CN112755362A - Multi-sensory stimulation interactive hand rehabilitation training device based on rock climbing movement principle - Google Patents
Multi-sensory stimulation interactive hand rehabilitation training device based on rock climbing movement principle Download PDFInfo
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- A—HUMAN NECESSITIES
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- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
- A61M2021/0022—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the tactile sense, e.g. vibrations
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- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
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- A—HUMAN NECESSITIES
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- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
- A61M2021/0044—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the sight sense
- A61M2021/005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the sight sense images, e.g. video
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Abstract
The invention relates to the technical field of rehabilitation trainers, in particular to a multi-sense organ stimulation interactive hand rehabilitation trainer based on a rock climbing motion principle. The invention designs a comprehensive sense organ stimulation which is matched with a VR simulation scene technology according to the rock climbing movement principle, can combine visual sense, touch sense, auditory sense and the like to improve the movement interest of the patient, enables the patient to be integrated into the movement, can realize personalized treatment on the patient with hand dysfunction and cognitive dysfunction, has the functions of improving the fine movement ability of hands, promoting the separation movement of upper limbs, improving the cognitive ability of the patient and the like, and further improves the training and rehabilitation effect of the patient.
Description
Technical Field
The invention relates to the technical field of rehabilitation trainers, in particular to a hand rehabilitation trainer based on a rock climbing motion principle and realizing multi-sensory stimulation interaction.
Background
The hand rehabilitation training device is a device for performing exercise training on a patient with an injured hand in the rehabilitation process. At present, the common hand rehabilitation training devices are simple in structure, single in function and single in motion mode and action, cannot exercise hand fine motion of a patient, and cannot achieve a good training effect. The rock climbing motion is derived from mountain climbing motion, and is rich in strong skill and risk, and during the rock climbing motion, strong hand motion skill is needed, and if the principle of the rock climbing motion is applied to a hand rehabilitation trainer, fine hand motion can be well exercised, and the rehabilitation effect is improved. In addition, the common hand rehabilitation training device has a visual structure, and cannot enable a patient to be well integrated into a motion state, so that the patient cannot raise enough motion interest, and the motion effect is poor.
Disclosure of Invention
The invention aims to provide a multi-sensory stimulation interactive hand rehabilitation trainer based on a rock climbing movement principle, so as to solve the problems in the background technology.
In order to solve the technical problems, one of the purposes of the invention is to provide a multi-sense organ stimulation interaction hand rehabilitation training device based on a rock climbing motion principle, which comprises a bottom plate, wherein two vertical plates are fixed on the bottom plate side by side through bolts, a plurality of supporting points are in threaded connection with the front surfaces of the vertical plates, a host is arranged between the two vertical plates, an LED display screen is embedded in the inner side of the front surface of the host, a single-bar tube is arranged on the front side of the top end of each vertical plate, and VR glasses and two positioning rings are matched with the outer side of the host.
As a further improvement of the technical scheme, a plurality of mounting slotted holes are regularly arranged on the bottom plate.
As a further improvement of the technical scheme, a plurality of screw holes are formed in the front face of the vertical plate.
As a further improvement of the technical scheme, a screw rod is fixedly clamped at the rear end of the fulcrum and is in threaded connection with the screw hole.
As a further improvement of the technical scheme, a sheath is sleeved on the outer side of the single-bar tube.
The other purpose of the invention is to provide a hand rehabilitation training system based on multi-sensory stimulation interaction of rock climbing movement principle, which comprises
The system comprises a sensory interaction unit, a network communication unit, an application function unit and a motion management unit; the sensory interaction unit, the application function unit and the motion management unit are sequentially connected through Ethernet communication; the sensory interaction unit is used for providing a sensory interaction channel for the user to perform visual, auditory, tactile and other aspects with the system; the network communication unit is used for establishing a data transmission connection channel between the host computer and each electronic accessory and each sensor; the application function unit is used for providing a plurality of control modes and training modes for a user; the exercise management unit is used for recording and managing the training exercise process of the user;
the sensory interaction unit comprises a positioning feedback module, a visual simulation module, a sound processing module and a pressure sensing module;
the application function unit comprises a control management module, a software application module, a mode management module and a remote inspection module;
the motion management unit comprises a space span module, an action analysis module, a strength measuring and recording module and an effect evaluation module.
As a further improvement of the technical solution, the positioning feedback module, the visual simulation module, the sound processing module and the pressure sensing module operate in parallel; the positioning feedback module is used for positioning the fulcrum and the hand position of the user and feeding back the position to the host processor; the visual simulation module is used for providing a visual virtual scene for a user through a VR simulation technology; the sound processing module is used for recording sound, executing corresponding instructions through voice recognition and playing audio files stored by the system; the pressure sensing module is used for feeding back the motion condition of the user to the host processor through the pressure sensor arranged on the trainer.
