Hand rehabilitation system

Abstract

Disclosed in embodiments of the present invention is a hand rehabilitation system. The system may comprise: a healthy side hand motion information collecting unit, an upper machine, a bottom-layer processing unit, and an execution unit. The healthy side hand motion information collecting unit is implemented on the basis of a depth sensor, wherein the depth sensor works without being in contact with a healthy side hand of a rehabilitation participant, and the depth sensor is used for collecting healthy side motion information of the healthy side hand, and calculating a metacarpophalangeal joint angle and a proximal interphalangeal joint angle of each finger on the healthy side hand on the basis of the healthy side motion information. The upper machine is used for generating a motion control command on the basis of the calculated joint angles. The bottom-layer processing unit is used for generating a motion control signal on the basis of the generated motion control command. The execution unit is used for controlling, on the basis of the generated motion control signal, each finger on an affected side hand of the rehabilitation participant to move. The technical solutions of the embodiments of the present invention solve the problem that a cross-infection risk may be caused to a rehabilitation participant in a hand rehabilitation process.

Description

A hand rehabilitation system Technical Field

[0001] The embodiments of the present invention relate to the field of medical technology, and in particular to a hand rehabilitation system. Background Art

[0002] Clinically, patients with hemiplegia due to stroke often suffer from hand dysfunction, which directly affects their quality of life and mobility. Therefore, hand rehabilitation is crucial for patients with hemiplegia.

[0003] However, the current hand rehabilitation program may bring the risk of cross infection to hemiplegic patients (i.e., rehabilitation subjects), poses a health hazard, and needs to be improved.

[0004] Summary of the Invention

[0005] The embodiment of the present invention provides a hand rehabilitation system, which solves the problem of cross-infection risk to the rehabilitation subject due to contact with the rehabilitation subject's hands during the hand rehabilitation process.

[0006] According to one aspect of the present invention, a hand rehabilitation system is provided, which may include: a healthy hand motion information acquisition unit, a host computer, a bottom-level processing unit, and an execution unit. The healthy hand motion information acquisition unit is implemented based on a depth sensor, and the depth sensor operates without contacting the healthy hand of the rehabilitation subject; wherein,

[0007] The depth sensor is used to collect the healthy side movement information of the healthy side hand, calculate the metacarpophalangeal joint angle and the proximal interphalangeal joint angle of each finger on the healthy side according to the healthy side movement information, and send the metacarpophalangeal joint angle and the proximal interphalangeal joint angle to the host computer;

[0008] The host computer is used to receive the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, generate a motion control command according to the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and send the motion control command to the bottom processing unit;

[0009] The bottom processing unit is used to receive the motion control command, generate the motion control signal according to the motion control command, and send the motion control signal to the execution unit;

[0010] The execution unit is used to receive the motion control signal and control each finger on the affected hand of the rehabilitation subject to move according to the motion control signal.

[0011] Optional depth sensor, specifically used for:

[0012] Collecting the healthy side movement information of the healthy side hand, and obtaining the metacarpal bone direction vector, the proximal metacarpal bone direction vector and the mid-metacarpal bone direction vector of each finger on the healthy side hand according to the healthy side movement information;

[0013] For each finger, the metacarpophalangeal joint angle of the finger is calculated based on the metacarpal bone direction vector and the proximal metacarpal bone direction vector of the finger, and the proximal interphalangeal joint angle of the finger is calculated based on the proximal metacarpal bone direction vector and the mid-metacarpal bone direction vector of the finger;

[0014] The metacarpophalangeal joint angle and proximal interphalangeal joint angle calculated for each finger are sent to the host computer.

[0015] Optionally, the host computer is also used to:

[0016] After receiving the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, defibrillation processing is performed on the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and the metacarpophalangeal joint angle and the proximal interphalangeal joint angle are updated according to the obtained defibrillation processing result.

[0017] Optionally, the hand rehabilitation system further includes: an exoskeleton hand, which is worn on the affected hand; and an execution unit, which is specifically used to:

[0018] The exoskeleton hand is controlled to receive motion control signals and to control the movement of each finger on the affected hand of the rehabilitation subject according to the motion control signals.

[0019] On this basis, the exoskeleton hand can optionally be a tendon-rod hybrid drive device, where the execution unit includes a servo connected to the tendon rope;

[0020] The servo is used to receive motion control signals and rotate according to the motion control signals to pull the tendon rope, thereby driving each finger on the affected hand of the rehabilitation subject to move.

