint, and generates the detection information during a process in which the at least one finger joint performs an extension and flexion movement.

3. 2 . The hand movement detection device according to claim 1 , wherein the movement detection unit is provided on at least one finger of the first hand, and one finger is provided with at least one movement detection unit.

4. The hand movement detection device according to claim 1 , wherein each of the finger joints is provided with a plurality of the movement detection units.

5. The hand motion detection device according to claim 1 , further comprising a wearing part, the wearing part being glove-like and including fingers, the motion detection unit being provided on the fingers.

6. 6. The hand motion detection device according to claim 5, wherein the finger is provided with a housing portion, and the motion detection portion is provided within the housing portion.

7. 6. The hand motion detection device of claim 5, wherein the motion detection unit is fixed to the finger via any one of an adhesive, a hook-and-loop fastener, a magnet, a sewing thread, a fastener, a finger cot, and a band.

8. 2. The hand motion detection device of claim 1, wherein the first and second conductive adhesive layers include a conductive adhesive and a lead wire embedded within the conductive adhesive.

9. 9. The hand movement detection device according to claim 8, wherein the control unit and the movement detection unit are electrically connected via the lead wire.

10. A method for controlling a hand movement detection device according to claim 1, comprising: A step S1 in which the motion detection unit generates detection information that feeds back motions of finger joints of the hand in a process in which the fingers of the first hand perform extension and flexion motions, and transmits the detection information to the control unit; A control method comprising: a step S2 in which the control unit issues an execution command based on the detection information.

11. A rehabilitation device, comprising the hand movement detection device according to any one of claims 1 to 10 for detecting detection information, the rehabilitation device further comprising a pneumatic adjustment assembly and a wearable training section, the wearable training section being provided with a pneumatic telescopic assembly, the pneumatic adjustment assembly being connected to the pneumatic telescopic assembly; The pneumatic pressure adjustment assembly is connected to a control unit, and the control unit controls the pneumatic pressure adjustment assembly to adjust the air pressure in the pneumatic telescopic assembly based on the detection information, so that the wearable training unit changes between a flexed state and an extended state, thereby realizing mirror training of the second hand.

12. An autonomous control system including an execution unit, further including a hand motion detection device according to any one of claims 1 to 10, the execution unit being connected to a control unit.

13. The autonomous control system of claim 12, wherein the execution unit includes a drive unit, the drive unit is used to drive image movement, sound change or game execution based on a movement execution command, and the images, sounds and games are stored in a terminal device.

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