CN113180993A - Exoskeleton hand rehabilitation training system based on force feedback, storage medium and terminal - Google Patents
Exoskeleton hand rehabilitation training system based on force feedback, storage medium and terminal Download PDFInfo
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Abstract
The embodiment of the invention discloses an exoskeleton hand rehabilitation training system based on force feedback, a storage medium and a terminal. The invention discloses an exoskeleton hand rehabilitation training system based on force feedback, which comprises the following steps: s1, acquiring motion trail information and finger belly pressure information of fingers of a hand to be rehabilitated and trained; s2, acquiring finger pad standard pressure information, wherein the finger pad standard pressure information comprises a first pressure interval and a second pressure interval; s3, if the pressure value included in the finger belly pressure information is located in the first pressure interval, generating rehabilitation training control information for performing auxiliary training along the finger movement track; and if the pressure value contained in the finger belly pressure information is located in the second pressure interval, generating rehabilitation training control information for performing resistance training along the finger movement track, and executing the steps S1-S3. The exoskeleton hand rehabilitation training system based on force feedback can reduce the damage and conflict psychology to a user in the rehabilitation training process.
Description
Technical Field
The embodiment of the invention relates to the technical field of rehabilitation medical treatment, in particular to an exoskeleton hand rehabilitation training system based on force feedback, a storage medium and a terminal.
Background
As is known, the hand is one of the important organs of the human body, and has no replaceable function in the daily life and work of human beings, but the hand is also extremely fragile, and the irresistible factors such as trauma and stroke often cause hand function damage. Stroke is also called stroke, and is one of the main diseases affecting human survival and health at present, according to incomplete statistics, the diseases become the first three death factors in China, the number of the sick people is 600 to 700 thousands each year, the number of the new diseases is about 150 thousands, and more than half of survivors are accompanied by disabilities. Cerebral apoplexy has obvious three highs (high morbidity, high mortality and high disability rate) and has great influence on the daily life of people.
Conventional motor dysfunction improvement therapies are operative to repair damaged nervous systems and improve motor function through postoperative rehabilitation training. The ability to help patients relearn motor control by stimulating cortical reorganization and enhancing acquisition applications through high intensity, repetitive training has been validated by rehabilitation medicine. But this rehabilitation regimen not only increases the labor intensity of the physical therapist but also increases the financial burden on the patient. Along with the development of rehabilitation medicine, the hand rehabilitation robot system developed by adopting the robot technology utilizes a mechanical device to assist the bending and stretching motion of hand joints and fingers, promotes the recovery of hand functions, overcomes the defects of the traditional method, provides better rehabilitation experience for patients and has wide application prospect. Such a hand rehabilitation robot system for performing rehabilitation training on a hand by an external force may be referred to as a "hand exoskeleton system". For example, a utility model with publication number 210301638 provides a rigid-flexible coupling type exoskeleton hand rehabilitation training device, which drives the bowden cable to transmit motion through the motor, and drives the hand to move according to a certain posture, thereby realizing rehabilitation training of the hand.
However, the current hand exoskeleton system moves the fingers of the patient to the preset positions according to the program set by the system, and the user has hand disability and moves out of the movable range, so that the user is greatly painful, and the emotional conflict of rehabilitation training is increased. Although it is possible to set a proper preset position based on experience or a plurality of attempts to reduce the pain of the user, the operation efficiency is very dependent on experience and is very inefficient. Meanwhile, the rehabilitation training of the hand exoskeleton system is single in function, and needs to be switched between a training mode and an evaluation mode, so that the rehabilitation training requirements of doctors and patients are difficult to meet.
Disclosure of Invention
The embodiment of the invention provides an exoskeleton hand rehabilitation training system based on force feedback, a storage medium and a terminal, which can relieve the pain of the hand of a patient in rehabilitation training.
The embodiment of the invention provides an exoskeleton hand rehabilitation training system based on force feedback, which comprises the following steps:
s1, acquiring motion trail information and finger belly pressure information of fingers of a hand to be rehabilitated and trained;
s2, acquiring finger pad standard pressure information, wherein the finger pad standard pressure information comprises a first pressure interval and a second pressure interval;
s3, if the pressure value included in the finger belly pressure information is located in the first pressure interval, generating rehabilitation training control information for performing auxiliary training along the finger movement track;
and if the pressure value contained in the finger belly pressure information is located in the second pressure interval, generating rehabilitation training control information for performing resistance training along the finger movement track, and executing the steps S1-S3.