[0021] Optionally, the hand rehabilitation system further includes:

[0022] The affected hand motion information acquisition unit is used to acquire the affected hand motion information and calculate the motion angle of each finger on the affected hand based on the affected hand motion information;

[0023] The bottom processing unit is also used to collect the motion angle calculated by the affected hand motion information collection unit and send the motion angle to the host computer;

[0024] The upper computer is specifically used to receive the motion angle, the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and perform proportional integral differential calculations based on the motion angle, the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and generate motion control commands based on the obtained proportional integral differential calculation results, and send the motion control commands to the underlying processing unit.

[0025] On this basis, an optional motion control command includes a motion control quantity and a bottom layer processing unit, specifically for:

[0026] The motion control amount is received, and a pulse width modulation signal with a signal value being the motion control amount is generated, and the pulse width modulation signal is sent to the execution unit as the motion control signal.

[0027] Alternatively, the bottom layer processing unit includes an angle acquisition subunit and a data processing subunit;

[0028] An angle acquisition subunit, used to acquire the motion angle calculated by the affected hand motion information acquisition unit, and send the motion angle to the data processing subunit;

[0029] The data processing subunit is used to receive the motion angle, perform noise reduction processing on the motion angle, update the motion angle based on the noise reduction processing, and send the motion angle to the host computer.

[0030] Alternatively, the affected hand motion information acquisition unit is implemented based on an angle sensor.

[0031] Based on any of the above hand rehabilitation systems, optionally, the depth sensor includes a Leap Motion controller.

[0032] The hand rehabilitation system described in the embodiment of the present invention may include: a healthy hand motion information acquisition unit, a host computer, a bottom-level processing unit and an execution unit. The healthy hand motion information acquisition unit is implemented based on a depth sensor, and the depth sensor works without contacting the healthy hand of the rehabilitation subject; wherein the depth sensor is used to collect the healthy hand motion information of the healthy hand, and calculate the metacarpophalangeal joint angle and the proximal interphalangeal joint angle of each finger on the healthy hand according to the healthy hand motion information, and send the metacarpophalangeal joint angle and the proximal interphalangeal joint angle to the host computer; the host computer is used to receive the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, generate a motion control command according to the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and send the motion control command to the bottom-level processing unit; the bottom-level processing unit is used to receive the motion control command, generate a motion control signal according to the motion control command, and send the motion control signal to the execution unit; the execution unit is used to receive the motion control signal, and control each finger on the affected hand of the rehabilitation subject to move according to the motion control signal. The above technical solution provides intuitive visual feedback to the rehabilitation subject through a non-contact master-slave control method, and solves the problem of cross-infection risk to the rehabilitation subject due to contact with the rehabilitation subject's hand during the hand rehabilitation process.

[0033] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of 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] FIG1 is a structural block diagram of a hand rehabilitation system provided according to an embodiment of the present invention;

[0036] FIG2 is a schematic diagram of an example of calculating joint angles in a hand rehabilitation system according to an embodiment of the present invention;

[0037] FIG3 is a structural block diagram of another hand rehabilitation system provided according to an embodiment of the present invention;

[0038] FIG4 is a structural block diagram of another hand rehabilitation system provided according to an embodiment of the present invention;

[0039] FIG5 is a structural block diagram of another hand rehabilitation system provided according to an embodiment of the present invention;

[0040] FIG6 is a flowchart of an optional example of another hand rehabilitation system provided according to an embodiment of the present invention;

[0041] FIG7 is a schematic diagram of hardware connections of an optional example of yet another hand rehabilitation system provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] To help those skilled in the art better understand the present invention, the following will provide a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort shall fall within the scope of protection of the present invention.

[0043] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. The situations of "target", "original", etc. are similar and will not be repeated here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, system, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, systems, products or devices.

[0044] FIG1 is a structural block diagram of a hand rehabilitation system provided in an embodiment of the present invention. This embodiment is applicable to the case where the affected hand of the rehabilitation subject is controlled to move in order to achieve the purpose of hand rehabilitation without making contact with the healthy hand of the rehabilitation subject. Referring to FIG1 , the hand rehabilitation system described in the embodiment of the present invention may include: a healthy hand motion information acquisition unit 10, a host computer 11, a bottom processing unit 12 and an execution unit 13, wherein the healthy hand motion information acquisition unit 10 is implemented based on a depth sensor, and the depth sensor works without making contact with the healthy hand of the rehabilitation subject; wherein,

[0045] The depth sensor is used to collect the healthy side movement information of the healthy side hand, calculate the metacarpophalangeal joint angle and the proximal interphalangeal joint angle of each finger on the healthy side hand according to the healthy side movement information, and send the metacarpophalangeal joint angle and the proximal interphalangeal joint angle to the host computer 11;

[0046] The host computer 11 is used to receive the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, generate a motion control command according to the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and send the motion control command to the bottom processing unit 12;

[0047] The bottom processing unit 12 is used to receive the motion control command, generate the motion control signal according to the motion control command, and send the motion control signal to the execution unit 13;

[0048] The execution unit 13 is configured to receive the motion control signal and control each finger on the affected hand of the rehabilitation subject to move according to the motion control signal.