As a further improvement of the technical solution, the control management module, the software application module, the mode management module and the remote monitoring module are sequentially connected through ethernet communication and operate independently; the control management module is used for regulating and controlling the operation process of the system through a plurality of control modes; the software application module is used for providing an intuitive operation way for a user through application software loaded on the system; the mode management module is used for respectively managing different rehabilitation training modes and controlling smooth switching among the different modes; the remote inspection module is used for establishing a connection channel between the system and the mobile terminal so as to remotely check the training condition of the user.
As a further improvement of the technical solution, a signal output end of the space span module is connected to a signal input end of the motion analysis module, a signal output end of the motion analysis module is connected to a signal input end of the force measuring and recording module, and a signal output end of the force measuring and recording module is connected to a signal input end of the effect evaluation module; the space span module is used for judging the amount of exercise of the user by measuring the motion distance of the hand in the motion process of the user; the motion analysis module is used for judging the motion of the user by collecting the stress points received by the pressure sensor; the force measuring and recording module is used for recording the force value acquired by the pressure sensor and automatically generating a corresponding report form graph; the effect evaluation module is used for evaluating the rehabilitation training effect of the user by integrating the amount of exercise, the movement action and the movement strength of the user.
As a further improvement of the technical solution, the space span module adopts an n-dimensional vector euclidean distance algorithm, and a calculation formula thereof is as follows:
wherein d is12Is two n-dimensional vectors a (x)11，x12，...，x1n) And b (x)21，x22，...，x2n) The Euclidean distance between the two points is a coordinate vector value of the hand position of the user, and b is a coordinate vector value of the grasping fulcrum position of the user.
The invention also provides a hand rehabilitation training device based on multi-sensory stimulation interaction of the rock climbing movement principle, which comprises a processor, a memory and a computer program stored in the memory and running on the processor, wherein the processor is used for implementing any one of the hand rehabilitation training systems based on multi-sensory stimulation interaction of the rock climbing movement principle when executing the computer program.
It is a further object of the present invention that the computer readable storage medium stores a computer program which, when executed by a processor, implements any of the above-described multi-sensory stimulation interaction hand rehabilitation training systems based on the principle of rock climbing.
Compared with the prior art, the invention has the beneficial effects that: in the multi-sense organ stimulation interactive hand rehabilitation trainer based on the rock climbing movement principle, comprehensive sense organ stimulation such as vision, touch, hearing and the like can be combined according to the rock climbing movement principle and the VR simulation scene technology, so that the movement interest of a patient is improved, the patient can be integrated into the exercise, meanwhile, personalized treatment can be realized on patients with hand dysfunction and cognitive dysfunction, and the hand rehabilitation trainer has the effects of improving the fine movement ability of hands, promoting the separation movement of upper limbs, improving the cognitive ability of the patient and the like, thereby improving the training rehabilitation effect of the patient.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the training device of the present invention;
FIG. 2 is a schematic diagram of a partially disassembled structure of the training device of the present invention;
FIG. 3 is an exemplary product architecture diagram within the trainer of the invention;
FIG. 4 is a general structure diagram of the rehabilitation system of the present invention;
FIG. 5 is a partial block diagram of a rehabilitation system according to the present invention;
FIG. 6 is a second partial structure diagram of the rehabilitation system according to the present invention;
FIG. 7 is a third partial block diagram of a rehabilitation system according to the present invention;
fig. 8 is a fourth partial structure diagram of the rehabilitation system of the invention.
In the figure:
1. a base plate; 11. mounting a slotted hole;
2. a vertical plate; 21. a screw hole;
3. a fulcrum; 31. a screw;
4. a host; 41. an LED display screen;
5. a single-bar tube; 51. a sheath;
6. VR glasses;
7. positioning the ring;
100. a sensory interaction unit; 101. a positioning feedback module; 102. a visual simulation module; 103. a sound processing module; 104. a pressure sensing module;
200. a network communication unit;
300. an application function unit; 301. a control management module; 302. a software application module; 303. a mode management module; 304. a remote inspection module;
400. a motion management unit; 401. a spatial span module; 402. an action analysis module; 403. a force measuring and recording module; 404. and an effect evaluation module.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described invention is only a part of the invention, not the whole invention. All other inventions obtained by a person of ordinary skill in the art based on the inventions of the present invention without any creative efforts shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Product examples
Referring to fig. 1-3, the present embodiment aims to provide a multi-sensory stimulation interactive hand rehabilitation training device based on the rock climbing principle, which includes a bottom plate 1, two vertical plates 2 are fixed on the bottom plate 1 side by side through bolts, a plurality of fulcrums 3 are connected to the front surface of the vertical plates 2 through threads, a host 4 is disposed between the two vertical plates 2, an LED display screen 41 is embedded in the inner side of the front surface of the host 4, a single-bar tube 5 is disposed on the front side of the top end of the vertical plate 2, and VR glasses 6 and two positioning rings 7 are disposed outside the host 4 in a matching manner.