In a possible solution, step S1 specifically includes the following steps:
s101, obtaining depth lens information of a finger;
and S102, acquiring the motion trail information according to the depth lens information.
In a possible solution, the step S1 specifically further includes:
s103, acquiring pressure acquisition point information;
s104, acquiring the finger belly pressure information according to the motion trail information and the pressure acquisition point information.
In one possible solution, the finger pad standard pressure information in step S2 further includes: a third pressure interval;
and step S3 further includes:
and if the pressure value contained in the finger belly pressure information belongs to a third pressure interval, generating rehabilitation training evaluation result information.
In one possible embodiment, the third pressure interval overlaps with the first pressure interval and the second pressure interval.
In one possible embodiment, the third pressure interval does not overlap with the first pressure interval and the second pressure interval, and the minimum value of the interval is greater than the maximum values of the first pressure interval and the second pressure interval.
An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program, where the computer program is executed by a processor to implement the exoskeleton hand rehabilitation training system according to any one of the above aspects.
The embodiment of the present invention further provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the exoskeleton hand rehabilitation training system according to any one of the above items when executing the computer program.
This ectoskeleton hand rehabilitation training system based on force feedback uses at present hand rehabilitation robot system that carries out rehabilitation training to the hand, can reduce because too big injury and the conflict psychology that causes the user of rehabilitation training range in the rehabilitation training process, realizes the accurate control to user's hand rehabilitation training, can the automatic switch-over training mode simultaneously, improves rehabilitation training's efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flow chart of an exoskeleton hand rehabilitation training system based on force feedback in an embodiment of the present invention;
FIG. 2 is a diagram illustrating a pressure detection structure for detecting finger pressure information according to an embodiment of the present invention;
FIG. 3 is an exploded view of the pressure sensor configuration in an embodiment of the present invention;
fig. 4 is a diagram illustrating a region variation for generating rehabilitation training control information according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, 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 "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the indicated orientations and positional relationships based on the drawings for convenience in describing and simplifying the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication connection; either directly or indirectly through intervening media, either internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
The applicant has found that more than half of the survivors of stroke, also known as stroke, are accompanied by disabilities, such as dyskinesias in the limbs, particularly the hands, with varying degrees of disability in the hands of the vast majority of patients. In order to perform rehabilitation training on a patient, the traditional mode is auxiliary training in the aspect of manual rehabilitation of physical therapists, and with the continuous progress of the technology, a mechanical auxiliary structure, such as a hand rehabilitation machine device, gradually appears to replace an artificial rehabilitation medical mode. However, since the hand movement is complicated, the existing hand rehabilitation mechanical device mostly controls the power element, for example, controls the number of turns of the motor, the pulling distance of the pull rod, and the like, to control the posture of the hand rehabilitation mechanical device, so as to assist the user's hand in performing rehabilitation training exercises. When rehabilitation training is performed, a sensor is often arranged to judge whether the gripping action is in place, so that a closed loop for controlling the hand rehabilitation mechanical device is realized. The hand rehabilitation mechanical device is mostly sleeved outside the hand, and therefore the hand rehabilitation mechanical device is also called as a hand exoskeleton system.
The rehabilitation training of the hand by adopting the hand exoskeleton system is based on the fact that the hand moves to a preset specific position, if a user cannot grasp a specific position, auxiliary training needs to be carried out, namely the system needs to provide pushing force for the finger to push the finger to bend to the specific position. In addition, the training mode and the evaluation mode of the existing exoskeleton for hand rehabilitation are independent from each other, when a user can grasp a specific position to evaluate the grasping strength of the user, the user needs to switch to the evaluation mode, and if a certain grasping strength is reached, the rehabilitation training of the user reaches the standard.
However, since the movement of the hand is very complicated, the user's fingers are moved to a predetermined position by simply controlling the power unit, and if the movement is out of the range in which the user's fingers can move, the user is easily injured, which causes a feeling of contradiction to the user. Experience or multiple attempts are required to move the user's fingers to the proper position, which makes the set of hand exoskeleton system very cumbersome and inefficient to debug. Meanwhile, various modes of the existing hand exoskeleton system are single, a user needs to actively switch and select the modes, the rehabilitation training efficiency is low, and the rehabilitation training effect is not ideal.