[0049] The rehabilitation subject may be understood as a subject to undergo hand rehabilitation, the healthy hand may be understood as the hand of the rehabilitation subject with normal hand function, and the affected hand may be understood as the hand of the rehabilitation subject with hand dysfunction.

[0050] The healthy hand motion information acquisition unit 10 can be understood as a unit for collecting motion information of the healthy hand (i.e., healthy side motion information). In practical applications, optionally, the healthy hand motion information acquisition unit 10 can be placed below the healthy hand, especially directly below the healthy hand to collect healthy side motion information. It should be noted that, in an embodiment of the present invention, the healthy hand motion information acquisition unit 10 is implemented based on a depth sensor. This is because the depth sensor can work without contacting the healthy hand and can collect depth information of the healthy hand in terms of motion, which is conducive to obtaining more comprehensive motion information of the healthy hand. On this basis, optionally, the depth sensor can be a Leap Motion Controller (LMC), a depth camera or an infrared sensor, etc., which is not specifically limited here. In particular, the LMC has the characteristics of high precision and low latency, and can accurately and in real time track each finger on the healthy hand, thereby capturing and presenting the position, posture and motion trajectory of the healthy hand, which helps to achieve accurate rehabilitation training.

[0051] The healthy hand motion information acquisition unit 10 collects healthy hand motion information, and performs skeletal analysis based on the healthy hand motion information, and calculates the metacarpophalangeal joint angle and proximal interphalangeal joint angle of each finger on the healthy hand for master-slave control. Among them, the metacarpophalangeal joint (MCP) angle can be understood as the angle at the MCP; the proximal interphalangeal joint (PIP) angle can be understood as the angle at the PIP. In practical applications, optionally, the above-mentioned MCP angle and PIP angle can be calculated in a variety of ways, such as obtaining the metacarpal bone direction vector, the proximal metacarpal bone direction vector and the distal metacarpal bone direction vector based on the healthy hand motion information, and then calculating based on these direction vectors; for example, the fingertip point spatial coordinates, DIP point position and PIP point position can be obtained based on the healthy hand motion information, and then calculating based on these spatial coordinates and point positions; etc., which are not specifically limited here. At this point, 5 MCP angles and 5 PIP angles can be obtained. Furthermore, the calculated MCP angle and PIP angle are sent to the host computer 11. In practical applications, they can be sent to the host computer 11 optionally through a corresponding callback function.

[0052] The host computer 11 can be understood as software that at least has the function of sending and receiving data. On this basis, optionally, it can also have functions such as data display and proportional integral derivative (PID) parameter adjustment. The MCP angle and PIP angle sent by the depth sensor are received through the host computer 11, and then motion control commands are generated according to these joint angles, and the motion control commands are sent to the underlying processing unit 12. In actual applications, optionally, the data transmission between the host computer 11 and the underlying processing unit 12 can be achieved through a serial communication interface (SCI), a parallel communication interface, a computer network or wireless transmission, etc., which are not specifically limited here.

[0053] The bottom-level processing unit 12 can be understood as a unit that at least has a data processing function and, optionally, a data acquisition function. The bottom-level processing unit 12 receives motion control commands sent by the host computer 11, generates motion control signals based on the motion control commands, and then sends the generated motion control signals to the execution unit 13.

[0054] The execution unit 13 can be understood as a unit that controls the movement of the affected hand by executing motion control signals. The execution unit 13 receives the motion control signals sent by the underlying processing unit 12 and then controls the movement of each finger on the affected hand based on the motion control signals, thereby achieving hand rehabilitation. It should be noted that because the motion control signals are derived from the movement information of the healthy hand, the movement of the affected hand and the movement of the healthy hand can be understood as a mirror image.

[0055] According to the above description, the above-mentioned hand rehabilitation system has at least the following advantages:

[0056] 1. The affected hand does not need to come into contact with the rehabilitation physician, and the healthy hand does not need to come into contact with any equipment. This non-contact hand rehabilitation program solves the problem of cross-infection risk caused by contact with the hand during the hand rehabilitation process. In addition, there is no need to involve issues such as equipment calibration and cleaning, thereby reducing the complexity of program implementation and improving the rehabilitation experience of the rehabilitation subject.

[0057] 2. It is no longer limited by the personal level of rehabilitation physicians, ensuring the effectiveness of hand rehabilitation. At the same time, it is no longer limited by the number of rehabilitation physicians, and hand rehabilitation can be carried out in a timely manner during the golden period of rehabilitation.