In this embodiment, a plurality of mounting slots 11 are regularly arranged on the bottom plate 1, and the training device can be mounted on a height-adjustable bracket through the mounting slots 11 by using bolts, so that the training device can be conveniently adjusted to a proper position to meet different requirements of users.
In this embodiment, the front surface of the vertical plate 2 is provided with a plurality of screw holes 21.
Further, the bottom end of the screw hole 21 is provided with an electrode contact.
In this embodiment, the rear end of the fulcrum 3 is fixedly clamped with a screw 31.
Further, the fulcrum 3 may be provided in an irregular curved shape, a pressure sensor and a positioning sensor are provided inside the fulcrum 3, and an electrode contact point of the pressure sensor extends to the rear end of the screw 31.
Further, the screw 31 is in threaded connection with the screw hole 21, and when the screw 31 rotates to the bottom of the screw hole 21, the click contact point of the pressure sensor is in contact with the electrode contact point at the bottom of the screw hole 21, so that electrical connection is achieved.
In this embodiment, two ends of the horizontal bar pipe 5 are respectively fixed on the side walls of the two vertical plates 2 close to the outer edges by bolts, and the outer side of the horizontal bar pipe 5 is sleeved with a sheath 51.
Further, a pressure sensor is arranged in the sheath 51 for collecting the grip strength of the user.
In this embodiment, VR glasses 6 is connected with host computer 4 through wireless communication technology, sets up the audio amplifier moving coil in VR glasses 5, is convenient for play music or audio, improves the simulation effect of virtual scene.
Furthermore, a positioning sensor is embedded in the positioning ring 7, so that the user can conveniently judge the hand movement track of the user when wearing the positioning ring on the hand.
System embodiment
Referring to fig. 4-8, the present embodiment is directed to a multi-sensory stimulation interactive hand rehabilitation training system based on the rock climbing principle, comprising
A sensory interaction unit 100, a network communication unit 200, an application function unit 300, and a motion management unit 400; the sensory interaction unit 100, the application function unit 300 and the motion management unit 400 are sequentially connected through Ethernet communication; the sensory interaction unit 100 is used for providing a sensory interaction channel for the user to perform visual, auditory, tactile and the like with the system; the network communication unit 200 is used for establishing a connection channel for data transmission between the host and each electronic accessory and each sensor; the application function unit 300 is used for providing a plurality of control modes and training modes for a user; the exercise management unit 400 is used for recording and managing the training exercise process of the user;
the sensory interaction unit 100 comprises a positioning feedback module 101, a visual simulation module 102, a sound processing module 103 and a pressure sensing module 104;
the application function unit 300 includes a control management module 301, a software application module 302, a mode management module 303, and a remote auditing module 304;
the motion management unit 400 includes a spatial span module 401, a motion analysis module 402, a strength logging module 403, and an effect evaluation module 404.
In this embodiment, the positioning feedback module 101, the visual simulation module 102, the sound processing module 103, and the pressure sensing module 104 operate in parallel; the positioning feedback module 101 is used for positioning the fulcrum and the hand position of the user and feeding back the position to the host processor; the visual simulation module 102 is configured to provide a visual virtual scene to a user through a VR simulation technique; the sound processing module 103 is used for recording sound, executing corresponding instructions through speech recognition, and playing audio files stored by the system; the pressure sensing module 104 is used for feeding back the motion condition of the user to the host processor through a pressure sensor arranged on the trainer.
In this embodiment, the control management module 301, the software application module 302, the mode management module 303, and the remote monitoring module 304 are sequentially connected through ethernet communication and operate independently; the control management module 301 is used for regulating and controlling the operation process of the system through a plurality of control modes; the software application module 302 is used for providing an intuitive operation path for a user through application software loaded on the system; the mode management module 303 is configured to manage different rehabilitation training modes and control smooth switching between the different modes; the remote inspection module 304 is used for establishing a connection channel between the system and the mobile terminal so as to remotely view the training situation of the user.
The control manner includes, but is not limited to, button control, voice control, touch screen control, and the like.