Fig. 1 is a flowchart of an exoskeleton hand rehabilitation training system based on force feedback in an embodiment of the present invention, fig. 2 is a schematic diagram of a pressure detection structure for detecting finger pad pressure information in an embodiment of the present invention, fig. 3 is a structural explosion diagram of a pressure sensor in an embodiment of the present invention, and fig. 4 is a region variation diagram for generating rehabilitation training control information in an embodiment of the present invention.
As shown in fig. 1, an exoskeleton hand rehabilitation training system based on force feedback comprises the following steps:
and S1, acquiring the motion trail information and finger belly pressure information of the fingers of the hand to be rehabilitated and trained.
Here, the motion trajectory information of the fingers may be a motion trajectory of a certain finger on the hand exoskeleton or a motion trajectory of a plurality of fingers on the whole palm. The motion trajectory is mainly represented by the grasping action of the fingers around the palm center, and is called as a "prior finger motion trajectory" for convenience of description.
It should be noted that the detection of the movement of each joint of the hand can be obtained by an angle detector, and is a prior art.
One possible method for acquiring motion trajectory information of a finger is: a plurality of position sensors phi are arranged at each joint of a certain finger to be rehabilitated and trainedk(xi，yi，zi) Where i denotes the i-th position sensor, and k denotes the position on the finger numbered k.
Obviously, xi、yi、ziAre all functions with respect to time t, i.e.:
Φk(xi，yi，zi)＝Φk(xi(t)，yi(t)，zi(t))
establishing a Cartesian coordinate system at a suitable location, e.g. palm position, based on the obtained plurality of position sensors Φk(xi，yi，zi) Establishing the position change of a certain sensor k on a certain finger in a Cartesian coordinate system; then, the position change of the finger with time is generated according to the position relation of the k sensors on the finger, and the generated position change of the finger with time is the motion track information of the finger.
Particularly, in many cases, the hands of the stroke patient are disabled, and are mostly one or more fingers of four fingers except the thumb, and considering that the movement range of the thumb is limited, a polar coordinate system can be established by taking the central line where the thumb is located as a reference line and the root of the thumb as a pole, and the positions of the position sensors are expressed in the form of polar coordinates to describe the movement tracks of the four fingers except the thumb.
It should be noted that, it belongs to the prior art to approximately obtain the motion trajectory of a certain regular object by recording the motion trajectory of some points on the object.
The finger belly pressure information refers to pressure value information generated by finger belly parts of fingers to pressure sensors positioned in the exoskeleton, namely the finger belly pressure information includes pressure values of the belly to the sensors.
One possible method for obtaining finger pad pressure information of a finger is as follows: a pressure sensor is arranged at the position of the finger belly of the exoskeleton of the hand, and the pressure of the finger belly is detected through the pressure sensor. Of course, the pressure sensor needs to perform data transmission with the finger pad pressure information acquisition device.
Fig. 2 is a schematic diagram illustrating the finger pad pressure information detected by the pressure detecting structure according to the embodiment of the present invention. In the figure, only a part of the finger wearing pressure detection structure is shown, and the auxiliary devices such as the hand exoskeleton are not shown.
As shown in fig. 3, a pressure sensing structure is provided for use in conjunction with the hand exoskeleton for measuring finger pad pressure information. In fig. 3, 1 is a central column, 2 is an upper end cover, 3 is a film pressure sensor, 4 is a lower end cover, 5 is a finger stall, the pressure detection structure is located in the hand exoskeleton, and a user sets the finger stall 5 on, the lower end cover 4, the film pressure sensor 3, the upper end cover 2 and the central column 1 are sequentially arranged on the finger stall 5. When a user does a grabbing action, the finger pad can naturally touch the finger sleeve 5 and sequentially drive the lower end cover 4, the film pressure sensor 3, the upper end cover 2 and the central column 1, and the central column 1 can be abutted against the hand exoskeleton, so that the central column 1 can lead the film pressure sensor 3 to send a specific electric signal, and the finger pad pressure information of the finger of the user can be detected according to the information in the electric signal.
The pressure detection structure is adopted to be matched with the existing hand exoskeleton, and compared with the prior art, the structure is more simplified, the feedback process is more accurate, and the maintenance is convenient; meanwhile, the strength change of the fingers is detected through the finger belly, and the finger cushion has certain buffering capacity, so that the finger cushion is not easy to damage.
