CN108524186A

CN108524186A - A kind of virtual reality rehabilitation training system and method

Info

Publication number: CN108524186A
Application number: CN201810166019.1A
Authority: CN
Inventors: 不公告发明人
Original assignee: Pei Wenping
Current assignee: Pei Wenping
Priority date: 2018-02-28
Filing date: 2018-02-28
Publication date: 2018-09-14

Abstract

The present invention provides a kind of virtual reality rehabilitation training systems, the rehabilitation training system includes gloves, pneumatic system, wrist guard and pulling force rope, patient bends arms elasticity of compression air bag, gas is entered through hose in inflation packet, promote to inflate packet expanse to tight state and be full of entire expansion space, and then overcomes the pulling force of pulling force rope and palm expansion and finger is driven to stretch.Invent a kind of virtual reality rehabilitation training system and method have many advantages, such as it is applied widely, simple in structure, easy to operate, at low cost, external impetus need not be provided, be precisely controlled and intellectual monitoring.

Description

Virtual reality rehabilitation training system and method

Technical Field

The invention relates to a rehabilitation training system, in particular to a virtual reality rehabilitation training system and a virtual reality rehabilitation training method.

Background

Rehabilitation training is a basic means and main content of rehabilitation medical treatment, aims at body dysfunction caused by various reasons (such as bone injury, nerve injury, hemiplegia, paraplegia, cerebral palsy, amputation and the like), and utilizes motor therapy and operation therapy to recover residual functions of patients to the maximum extent and return to the society in an optimal state.

Hand trauma, as the name implies, is the damage of various tissues of the hand, and is clinically common in various types of amputated limbs, severed fingers, severed toes, severed ears, thumb defects, fingertip defects, hand angioneurotic tendon damage and defects, hand tendon fracture and defects, hand joint damage and defects, hand deformity after trauma, and the like.

In other words, the three-point operation, the seven-point training and the hand function training are also particularly important for patients after the hand trauma bone surgery. After long-term braking treatment after the operation of a patient with hand trauma, joint stiffness, muscle atrophy and tendon adhesion are easily caused, so that the recovery of hand functions is influenced. And the early starting of the hand function exercise can not only increase the blood supply of the hand trauma patient, avoid tendon adhesion and prevent joint stiffness, but also has positive effects on preventing muscle fibrosis or disuse atrophy and promoting the hand function recovery.

However, since it is difficult for early patients to perform early rehabilitation training by means of their own motions after hand surgery, most of the existing early hand rehabilitation training systems can normally operate by means of external power, such as electric motor driving, etc., and have the disadvantages of complicated structure, high price, difficulty in accurate control, etc. In addition, in the prior rehabilitation training, some instruments are used for passively training limbs, the whole rehabilitation process is too monotonous and boring, the patient is difficult to be interested, and the rehabilitation effect is not ideal. In summary, there is a need for a hand rehabilitation training system or apparatus with wide application range, simple structure, low cost, precise control and no dependence on external power.

Disclosure of Invention

The invention aims to provide a virtual reality rehabilitation training system, which comprises: gloves, pneumatic system, wrist band and pulling force rope.

The glove comprises a glove body, a palm wrapping layer and an expansion space positioned between the glove body and the palm wrapping layer; and a reinforcing cap is sewn outside the finger tips of the glove.

A motion and posture sensing module is detachably mounted at the center of the back side of the glove body; the motion and gesture sensing module comprises an acceleration sensor, a gyroscope sensor and a data line used for connecting the control unit.

The pneumatic system comprises an elastic air bag, a bandage for fixing the elastic air bag at the inner side bending part of an arm, an inflation bag which is positioned in the expansion space and matched with the expansion space in shape, and a hose for connecting the elastic air bag and the inflation bag, wherein the volume of the elastic air bag is more than or equal to two times of the volume of the inflation bag.

The wrist band comprises a wrist band body, a pulse sensor and a temperature sensor which are arranged on the inner side of the wrist band body and are attached to the inner side of the wrist band body, a tension sensor arranged on the side of the wrist band body and close to the palm, and a control unit arranged on the outer side of the wrist band body.

The control unit comprises a CPU module, a communication module, a voice module, a storage module, a power supply module and a display module; the two ends of the tension rope are respectively connected with the reinforcing cap and the tension sensor.

The communication module transmits the monitoring data of the acceleration sensor, the gyroscope sensor, the pulse sensor, the temperature sensor and the tension sensor to a virtual reality helmet worn by a user in real time.