[0058] 3. It is low-cost and suitable for mass production, allowing the rehabilitation subjects to recover independently at home, thereby saving medical resources.

[0059] 4. Through mirror rehabilitation (i.e. bilateral motor rehabilitation), the affected hand follows the healthy hand in master-slave symmetrical movements, thereby providing intuitive visual feedback to the rehabilitation subject. This helps to activate and simulate mirror neurons in the brain, thereby improving the hand rehabilitation effect. In addition, in addition to being used for mirror autonomous rehabilitation, continuous passive motion (CPM) training can also be performed.

[0060] 5. In addition to being used for the rehabilitation of hand dysfunction, it can also be used in post-traumatic rehabilitation, hand arthritis rehabilitation, and daily life assistance, and can meet a wider range of rehabilitation assistance needs.

[0061] 6. It can be connected to the Internet, which helps rehabilitation physicians to provide remote rehabilitation guidance.

[0062] The hand rehabilitation system described in the embodiment of the present invention may include: a healthy hand motion information acquisition unit, a host computer, a bottom-level processing unit and an execution unit. The healthy hand motion information acquisition unit is implemented based on a depth sensor, and the depth sensor works without contacting the healthy hand of the rehabilitation subject; wherein the depth sensor is used to collect the healthy hand motion information of the healthy hand, and calculate the metacarpophalangeal joint angle and the proximal interphalangeal joint angle of each finger on the healthy hand according to the healthy hand motion information, and send the metacarpophalangeal joint angle and the proximal interphalangeal joint angle to the host computer; the host computer is used to receive the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, generate a motion control command according to the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and send the motion control command to the bottom-level processing unit; the bottom-level processing unit is used to receive the motion control command, generate a motion control signal according to the motion control command, and send the motion control signal to the execution unit; the execution unit is used to receive the motion control signal, and control each finger on the affected hand of the rehabilitation subject to move according to the motion control signal. The above technical solution provides intuitive visual feedback to the rehabilitation subject through a non-contact master-slave control method, and solves the problem of cross-infection risk to the rehabilitation subject due to contact with the rehabilitation subject's hand during the hand rehabilitation process.

[0063] An optional technical solution, a depth sensor, is specifically used for:

[0064] Collecting the healthy side movement information of the healthy side hand, and obtaining the metacarpal bone direction vector, the proximal metacarpal bone direction vector and the mid-metacarpal bone direction vector of each finger on the healthy side hand according to the healthy side movement information;

[0065] For each finger, the metacarpophalangeal joint angle of the finger is calculated based on the metacarpal bone direction vector and the proximal metacarpal bone direction vector of the finger, and the proximal interphalangeal joint angle of the finger is calculated based on the proximal metacarpal bone direction vector and the mid-metacarpal bone direction vector of the finger;

[0066] The metacarpophalangeal joint angle and proximal interphalangeal joint angle calculated for each finger are sent to the host computer.

[0067] The metacarpal direction vector can be understood as the direction vector of the metacarpal bone (Paim), the proximal phalanx direction vector can be understood as the direction vector at the proximal phalanx (Proximal Phalanx), and the middle phalanx direction vector can be understood as the direction vector at the middle phalanx (Middle Phalanx). It should be noted that the above direction vectors can reflect the angle information of the finger bending.

[0068] For each of the five fingers, according to the metacarpal direction vector of the finger and the proximal bone direction vector Calculate the MCP angle θ of the finger f1 , for example, see Figure 2, And, according to the direction vector of the proximal phalanx of the finger and the mid-segment direction vector Calculate the PIP angle θ of the finger f2 , exemplary,

[0069] The above technical solution realizes the accurate calculation of the MCP angle and the PIP angle through the direction vector that can reflect the angle information of the finger bending.

[0070] Another optional technical solution, the host computer, is also used to:

[0071] After receiving the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, the metacarpophalangeal joint angle and the proximal interphalangeal joint angle are defibrillated, and based on the obtained defibrillation processing results, the metacarpophalangeal joint angle and the proximal interphalangeal joint angle are updated, thereby solving the problem of slight tremor of the healthy hand and ensuring control accuracy.

[0072] In practical applications, the defibrillation process can optionally be implemented through normalization. For example, the calculated joint angle is normalized to constrain the angle value to the nearest multiple of 5°. The normalized value is checked to see if it is equal to the previous normalized value. If not, the output value is updated. If they are equal, indicating that the data has not changed, the original output value is maintained, and the previous normalized value is updated to the current normalized value for use in the next iteration.