Specifically, the software application is preferably named as "music rock climbing", and can record and play various music suitable for rock climbing and sound effects matched with a virtual environment.
The training mode includes, but is not limited to, a pull-up training mode, a point training mode, a rock climbing training mode, and the like.
In this embodiment, the signal output end of the space span module 401 is connected to the signal input end of the motion analysis module 402, the signal output end of the motion analysis module 402 is connected to the signal input end of the force measurement and recording module 403, and the signal output end of the force measurement and recording module 403 is connected to the signal input end of the effect evaluation module 404; the space span module 401 is configured to determine the amount of motion of the user by measuring the motion distance of the hand of the user during the motion process; the motion analysis module 402 is configured to determine a motion of the user by collecting a force point received by the pressure sensor; the force measuring and recording module 403 is used for recording the force value acquired by the pressure sensor and automatically generating a corresponding report graph; the effect evaluation module 404 is configured to evaluate the rehabilitation training effect of the user by integrating the amount of motion, the movement action, and the movement strength of the user.
In the process of simulating rock climbing movement, the hand actions include but are not limited to grabbing, holding, hanging, digging, raking, pinching, pulling, stretching, pushing, supporting and the like, and fine hand movements of the user can be well exercised.
Specifically, the spatial span module 401 adopts an n-dimensional vector euclidean distance algorithm, and the calculation formula is as follows:
wherein d is12Is two n-dimensional vectors a (x)11，x12，...，x1n) And b (x)21，x22，...，x2n) The Euclidean distance between the two points is a coordinate vector value of the hand position of the user, and b is a coordinate vector value of the grasping fulcrum position of the user.
Method embodiment
The present embodiment aims to provide an exemplary training method of a hand rehabilitation training device based on multi-sensory stimulation interaction of a rock climbing movement principle, which includes the following steps:
s1, firstly, a nursing staff installs the rehabilitation training device at a proper position on the body side of a patient user, the height of the rehabilitation training device is adjusted, the user opens the training device, wears VR glasses and respectively wears two positioning rings on two hands;
s2, connecting VR glasses to a trainer by a user, and selecting a training mode and a scene mode on software application;
s3, selecting a pull-up training mode by a user, stretching two hands to grasp the single-rod tube, and transmitting the acquired pressure value to the processor by the pressure sensor arranged in the sheath;
s4, selecting a beating point training mode by a user, beating the fulcrums from bottom to top in sequence respectively, and transmitting the collected pressure values to the processor by the pressure sensors in the fulcrums;
s5, selecting a rock climbing exercise training mode by the user, freely performing simulated rock climbing exercise, judging the action of the user by the fulcrum according to the collected stress point, and respectively recording corresponding pressure values;
s6, comprehensively analyzing the motion situation of the user by the system, and giving corresponding effect scores and improvement opinions;
s7, the nursing staff is connected to the system through the mobile terminal, and the training condition of the patient user can be checked, so that the rehabilitation condition of the patient can be judged.
Electronic device embodiment
Referring to fig. 8, there is shown a schematic diagram of the structure of a device of a multi-sensory stimulation interactive hand rehabilitation training system based on the principle of rock climbing movement, the device comprising a processor, a memory and a computer program stored in the memory and running on the processor.
The processor comprises one or more than one processing core, the processor is connected with the processor through a bus, the memory is used for storing program instructions, and the hand rehabilitation training system based on the multi-sensory stimulation interaction of the rock climbing movement principle is realized when the processor executes the program instructions in the memory.
Alternatively, the memory may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
In addition, the invention also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the hand rehabilitation training system based on the multi-sensory stimulation interaction of the rock climbing movement principle.
Optionally, the present invention also provides a computer program product containing instructions which, when run on a computer, cause the computer to execute the above aspects of the multi-sensory stimulation interaction hand rehabilitation training system based on the rock climbing principle.
It will be understood by those skilled in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by hardware related to instructions of a program, which may be stored in a computer-readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a hand rehabilitation training ware of mutual multi-sensory stimulation based on rock climbing motion principle which characterized in that: including bottom plate (1), be fixed with two risers (2) side by side through the bolt on bottom plate (1), threaded connection has a plurality of fulcrums (3) on the front of riser (2), two be equipped with host computer (4) between riser (2), the front inboard of host computer (4) is inlayed and is equipped with LED display screen (41), the top front side of riser (2) is equipped with single pole pipe (5), host computer (4) outside is supporting to be equipped with VR glasses (6) and two location rings (7).
2. The multi-sensory stimulation interactive hand rehabilitation trainer according to the rock climbing principle, which is characterized in that: the bottom plate (1) is regularly provided with a plurality of mounting slotted holes (11).