Preferably, the elastic air bag and the inflatable bag are respectively provided with a first hose connector and a second hose connector which are communicated together through a hose.

Preferably, the elastic airbag is further provided with an inflation interface.

Preferably, the wrist guard body is further provided with a through hole for passing through the hose.

Preferably, an air volume regulator is further arranged on the through hole.

In addition, a virtual reality rehabilitation training method is also disclosed, which comprises the following specific steps:

a) the patient wears the rehabilitation training system and the virtual reality helmet simultaneously and starts the rehabilitation training system and the virtual reality helmet; if the first use is carried out, parameter calibration is required, specifically in step b); otherwise, directly carrying out rehabilitation training, specifically see step c);

b) parameter calibration: the patient straightens the arm, adjusts the length of stretch cord makes the palm be in the shrink (fist) state to record every under the current state stretch cord is connected tension data F that force sensor monitored_n(ii) a Then the patient bends the arm to compress the elastic air bag to drive the palm to unfold, and when the palm is unfolded completely and the fingers are straightened, tension data F monitored by the tension sensor connected with each elastic rope in the current state is recorded_n’；

c) In the rehabilitation training process, the control unit monitors the tension sensor, the pulse sensor, the temperature sensor, the acceleration sensor and the gyroscope sensor and the tension data F_nAnd said tension data F_n' real-time transmission to the virtual reality headset, whereby the virtual reality headset simultaneously virtualizes virtual arms and hands in the same pose as the current patient arm and hand motion；

d) And further, the virtual arm and the hand are combined with a rehabilitation training game and presented to the patient at a first visual angle, so that the patient is immersed in the game for rehabilitation training.

In conclusion, the virtual reality rehabilitation training system and method provided by the invention have the advantages of wide application range, simple structure, convenience in operation, low cost, no need of providing external power, accurate control, intelligent monitoring and the like.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

Further objects, features and advantages of the present invention will become apparent from the following description of embodiments of the invention, with reference to the accompanying drawings, in which:

fig. 1 schematically shows an overall configuration diagram of a rehabilitation training system of the present invention;

FIG. 2(a) schematically illustrates a cross-sectional view of a glove body of a rehabilitation training system of the present invention;

FIG. 2(b) schematically illustrates a cross-sectional view of a cuff of a glove body of a rehabilitation training system of the present invention;

FIG. 2(c) schematically illustrates the use of a gripping bladder of the rehabilitation training system of the present invention;

FIG. 3(a) is a schematic diagram illustrating the structure of an elastic air bag of the rehabilitation training system of the present invention;

FIG. 3(b) is a schematic diagram illustrating the structure of an inflatable bag of the rehabilitation training system of the present invention;

FIG. 3(c) is a schematic diagram illustrating the structure of a bi-directional valve of the rehabilitation training system of the present invention;

FIG. 4(a) is a schematic diagram illustrating the construction of a glove and cuff for a rehabilitation training system of the present invention;

FIG. 4(b) is an enlarged view of the wrist guard of FIG. 4 (a);

FIG. 4(c) is a schematic sectional view taken along line A-A of the wrist guard of FIG. 4 (a);

FIG. 4(d) is a schematic perspective view of a wrist brace of the rehabilitation training system of the present invention;

FIG. 5 schematically illustrates a schematic diagram of a control unit module of the rehabilitation training system of the present invention;

FIG. 6 is a schematic diagram illustrating an application of the virtual reality rehabilitation training system and method of the present invention;

fig. 7 schematically shows a use flow diagram of the virtual reality rehabilitation training system and method of the invention.

Detailed Description

The objects and functions of the present invention and methods for accomplishing the same will be apparent by reference to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms. The nature of the description is merely to assist those skilled in the relevant art in a comprehensive understanding of the specific details of the invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.

Fig. 1 to 4 schematically show structural schematic diagrams of a virtual reality rehabilitation training system and method according to the present invention, the rehabilitation training system includes: gloves 1, pneumatic system 2, wrist band 3 and pull rope 4. The invention relates to a virtual reality rehabilitation training system and a virtual reality rehabilitation training method, which are mainly suitable for rehabilitation training of patients with normal arm movement but hand movement disorder, such as patients after skeleton operation or nerve injury operation or hemiplegia.

The glove 1 comprises a glove body 11, a palm wrapping layer 12 and an expansion space 13 between the glove body 11 and the palm wrapping layer 12.