[0073] FIG3 is a block diagram of another hand rehabilitation system provided in an embodiment of the present invention. This embodiment is optimized based on the above-mentioned technical solutions. In this embodiment, optionally, the above-mentioned hand rehabilitation system further includes: an exoskeleton hand, which is worn on the affected hand, and an execution unit, which is specifically used to: receive motion control signals, and control the movement of each finger on the affected hand of the rehabilitation subject by controlling the exoskeleton hand according to the motion control signals. Among them, the explanations of the terms that are the same as or corresponding to the above-mentioned embodiments are not repeated here.

[0074] Specifically, referring to FIG3 , the hand rehabilitation system according to an embodiment of the present invention may include: a healthy hand motion information acquisition unit 20, a host computer 21, a bottom processing unit 22, an execution unit 23, and an exoskeleton hand 24. The healthy hand motion information acquisition unit 20 is implemented based on a depth sensor, and the depth sensor works without contacting the healthy hand of the rehabilitation subject. The exoskeleton hand 24 is worn on the affected hand of the rehabilitation subject.

[0075] The depth sensor is used to collect the healthy side movement information of the healthy side hand, calculate the metacarpophalangeal joint angle and the proximal interphalangeal joint angle of each finger on the healthy side hand according to the healthy side movement information, and send the metacarpophalangeal joint angle and the proximal interphalangeal joint angle to the host computer 21;

[0076] The host computer 21 is used to receive the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, generate a motion control command according to the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and send the motion control command to the bottom processing unit 22;

[0077] The bottom processing unit 22 is used to receive a motion control command, generate a motion control signal according to the motion control command, and send the motion control signal to the execution unit 23;

[0078] The execution unit 23 is configured to receive the motion control signal and control the exoskeleton hand 24 to control each finger on the affected hand of the rehabilitation subject to move according to the motion control signal.

[0079] The exoskeleton hand 24 can be understood as a device that can be worn on the affected hand, so that the affected hand can be controlled to move by controlling the exoskeleton hand 24. Specifically, the execution unit 23 controls the exoskeleton hand 24 to control each finger on the affected hand to move according to the motion control signal.

[0080] The technical solution of the embodiment of the present invention is to wear an exoskeleton hand on the affected hand, so that the movement of the affected hand can be effectively controlled by controlling the exoskeleton hand with the help of an execution unit.

[0081] In an optional technical solution, the exoskeleton hand may include a tendon-rod hybrid drive device, wherein the execution unit includes a steering gear connected to the tendon rope;

[0082] The servo is used to receive motion control signals and rotate according to the motion control signals to pull the tendon rope, thereby driving each finger on the affected hand of the rehabilitation subject to move.

[0083] The exoskeleton hand can be a tendon-link hybrid drive device. Based on this, since two joint angles can be calculated for each finger on the unaffected hand, in master-slave control, the exoskeleton hand can optionally be a 10-degree-of-freedom tendon-link hybrid drive device. In this case, 10 independent channels are required for communication and control.

[0084] The execution unit can be implemented based on a servo, which is connected to a tendon rope. Therefore, with the help of the servo, it can be rotated according to the motion control signal to pull the tendon rope, thereby driving the fingers of the affected hand to flex and extend, thereby achieving effective control of the movement of the affected hand.

[0085] Figure 4 is a structural block diagram of another hand rehabilitation system provided in an embodiment of the present invention. This embodiment is optimized based on the above-mentioned technical solutions. In this embodiment, optionally, the above-mentioned hand rehabilitation system also includes: an ipsilateral hand motion information acquisition unit, which is used to collect the ipsilateral hand motion information of the ipsilateral hand, and calculate the motion angle of each finger on the ipsilateral hand according to the ipsilateral hand motion information; the bottom processing unit is also used to collect the motion angle calculated by the ipsilateral hand motion information acquisition unit, and send the motion angle to the host computer; the host computer is specifically used to receive the motion angle, the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and perform proportional integral differential calculations based on the motion angle, the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, generate a motion control command based on the obtained proportional integral differential calculation results, and send the motion control command to the bottom processing unit. Among them, the explanations of the terms that are the same as or corresponding to the above-mentioned embodiments are not repeated here.