3. The multi-sensory stimulation interactive hand rehabilitation trainer according to the rock climbing principle as claimed in claim 2, wherein: the front surface of the vertical plate (2) is provided with a plurality of screw holes (21).
4. The multi-sensory stimulation interactive hand rehabilitation trainer according to the rock climbing principle, which is characterized in that: the rear end of the fulcrum (3) is fixedly clamped with a screw rod (31), and the screw rod (31) is in threaded connection with the screw hole (21).
5. The multi-sensory stimulation interactive hand rehabilitation trainer according to the rock climbing principle, which is characterized in that: the outer side of the single-pole pipe (5) is sleeved with a sheath (51).
6. The hand rehabilitation training device based on multi-sensory stimulation interaction of the rock climbing principle according to any one of claims 1 to 5, wherein: the rehabilitation training system is loaded on a processor inside the host (4) and comprises
The system comprises a sensory interaction unit (100), a network communication unit (200), an application function unit (300) and a motion management unit (400); the sensory interaction unit (100), the application function unit (300) and the motion management unit (400) are sequentially connected through Ethernet communication; the sensory interaction unit (100) is used for providing a sensory interaction channel for the user to visually, auditorily, tactually and the like with the system; the network communication unit (200) is used for establishing a data transmission connection channel between the host computer and each electronic accessory and each sensor; the application function unit (300) is used for providing a plurality of control modes and training modes for a user; the exercise management unit (400) is used for recording and managing the training exercise process of the user;
the sensory interaction unit (100) comprises a positioning feedback module (101), a visual simulation module (102), a sound processing module (103) and a pressure sensing module (104);
the application function unit (300) comprises a control management module (301), a software application module (302), a mode management module (303) and a remote inspection module (304);
the motion management unit (400) comprises a spatial span module (401), a motion analysis module (402), a strength measurement and recording module (403) and an effect evaluation module (404).
7. The multi-sensory stimulation interactive hand rehabilitation trainer according to the rock climbing principle, which is characterized in that: the positioning feedback module (101), the visual simulation module (102), the sound processing module (103) and the pressure sensing module (104) operate in parallel; the positioning feedback module (101) is used for positioning the fulcrum and the hand position of the user and feeding back the position to the host processor; the visual simulation module (102) is used for providing a visual virtual scene for a user through VR simulation technology; the sound processing module (103) is used for recording sound, executing corresponding instructions through voice recognition and playing audio files stored by the system; the pressure sensing module (104) is used for feeding back the motion condition of the user to the host processor through a pressure sensor arranged on the trainer.
8. The multi-sensory stimulation interactive hand rehabilitation trainer according to the rock climbing principle, which is characterized in that: the control management module (301), the software application module (302), the mode management module (303) and the remote monitoring module (304) are sequentially connected through Ethernet communication and operate independently; the control management module (301) is used for regulating and controlling the operation process of the system through a plurality of control modes; the software application module (302) is used for providing an intuitive operation way for a user through application software loaded on the system; the mode management module (303) is used for respectively managing different rehabilitation training modes and controlling smooth switching among the different modes; the remote inspection module (304) is used for establishing a connection channel between the system and the mobile terminal so as to remotely view the training condition of the user.
9. The multi-sensory stimulation interactive hand rehabilitation trainer according to the rock climbing principle, which is characterized in that: a signal output end of the space span module (401) is connected with a signal input end of the action analysis module (402), a signal output end of the action analysis module (402) is connected with a signal input end of the force measuring and recording module (403), and a signal output end of the force measuring and recording module (403) is connected with a signal input end of the effect evaluation module (404); the space span module (401) is used for judging the amount of motion of the user by measuring the motion distance of the hand in the motion process of the user; the motion analysis module (402) is used for judging the motion of the user by collecting the stress points received on the pressure sensor; the force measuring and recording module (403) is used for recording the force value acquired by the pressure sensor and automatically generating a corresponding report form graph; the effect evaluation module (404) is used for evaluating the rehabilitation training effect of the user by integrating the amount of the motion, the motion action and the motion strength of the user.
10. The multi-sensory stimulation interactive hand rehabilitation trainer according to the rock climbing principle, as claimed in claim 9, wherein: the space span module (401) adopts an n-dimensional vector Euclidean distance algorithm, and the calculation formula is as follows:
wherein d is12Is two n-dimensional vectors a (x)11，x12，...，x1n) And b (x)21，x22，...，x2n) The Euclidean distance between the two points is a coordinate vector value of the hand position of the user, and b is a coordinate vector value of the grasping fulcrum position of the user.
Priority Applications (1)
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