As shown in fig. 2(a) and 2(b), the palm side of the glove body 11 is further provided with a palm wrapping layer 12, thereby forming an expansion space 13 with the glove body 11. Further, the palm wrapping layer 12 is made of an elastic material and the outer surface of the palm wrapping layer is a hair surface of the hook and loop fastener, so that the palm wrapping layer and the hook and loop fastener are adhered together.

Further, the outer part of the finger tip of the glove 1 is sewn with a reinforcing cap 14 for thickening the most easily damaged finger tip end part in the reinforcing glove body 11, and the reinforcing cap 14 is preferably made of wear-resistant tensile cloth so as to be capable of bearing large tensile force.

In addition, a plurality of fixing rings 15 (as shown in fig. 4 (a)) are further provided on the palm wrapping layer 12 for fixing the guide of the tensile string 14. Preferably, the number of the fixing rings 15 is 5 and is set at a position on the glove body 11 where the fingers contact when the fingers contract (fist-clenching state). More preferably, gu fixed ring 15 connects on the hook-and-loop fastener face, but utilize the magic to paste the function of bonding/separation to realize that solid fixed ring 15 moves in the position on palm parcel layer 12 simultaneously, and then can find the gesture of the most comfortable finger shrink (fist) through the fixed position of solid fixed ring 15 of rational adjustment.

The fixing ring 15 may be replaced with a grip bladder 28 (as shown in fig. 2 (c)) for rehabilitation training, which is spherical or cylindrical, and is further tightly adhered to the palm wrapping layer 12 by a hook-and-loop fastener at the bottom thereof, and the position of the fixing ring may be conveniently adjusted as needed. Furthermore, the patient simulates a physical grasping exercise on the one hand with the grasping airbag 28; on the other hand, the grip bag 28 also serves to protect the hand by its flexibility.

More preferably, the glove body 11 is further provided with a plurality of electrode plates for externally connecting various electromagnetic therapeutic apparatuses, thereby better promoting nerve growth and improving muscle contraction function.

The pneumatic system 2 comprises an elastic air bag 21, a bandage 22 for fixing the elastic air bag 21 at the inner bend of the arm, an inflating bag 23 which is positioned in the expansion space 13 and is matched with the shape of the expansion space 13, and a hose 24 for connecting the elastic air bag 21 and the inflating bag 14. In addition, the volume V of the elastic airbag 21₀The volume V of the inflatable bag 23 is more than or equal to 2 times₁(V₀≥2V₁) So that it is possible to ensure that sufficient expansion force is generated to completely stably deploy the air-bag 23.

Specifically, the elastic air bag 21 and the air bag 23 are both made of elastic rubber materials, wherein the elastic air bag 21 is designed to be ergonomic and is shaped like an infinity shape and closely attached to the bent part of the arm; more preferably, the elastic air bag 21 is shaped like a hollow cylinder (as shown in fig. 3 (a)), so as to achieve better fit with the bend of the arm.

The structure of the inflation bag 23 (as shown in fig. 3 (b)) is matched with the shape of the expansion space 13 and the glove body 11, and preferably, the elastic air bag 21 and the inflation bag 23 are respectively provided with a first hose connector 25 and a second hose connector 26 and are communicated together through a hose 24; more preferably, the elastic air bag 21 is further provided with an inflation inlet 27 so that a gas of a predetermined pressure can be filled into the elastic air bag 21 as necessary.

When the arm bends, the air in the elastic air bag 21 is extruded to enter the inflation bag 23, the inflation bag 23 is further expanded and drives the expansion space 13 to expand, and therefore the overall expansion of the glove body 11 is promoted and realized.

Preferably, a separation strip 23a is further provided at the finger joint of the inflatable bag 23, so as to divide the finger segment of the inflatable bag 23 into a plurality of independent inflatable packets 23b (as shown in fig. 3 (b)), and further, a bidirectional inflating valve 5 is provided at the center of the separation strip 23 a.

As shown in fig. 3(c), the two-way valve 5 includes a cylindrical connecting rod 51, a sealing unit 52 located in the middle of the connecting rod 51 for isolation, a rubber sleeve 53 tightly sleeved on the connecting rod 51, and two air ducts 54 arranged in the connecting rod 51, wherein an inlet of the air duct 54 is located at the end of the connecting rod 51, an outlet of the air duct is located at the side of the connecting rod 51 and surrounded by the rubber sleeve 53, so that when the pressure difference between the two sides of the two-way valve 5 is greater than a threshold value P, air circulation is generated.