[0086] Specifically, referring to FIG4 , the hand rehabilitation system according to an embodiment of the present invention may include: a healthy hand motion information acquisition unit 30, a host computer 31, a bottom processing unit 32, an execution unit 33, and an affected hand motion information acquisition unit 34. The healthy hand motion information acquisition unit 30 is implemented based on a depth sensor, and the depth sensor operates without contacting the healthy hand of the rehabilitation subject; wherein,

[0087] The depth sensor is used to collect the healthy side movement information of the healthy side hand, calculate the metacarpophalangeal joint angle and the proximal interphalangeal joint angle of each finger on the healthy side hand according to the healthy side movement information, and send the metacarpophalangeal joint angle and the proximal interphalangeal joint angle to the host computer 31;

[0088] The affected hand motion information acquisition unit 34 is used to acquire the affected hand motion information of the rehabilitation subject and calculate the motion angle of each finger on the affected hand based on the affected hand motion information;

[0089] The bottom processing unit 32 is used to collect the motion angle calculated by the affected hand motion information collection unit 34 and send the motion angle to the host computer 31;

[0090] The host computer 31 is configured to receive the motion angle, the metacarpophalangeal joint angle, and the proximal interphalangeal joint angle, perform proportional-integral-differential calculations based on the motion angle, the metacarpophalangeal joint angle, and the proximal interphalangeal joint angle, generate a motion control command based on the obtained proportional-integral-differential calculation results, and send the motion control command to the bottom processing unit 32;

[0091] The bottom processing unit 32 is further configured to receive a motion control command, generate a motion control signal according to the motion control command, and send the motion control signal to the execution unit 33;

[0092] The execution unit 33 is configured to receive the motion control signal and control each finger on the affected hand to move according to the motion control signal.

[0093] Among them, the affected hand motion information acquisition unit 34 can be understood as a unit for collecting motion information of the affected hand (i.e., affected side motion information). In actual applications, optionally, when the hand rehabilitation system also includes an exoskeleton hand, the affected hand motion information acquisition unit 34 can be embedded in the exoskeleton hand. Optionally, the affected hand motion information acquisition unit 34 can be implemented based on an encoder that can directly or indirectly measure an angle, such as an angle sensor, a linear encoder, a gyroscope, or a bending sensor, and in particular can be implemented based on an angle sensor that can directly measure an angle, which helps to quickly determine the motion angle later.

[0094] The affected-hand motion information acquisition unit 34 collects the affected-hand motion information, and based on this information, the motion angle of each finger on the affected hand is calculated. If the joint angles described above are used as control data in master-slave control, then the motion angles described here can be used as feedback data in the master-slave control, that is, the affected-hand motion information acquisition unit 34 serves as the feedback loop in the control process.

[0095] The motion angle is collected by the bottom processing unit 32 and sent to the host computer 31. In this way, the host computer 31 can receive the motion angle and joint angle, and then perform PID calculation based on these motion angles and joint angles, and generate motion control commands based on the obtained PID calculation results.

[0096] The technical solution of the embodiment of the present invention feeds back the motion information of the affected side to the host computer, which is then output to the execution unit through PID calculation together with the motion information of the healthy side, thereby achieving precise and effective control of the movement of the affected hand, thereby improving the hand rehabilitation effect.

[0097] In an optional technical solution, the motion control command may include a motion control quantity, and the underlying processing unit is specifically used to:

[0098] The motion control amount is received, and a pulse width modulation signal with a signal value being the motion control amount is generated, and the pulse width modulation signal is sent to the execution unit as the motion control signal.

[0099] In other words, the upper computer outputs the motion control quantity after PID calculation, so that the underlying processing unit can generate a pulse width modulation (PWM) signal with the signal value of the motion control quantity, and send the PWM signal as the motion control signal to the execution unit, thereby controlling the movement of the affected hand.

[0100] Another optional technical solution is that the bottom processing unit includes an angle acquisition subunit and a data processing subunit;

[0101] An angle acquisition subunit, which can be used to acquire the motion angle calculated by the affected hand motion information acquisition unit and send the motion angle to the data processing subunit;

[0102] The data processing subunit is used to receive the motion angle, perform noise reduction processing on the motion angle, update the motion angle based on the noise reduction processing result, and send the motion angle to the host computer.

[0103] The angle acquisition subunit can be understood as a subunit for acquiring the motion angle calculated by the affected hand motion information acquisition unit. In practical applications, the angle acquisition subunit can optionally be implemented based on an analog-to-digital converter (ADC). The angle acquisition subunit acquires the calculated motion angle and sends it to the data processing subunit.

[0104] The data processing subunit can be understood as a subunit with data noise reduction and transceiver functions. In practical applications, the data processing subunit can optionally be implemented based on a single-chip microcomputer. The data processing subunit receives the motion angle sent by the angle acquisition subunit and performs noise reduction processing on the motion angle. For example, the motion angle is processed based on a filtering algorithm such as mean filtering or median average filtering to achieve noise reduction. Then, the noise-reduced (i.e., updated) motion angle is sent to the host computer for PID calculation.

[0105] The above technical solution ensures the accuracy of the acquired affected-side motion information through analog-to-digital conversion and noise reduction processing.