One possible finger cavity pressure information is shown in fig. 4, where it is apparent that the finger cavity pressure F in the finger cavity pressure information is a function of time T.
And S2, acquiring finger pad standard pressure information, wherein the finger pad standard pressure information comprises a first pressure interval and a second pressure interval.
The term "abdominal pressure standard" as used herein refers to a criterion for determining what type of rehabilitation training control information is generated under what conditions.
One possible way to establish the standard finger pad pressure information is as follows: according to different sexes and ages, a finger pad standard pressure information base is established in advance according to experience, and the finger pad standard pressure information base contains finger pad standard pressure information of different sexes at different bending angles obtained through statistics.
In particular, a correction factor may be obtained in connection with body weight.
For example, through a large amount of data analysis, the finger belly standard pressure information of 75Kg of index finger of a male patient aged 55 at 30 ° bending is as follows: 0.2 to 0.5N. Since the male is light in weight and the correction factor is 0.8, the finger belly standard pressure information of the index finger of the 75Kg male patient aged 55 when the index finger is bent by 30 degrees is as follows: 0.16-0.4N.
It should be noted that the finger pad standard pressure information is an interval value, the left end point of the interval value is referred to as a first standard pressure value, and the right end point is referred to as a second standard pressure value.
And S3, if the pressure value included in the finger pad pressure information is in the first pressure interval, generating rehabilitation training control information for performing auxiliary training along the finger motion track.
And if the pressure value contained in the finger pad pressure information is in the second pressure interval, generating rehabilitation training control information for performing resistance training along the finger movement track, and executing the steps S1-S3.
In step S3, the selection of the rehabilitation training mode is controlled by using the finger pad pressure information fed back by the user' S finger pad. Before the example, it should be noted that the fingers of the user using the hand exoskeleton system are dysfunctional, that is, when the user performs the first grasping, the user must grasp a certain position, but the finger pad pressure value does not reach the normal value. Otherwise, no rehabilitation training is necessary.
For convenience of explanation, the following are exemplified: assuming that a user uses the exoskeleton hand rehabilitation training system based on force feedback for rehabilitation training for the first time, only a force is needed to be applied to a gripping action, and the gripping action can generate a tiny finger motion track information omega1(x (t), y (t), z (t)) (the described finger motion trajectory, hereinafter referred to as the "prior finger motion trajectory"), and a finger pad pressure information f (t) is obtained. Meanwhile, the obtained finger pad standard pressure information comprises finger pad standard pressure information F0＝[0，F1]&[F1，F2]Wherein the first pressure interval is [0, F ]1]Balance F1Is a first standard pressure value; the second pressure interval is [ F ]1，F2]Balance F2The second standard pressure value.
Assuming that initially, the maximum value of F (t) is less than F1I.e. belonging to the first pressure interval [0, F1]: the exoskeleton hand rehabilitation training system based on force feedback can generate rehabilitation training control information I for performing auxiliary training along the motion track of the previous finger1The rehabilitation training control information I1The hand exoskeleton system is controlled to give auxiliary training to the fingers with certain auxiliary thrust along the motion track of the previous fingers. In this way, after the user's hand performs one grasping motion, the secondary training mode is started for the second time. However, in the auxiliary training mode, the sum of the auxiliary pushing force obtained by the user and the finger pad pressure of the finger of the user is less than the first standard pressure value F1. That is, the fingers of the user still need to exert the force as much as possible, and the auxiliary thrust only plays an auxiliary role until the maximum value of the finger belly pressure information F (t) is located in the second pressure interval [ F ] when the user can actively grasp along the motion track of the previous fingers by means of the force of the user1，F2]Of (2).
The maximum value of the finger belly pressure information F (t) is positioned at [ F [)1，F2]Within the interval of (c): the user's finger should be at the extreme end of the previous finger movement trajectory, at which point the system allows the user's finger to continue the gripping movement and, on the basis of the previous movement trajectory, form another new finger movement trajectory, referred to as the "following finger movement trajectory" for ease of description. At the moment, the finger pad pressure value of the finger at the tail end of the motion trail of the rear finger is smaller than the new finger pad standard pressure information F'0＝[0，F’1]&[F’1，F’2]Is the first standard pressure value F'1A new round of judgment is needed according to the steps S1-S3. However, before the finger further forms the next finger movement track, the exoskeleton hand rehabilitation training system based on force feedback generates a rehabilitation training control command I2The rehabilitation training control instruction I2And applying certain resistance to the finger in the motion trail of the previous finger to perform resistance training, and applying certain auxiliary thrust to the finger in the motion trail of the subsequent finger to perform auxiliary training. The amount of resistance training resistance can be set by the user based on experience and practical experience.