According to the preferred scheme, when the inflation bag 23 is inflated, gas sequentially passes through the inflation small bags 23b at the root parts of the fingers and finally reaches the inflation small bags 23b at the end parts of the fingers, so that the fingers of a patient are sequentially and slowly unfolded, possible damage caused by rapid overall unfolding of the fingers is effectively avoided, the motion track of actual unfolding of the fingers is simulated to the maximum extent, and the effect of rehabilitation training is also improved.

As shown in fig. 4(a), the cuff 3 includes a cuff body 31, a pulse wave sensor 32 and a temperature sensor 33 which are provided inside the cuff body 31 and are bonded to the inside of the wrist, a tension sensor 34 which is provided on the side of the cuff body 31 and is close to the palm, and a control unit 35 which is provided outside the cuff body 31.

Specifically, as shown in fig. 4(d), the tension sensor 34, the pulse sensor 32 and the temperature sensor 33 respectively record the tension of the elastic cord 4, the pulse beat frequency of the patient and the temperature of the inner side of the wrist in real time, scientifically judge the amount of exercise and the rehabilitation effect of the patient according to the monitoring data, and display the exercise and the rehabilitation effect through the display module 35d of the control unit 35 in real time.

As further shown in fig. 5, the control unit 35 mainly includes a CPU module 35a, a communication module 35b, a voice module 35c, a display module 35d, a storage module 35e, and a power module 35 f. The communication module 35b is used for connecting a mobile phone, intelligent wearable equipment and other networking terminals and performing data transmission, so that a rehabilitation doctor can evaluate and make a decision on the rehabilitation training effect according to the remotely monitored data; the voice module 35c has functions of training guidance, voice alarm and the like, and further performs voice prompt and alarm according to monitoring data, particularly, for emergency alarm when the old stroke patient breaks ill, the communication module 35b can be used for controlling the mobile phone to automatically dial an emergency call or send a help-seeking short message to the relatives.

As shown in fig. 4(a) to 4(c), the cuff body 31 is further provided with a through hole 36 for the hose 24 to pass through the cuff, the through hole 36 is further provided with an air volume regulator 37, and the speed of inflation is further realized by regulating the air volume regulator 37, so as to realize control of the expansion and contraction speed of the glove body 11.

And the two ends of the tension rope 4 are respectively connected with the reinforcing cap 12 and the tension sensor 34, and the tension of the tension rope 4 acts on the reinforcing cap 12 and promotes the palm to be in a contraction (fist making) state. In addition, the gloves 1 with different sizes are matched with the tension ropes 4 with different lengths, so that enough tension can be guaranteed to keep the palm in a contraction (fist making) state. In addition, the maximum stretching length of the tensile rope 4 should be at least 3 times of the length in a natural state, and the tensile rope 4 can be replaced by a tensile spring.

Therefore, the virtual reality rehabilitation training system and the virtual reality rehabilitation training method are simple in structure and convenient to use, and the specific use steps are as follows:

(a) the elastic air bag 21 is firstly stably fixed at the bend of the arm of the patient by the bandage 22, meanwhile, the glove 1 and the wrist guard 3 are worn, and the hose 24 is further passed through the through hole 26 and connected with the first hose connector 25 and the second hose connector 26 at the two ends thereof respectively.

(b) One end of the tension rope 4 is further connected with the upper reinforcing cap 12, and the other end of the tension rope passes through the fixing ring 15 and then is connected with the tension sensor 34 on the wrist guard 3.

(c) In the initial state, the inflatable bag 23 is in a soft state, and the tensile cord 4 bends the fingers to a specified position by means of the guiding action of the fixing ring 15, so that the palm is in a contraction (fist making) state in the initial state.

(d) Then keeping the arm straight and simultaneously inflating the elastic air bag 21 to a certain air pressure P, and adjusting the air quantity by using the air quantity adjuster 37.

(e) The crooked arm of patient compresses elasticity gasbag 21, and gas enters into inflatable bag 23 through hose 24 in, makes inflatable bag 23 inflation expand to tight state and be full of whole inflation space 13, and then overcomes the pulling force of pulling force rope 4 and drive the palm and expand and the finger straightens, and the patient still can realize the nimble control to the palm degree of expansion through control arm crookedness.