[0106] FIG5 is a block diagram of another hand rehabilitation system provided in an embodiment of the present invention. This embodiment is optimized based on the above technical solutions. The explanations of the terms that are the same or corresponding to the above embodiments are not repeated here.

[0107] Specifically, as shown in FIG5 , the hand rehabilitation system of the embodiment of the present invention may include: a jump motion controller 40, a host computer 41, an angle sensor 42, a digital-to-analog converter 43, a single-chip microcomputer 44, a servo 45, and an exoskeleton hand 46, wherein the jump motion controller 40 operates without contacting the healthy hand of the rehabilitation subject, the exoskeleton hand 46 can be worn on the affected hand of the rehabilitation subject, the angle sensor 42 is embedded in the exoskeleton hand 46, the exoskeleton hand 46 is a 10-degree-of-freedom tendon-rod hybrid drive device, and the servo 45 is connected to the tendon; wherein,

[0108] The jump motion controller 40 is used to collect the healthy side motion information of the healthy side hand, and obtain the metacarpal bone direction vector, the proximal metacarpal bone direction vector and the mid-metacarpal bone direction vector of each finger of the healthy side hand according to the healthy side motion information;

[0109] The jump motion controller 40 is further configured to calculate, for each finger, the metacarpophalangeal joint angle of the finger based on the metacarpal bone direction vector and the proximal metacarpal bone direction vector of the finger, and calculate the proximal interphalangeal joint angle of the finger based on the proximal metacarpal bone direction vector and the mid-metacarpal bone direction vector of the finger, and then send the metacarpophalangeal joint angle and the proximal interphalangeal joint angle calculated for each finger to the host computer 41;

[0110] The host computer 41 is configured to receive the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, perform defibrillation processing on the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and update the metacarpophalangeal joint angle and the proximal interphalangeal joint angle according to the obtained defibrillation processing result;

[0111] Angle sensor 42, used to collect the motion information of the affected hand and calculate the motion angle of each finger on the affected hand based on the motion information;

[0112] The analog-to-digital converter 43 is used to collect the motion angle calculated by the angle sensor 42 and then send the motion angle to the single-chip microcomputer 44;

[0113] The single chip microcomputer 44 is used to receive the motion angle, perform noise reduction processing on the motion angle, update the motion angle based on the noise reduction processing result, and send the motion angle to the host computer 41;

[0114] The host computer 41 is further configured to receive the motion angle, perform proportional-integral-differential calculations based on the motion angle, the metacarpophalangeal joint angle, and the proximal interphalangeal joint angle, generate a motion control variable based on the obtained proportional-integral-differential calculation results, and send the motion control variable to the single-chip microcomputer 44;

[0115] The single chip microcomputer 44 is further used to receive the motion control amount, generate a pulse width modulation signal whose signal value is the motion control amount, and send the pulse width modulation signal to the servo 45;

[0116] The servo 45 is used to receive the pulse width modulation signal and rotate according to the pulse width modulation signal to pull the tendon rope, thereby driving the exoskeleton hand 46 to move.

[0117] The technical solution of the embodiment of the present invention effectively reduces the risk of cross-infection by combining a non-contact autonomous rehabilitation control strategy with an exoskeleton hand, and can more reasonably utilize limited medical resources, providing a more comprehensive and convenient hand rehabilitation solution for rehabilitation subjects with impaired hand function.

[0118] In order to better understand the hand rehabilitation system described in the embodiment of the present invention, the following is an exemplary description thereof with reference to specific examples. For example, see Figures 6 and 7:

[0119] Step 1: Connect the Leap Motion sensor (LMC), turn on the host computer, wear the exoskeleton hand, turn on the 5V independent power supply, and put the servos in standby mode.

[0120] Step 2: Open the serial port connection. Adjust the LMC position so that it is directly below the unaffected hand.

[0121] Step 3: The healthy hand makes corresponding movements, and the LMC collects the healthy hand's healthy side movement information, performs hand bone analysis based on this, and calculates the MCP angle and PIP angle.

[0122] Step 4: Through the corresponding callback function, the calculated MCP angle and PIP angle are uploaded to the host computer for defibrillation processing.

[0123] Step 5: Control commands (i.e., motion control commands) are sent from the host computer to the MCU, which then sends PWM signals to control the servo's rotation angle. Furthermore, the exoskeleton's built-in angle sensor provides feedback, which is then transmitted to the MCU via the ADC and a serial peripheral interface. The MCU then performs noise reduction processing before transmitting the feedback to the host computer via the serial port.