Thus, after multiple rounds of auxiliary training and resistance training, the pressure values included in the finger belly pressure information of the finger to be rehabilitated and trained of the user are not in the first pressure interval and the second pressure interval in the cycle.
It can be found that, by adopting the technical scheme, when the user carries out the hand rehabilitation training, the user only needs to carry out certain gripping action according to own ability to form motion trail information and record finger belly pressure information at the same time, and the system can automatically select different training modes according to the set finger belly standard pressure information, so that the user can carry out auxiliary training or resistance training along the original motion trail, and support is provided for the hand rehabilitation training of the user. The hand exoskeleton system of the exoskeleton hand rehabilitation training system based on force feedback does not need to move according to a preset motion track, can control the motion of fingers more accurately, enables the training mode of a user to be more suitable for the health condition of the hand of the user, and avoids causing secondary injury to the user; meanwhile, the training mode can be automatically switched according to the force feedback of the fingers, so that the operation of a user is facilitated, and the use convenience and exercise enthusiasm of the user are improved.
Optionally, step S1 specifically includes the following steps:
s101, obtaining depth lens information of the finger.
One possible method for obtaining depth shot information for a finger is: and a depth lens is arranged at the palm center, and the depth lens collects the depth lens information of the fingers of the user.
It should be noted that, here, the setting mode and the position of the depth lens may be selected in various ways. For example, it may be placed in a training field or other device where the user is performing rehabilitation training.
And S102, acquiring the motion trail information according to the depth lens information.
The method for acquiring motion trail information by using depth lens information acquired by a depth lens belongs to the prior art.
By adopting the technical scheme, the method for acquiring the motion trail of the finger by adopting the depth lens is provided, the depth lens can be placed at the palm center or other positions, the technical scheme is relatively mature, the size is small, and the accuracy of the acquired motion trail of the finger is high.
Optionally, step S1 further includes:
s103, acquiring pressure acquisition point information.
One possible point of pressure acquisition information is: the number of pressure acquisition points is determined by the bending angle of the finger tip relative to the palm center.
And S104, acquiring finger belly pressure information according to the motion track information and the pressure acquisition point information.
As can be seen from the above, the motion trajectory contained in the motion trajectory information of the finger is a function related to time and space, and the speeds of bending the finger of different users are different, so that the finger pad pressure information at the pressure acquisition point is determined through the space such as an angle. By adopting the technical scheme, on one hand, the computing resources can be saved, and on the other hand, the finger belly pressure information of the finger at the key position can be relatively accurately acquired.
Optionally, the finger pad standard pressure information in step S2 further includes: a third pressure interval.
And step S3 further includes:
and if the pressure value contained in the finger belly pressure information belongs to the third pressure interval, generating rehabilitation training evaluation result information.
Here, a condition is set, that is, if the pressure value in the finger pad pressure information belongs to a specific pressure interval, the finger pad pressure information is used to generate the rehabilitation training evaluation result.
In some situations, after a period of rehabilitation training, although the hand function of the user is not completely recovered, the doctor or the patient wants to know the rehabilitation training result of the user, a third pressure interval can be set, and the system can compare the finger pad pressure in the third pressure interval with the standard finger pad pressure information to give an evaluation result. For example, when a certain finger of the user is in the process of being bent from 0 degrees to 30 degrees, the user is qualified after rehabilitation training; and in the process of bending from 30 degrees to 60 degrees, the qualification rate is gradually reduced, and finally, the unqualified rehabilitation training evaluation result information is displayed at the angle of 60 degrees, so that the displayed rehabilitation training evaluation result information can be displayed to the user or the doctor in a text or animation mode.
Optionally, the third pressure interval overlaps with the first pressure interval and the second pressure interval.
When the third pressure interval is overlapped with the first pressure interval or the second pressure interval, the user can know the auxiliary training process or the resistance training process, so that the user can find the qualification degree of each action at any time, correct the behavior of the user in time, play an encouraging role, and simultaneously facilitate the user and the doctor to know the training condition.