(f) The patient straightens the arm to restore the elastic air bag 21 to the expansion state, most of the gas in the inflation bag 23 flows back to the elastic air bag 21 at the moment, the inflation bag 23 is also changed into the soft state from the tight state, and the pull rope 4 enables the palm to restore to the contraction (fist making) state by means of the self-pulling force.

The steps (a) to (f) finish the contraction and expansion of the palm once, and the patient can finish the rehabilitation training with controllable process by repeating the actions.

The virtual reality rehabilitation training system and the virtual reality rehabilitation training method can also assist a patient to participate in daily life activities, manual operation labor and cultural and physical activities, select some operations which are beneficial to restoring hand functions and skills from the activities, allow the patient to participate in adaptive activities and train according to specified requirements, and restore the hand functions, such as hand grasping operations and daily life activity operations, gradually and maximally. Specifically, the operation of weaving, packaging, carpentry, assembly, gardening and the like can be selected to help the patient practice the grasping action of the hand in various modes; can be used for training the daily living activity of the patient to improve the flexibility and coordination of hands by selecting wearing and taking off clothes, shoes and socks, holding cups, holding bowls, pinching chopsticks, cutting food, cooking and arranging rooms.

However, in addition to gradual rehabilitation of the patient through the above-mentioned daily simple physical training, the present invention also discloses a system for Virtual Reality (VR) rehabilitation training using a virtual reality helmet (a near-eye display or VR glasses, etc.), which combines standard actions directed by games or physicians to improve the patient's exercise interest and rehabilitation efficiency.

Specifically, the motion and gesture sensing module 6 may be further detachably mounted at the center of the back side of the glove body 11 of the present invention, as shown in fig. 6, the motion and gesture sensing module 6 mainly includes an acceleration sensor 61 and a gyroscope sensor 62, wherein the acceleration sensor 61 is used for collecting acceleration information of the hand of the patient, and the gyroscope sensor 62 is used for collecting angular velocity information of the hand of the patient, so that the motion and gesture data of the hand of the patient can be obtained by combining the acceleration information and the angular velocity information, and the motion and gesture data of the hand is transmitted to the control unit 35 on the wrist brace 3 through the data line 63.

Further, the control unit 35 processes the acquired tension data of the elastic cord 4, the pulse frequency and body temperature data, and the hand movement and posture data, and transmits all the processed data information to the virtual reality helmet 7 by using the communication module 35b, so that the virtual hand and arm movement postures and trajectories can be observed in real time through near-to-eye display.

In addition, the invention also discloses a method for carrying out rehabilitation training by adopting the virtual reality rehabilitation training system, which comprises the following steps:

a) the patient wears and starts the rehabilitation training system and the virtual reality helmet 7 at the same time, if the patient uses the helmet for the first time or needs to reset parameters, the patient needs to calibrate the parameters, specifically, see step b); otherwise, directly carrying out rehabilitation training, specifically see step c).

b) Firstly, straightening the arm of the patient, adjusting the length of the elastic rope 4 to enable the palm to be in a contraction (fist making) state, and recording tension data F monitored by the tension sensor 34 connected with each elastic rope 4 in the current state_n(n is 1, 2, 3, 4, 5, and corresponds to the tension of the elastic cord 4 on different fingers, respectively). Then the patient bends the arm to compress the elastic air bag 21 and further drive the palm to unfold, and when the palm is unfolded completely and the fingers are straightened, the corresponding tension F of each elastic rope 4 in the current state is recorded_n' (n is 1, 2, 3, 4, 5). The tension value of the elastic rope 4 in the training process is between F_nAnd F_n' in between, the calibrated parameter values are storedIn the storage module 35 e.

Furthermore, because the pulling force F of the elastic rope 4 is in a direct proportion relation with the bending degree of the fingers and the arms, the bending degree of the fingers and the arms can be indirectly obtained according to the pulling force F of the elastic rope 4, a sensor for monitoring the bending degree does not need to be specially arranged, and the mode has the advantages of being simple in structure, saving cost and the like.

c) After the parameter calibration in the step b), the patient can normally carry out the virtual reality rehabilitation training. In the training process, the control unit 35 transmits the monitored tension data, motion and posture data, pulse frequency data and temperature data of the inner side of the wrist of the elastic cord 4 to the virtual reality helmet 7 in real time, and then the virtual reality helmet 7 processes the data and synchronously virtualizes virtual arms and hands with the same motion postures as those of the current arms and hands of the patient.

d) Furthermore, the virtual arms and the hands are combined with a rehabilitation training game and presented to the patient at the first visual angle, so that a game environment rich in immersion is provided, and the specific patient can carry out rehabilitation training such as bowl holding, cup holding, simple physical exercise and the like in the game; in addition, a plurality of training tasks can be set in the rehabilitation training game, and corresponding rewards are given after the tasks are completed, so that the patient is full of fun in the rehabilitation process, more importantly, the patient can intuitively feel the improvement of the action skill, the flexibility and the like in the game, and the optimistic emotion and the rehabilitation effect of the patient are greatly improved.