[0124] Step 6: The host computer calls the internal multi-threaded application programming interface (API), including the LMC data acquisition thread, the angle sensor data acquisition thread, and the PID calculation thread. The PID calculation thread uses a position-based PID algorithm to calculate the joint angle after defibrillation and the motion angle after noise reduction, and outputs the motion control variable, which is the corresponding PWM signal value.

[0125] Through the above steps, the affected hand can make the same movements as the healthy hand, so that during the hand rehabilitation process, the rehabilitation subject can watch the movements of both hands at the same time, thereby achieving the effect of visual feedback in bilateral motor rehabilitation.

[0126] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A hand rehabilitation system, characterized in that: include: A healthy hand motion information acquisition unit, a host computer, a bottom processing unit and an execution unit, wherein the healthy hand motion information acquisition unit is implemented based on a depth sensor, and the depth sensor works without contacting the healthy hand of the rehabilitation subject; wherein, The depth sensor is used to collect the healthy side movement information of the healthy side hand, and calculate the metacarpophalangeal joint angle and the proximal interphalangeal joint angle of each finger on the healthy side hand according to the healthy side movement information, and send the metacarpophalangeal joint angle and the proximal interphalangeal joint angle to the host computer; The host computer is used to receive the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, generate a motion control command according to the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and send the motion control command to the bottom processing unit; The bottom layer processing unit is used to receive the motion control command, generate a motion control signal according to the motion control command, and send the motion control signal to the execution unit; The execution unit is used to receive the motion control signal and control each finger on the affected hand of the rehabilitation subject to move according to the motion control signal.

2. The system according to claim 1, characterized in that The depth sensor is specifically used for: Collecting healthy side movement information of the healthy side hand, and obtaining a metacarpal bone direction vector, a proximal metacarpal bone direction vector, and a mid-metacarpal bone direction vector of each finger on the healthy side hand according to the healthy side movement information; For each finger, the metacarpophalangeal joint angle of the finger is calculated according to the metacarpal bone direction vector and the proximal metacarpal bone direction vector of the finger, and the proximal interphalangeal joint angle of the finger is calculated according to the proximal metacarpal bone direction vector and the mid-metacarpal bone direction vector of the finger; The metacarpophalangeal joint angle and the proximal interphalangeal joint angle calculated for each finger are sent to the host computer.

3. The system according to claim 1, characterized in that The host computer is also used for: After receiving the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, defibrillation processing is performed on the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and the metacarpophalangeal joint angle and the proximal interphalangeal joint angle are updated according to the obtained defibrillation processing result.

4. The system according to claim 1, characterized in that Also includes: An exoskeleton hand, wherein the exoskeleton hand is worn on the affected hand, and the execution unit is specifically used for: The motion control signal is received, and according to the motion control signal, each finger on the affected hand of the rehabilitation subject is controlled to move by controlling the exoskeleton hand.

5. The system according to claim 4, characterized in that The exoskeleton hand includes a tendon-rod hybrid drive device, and the execution unit includes a steering gear, and the steering gear is connected to the tendon rope; The servo is used to receive the motion control signal and rotate according to the motion control signal to pull the tendon rope, thereby driving each finger on the affected hand of the rehabilitation subject to move.

6. The system according to claim 1, characterized in that Also includes: An affected hand motion information acquisition unit, used to acquire the affected hand motion information, and calculate the motion angle of each finger on the affected hand according to the affected hand motion information; The bottom processing unit is further used to collect the motion angle calculated by the affected hand motion information collection unit, and send the motion angle to the host computer; The host computer is specifically used to receive the movement angle, the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, and perform proportional-integral-differential calculations based on the movement angle, the metacarpophalangeal joint angle and the proximal interphalangeal joint angle, generate a motion control command based on the obtained proportional-integral-differential calculation results, and send the motion control command to the underlying processing unit.

7. The system according to claim 6, characterized in that The motion control command includes a motion control amount, and the bottom layer processing unit is specifically used for: The motion control amount is received, a pulse width modulation signal whose signal value is the motion control amount is generated, and the pulse width modulation signal is sent to the execution unit as a motion control signal.

8. The system according to claim 6, characterized in that The bottom layer processing unit includes an angle acquisition subunit and a data processing subunit; The angle acquisition subunit is used to acquire the motion angle calculated by the affected hand motion information acquisition unit, and send the motion angle to the data processing subunit; The data processing subunit is used to receive the motion angle, perform noise reduction processing on the motion angle, update the motion angle based on the obtained noise reduction processing result, and send the motion angle to the host computer.

9. The system according to any one of claims 6 to 8, characterized in that: The affected hand movement information acquisition unit is implemented based on an angle sensor.

10. The system according to any one of claims 1 to 8, characterized in that: The depth sensor includes a Leap Motion controller.

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