Optionally, the third pressure interval does not overlap with the first pressure interval and the second pressure interval, and the minimum value of the interval is greater than the maximum value of the first pressure interval and the second pressure interval.
By adopting the technical scheme, the final rehabilitation training result of the user is displayed, and if the patient is subjected to long-term rehabilitation training, the finger belly pressure value reaches the third pressure interval, so that the rehabilitation training task of a certain stage is basically reached. Different stage targets can be set for the user by setting different third pressure intervals, the user can obtain the sense of achievement every time the user finishes one target, and the enthusiasm of the user for continuing rehabilitation training is favorably cultivated.
To facilitate understanding of the plurality of first, second and third pressure intervals, reference may be made to fig. 4, which fig. 4 shows one possible relationship of the first, second and third pressure intervals. The interval with the height a is a first pressure interval, the interval with the height b is a second pressure interval, and the interval with the height c is a third pressure interval. When in the first pressure interval, the finger strength of the user is weak, and the hand exoskeleton system of the exoskeleton hand rehabilitation training system based on force feedback in the embodiment generates an auxiliary training thrust for the fingers of the user, so that the user can not only move along the original motion track, but also obtain the auxiliary thrust, and not only the existing pure passive finger pushing motion is adopted. In the second pressure interval, the user can perform resistance training on the previous finger movement track, perform new auxiliary training on the subsequent finger movement track, recover to a certain degree after multiple times of rehabilitation training, and finally reach the third pressure interval, and then complete the rehabilitation training. Note that, in the drawings, the second section b and the first section a are not necessarily in a positional relationship, and may overlap each other, or the second section b may be located below the first section a, for convenience of illustration.
Therefore, adopt this technical scheme, can realize carrying out the training aiding to the rehabilitation training finger of treating that can move a little, reduce injury and the fear psychology that the user caused that the gripping range that current equipment blindly set up the finger on the one hand, on the other hand can realize the resistance training, realizes the free switching of three kinds of modes of training aiding, resistance training and aassessment.
In addition, when the above-described processes in the embodiments are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
In the present invention, unless otherwise explicitly specified or limited, the first feature "on" or "under" the second feature may be directly contacting the first feature and the second feature or indirectly contacting the first feature and the second feature through an intermediate.
Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lower level than the second feature.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. An exoskeleton hand rehabilitation training system based on force feedback is characterized by comprising the following steps:
s1, acquiring motion trail information and finger belly pressure information of fingers of a hand to be rehabilitated and trained;
s2, acquiring finger pad standard pressure information, wherein the finger pad standard pressure information comprises a first pressure interval and a second pressure interval;
s3, if the pressure value included in the finger belly pressure information is located in the first pressure interval, generating rehabilitation training control information for performing auxiliary training along the finger movement track;
and if the pressure value contained in the finger belly pressure information is located in the second pressure interval, generating rehabilitation training control information for performing resistance training along the finger movement track, and executing the steps S1-S3.
2. The exoskeleton hand rehabilitation training system of claim 1, wherein step S1 specifically comprises the steps of:
s101, obtaining depth lens information of a finger;
and S102, acquiring the motion trail information according to the depth lens information.
3. The exoskeleton hand rehabilitation training system of claim 2, wherein step S1 further comprises:
s103, acquiring pressure acquisition point information;
s104, acquiring the finger belly pressure information according to the motion trail information and the pressure acquisition point information.
4. The exoskeleton hand rehabilitation training system as claimed in claim 1, wherein the finger pad standard pressure information in step S2 further comprises: a third pressure interval;
and step S3 further includes:
and if the pressure value contained in the finger belly pressure information belongs to a third pressure interval, generating rehabilitation training evaluation result information.
5. The exoskeleton hand rehabilitation training system of claim 4, wherein the third pressure interval overlaps the first pressure interval and the second pressure interval.
6. The exoskeleton hand rehabilitation training system of claim 4, wherein the third pressure interval is non-overlapping with the first pressure interval, the second pressure interval, and has an interval minimum greater than a maximum of the first pressure interval and the second pressure interval.
7. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the exoskeleton hand rehabilitation training system of any of claims 1 to 6.
8. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the exoskeleton hand rehabilitation training system of any one of claims 1 to 6.
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