More preferably, the virtual training environment is designed according to the interest of the patient, the immersion of the virtual environment is guaranteed, and the immersion of the virtual environment is continuously optimized according to the human body indexes (including arm length, age and the like) of the patient in the specific rehabilitation training process, so that the rehabilitation effect is improved, and the rehabilitation time is shortened. The whole training process is active training aiming at the affected hand, the safety of the rehabilitation process is ensured to a great extent, and the virtual reality rehabilitation training system and the virtual reality rehabilitation training method also have the advantages of simple structure, ingenious design, low cost, convenience for popularization and use and the like.

In summary, the virtual reality rehabilitation training system and method of the invention can help early patients after hand operation to perform early rehabilitation training by their own power, and effectively solve the problem that the existing early hand rehabilitation training system can normally operate only by external power (such as an inflator pump or an inflatable ball). In addition, the virtual reality rehabilitation training system and the virtual reality rehabilitation training method can be used for middle-stage and later-stage rehabilitation training after hand operation, specifically, when a patient is trained early and hands recover certain strength, the patient enters middle-stage and later-stage rehabilitation training, and in the middle-stage and later-stage rehabilitation training, the bending of the arms is reduced as much as possible and the training is carried out by means of the hand strength of the patient until the training is carried out by means of the hand strength of the patient. The virtual reality rehabilitation training system and the method have the advantages of wide application range, simple structure, convenience in operation, low cost, no need of providing external power, accurate control, intelligent monitoring and the like.

The figures are merely schematic and not drawn to scale. While the invention has been described in connection with preferred embodiments, it should be understood that the scope of the invention is not limited to the embodiments described herein.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

Claims

1. A virtual reality rehabilitation training system, the rehabilitation training system comprising: gloves, pneumatic systems, wristbands and tension cords; wherein,

the glove comprises a glove body, a palm wrapping layer and an expansion space positioned between the glove body and the palm wrapping layer; a reinforcing cap is sewn outside the finger tips of the glove;

the pneumatic system comprises an elastic air bag, a bandage for fixing the elastic air bag at the inner side bending part of an arm, an inflation bag which is positioned in the inflation space and is matched with the inflation space in shape, and a hose for connecting the elastic air bag and the inflation bag, wherein the volume of the elastic air bag is more than or equal to two times of the volume of the inflation bag;

the wrist protector comprises a wrist protector body, a pulse sensor and a temperature sensor which are arranged on the inner side of the wrist protector body and are attached to the inner side of the wrist, a tension sensor which is arranged on the side of the wrist protector body and is close to the palm, and a control unit which is arranged on the outer side of the wrist protector body;

the control unit comprises a CPU module, a communication module, a voice module, a storage module, a power supply module and a display module; the two ends of the tension rope are respectively connected with the reinforcing cap and the tension sensor;

a motion and posture sensing module is detachably mounted at the center of the back side of the glove body; the motion and attitude sensing module comprises an acceleration sensor, a gyroscope sensor and a data line for connecting the control unit;

2. The rehabilitation training system of claim 1, wherein: the elastic air bag and the inflatable bag are respectively provided with a first hose connector and a second hose connector which are communicated together through a hose.

3. The rehabilitation training system of claim 2, wherein: the elastic air bag is also provided with an inflation interface.

4. The rehabilitation training system of claim 3, wherein: the wrist support body is further provided with a through hole for penetrating through the hose.

5. The rehabilitation training system of claim 4, wherein: and the through hole is also provided with an air volume regulator.

6. The rehabilitation training method using the rehabilitation training system according to any one of claims 1 to 5, comprising:

c) In the rehabilitation training process, the control unit monitors the tension sensor, the pulse sensor, the temperature sensor, the acceleration sensor and the gyroscope sensor and the tension data F_nAnd said tension data F_nReal-time transmitting to the virtual reality helmet, so that the virtual reality helmet synchronously virtualizes virtual arms and hands which are the same as the motion postures of the arms and the hands of the patient;